CN105627923B - A kind of planning parameters of scanning paths method that blade dense point cloud based on laser ranging is obtained - Google Patents
A kind of planning parameters of scanning paths method that blade dense point cloud based on laser ranging is obtained Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
A kind of planning parameters of scanning paths method that blade dense point cloud based on laser ranging is obtained, solves the laser measurement depth of field and measurement distance is limited, measure it is complex-curved need rotary shaft and by measurement accuracy is poor, front and rear edge area measure when noise it is big the problem of.The method of use is, sectional profile curve lin, the pair cross-section contour curve of interception blade profile are split, extension processing, measuring route is generated by the curve after segmentation, the normal angle average of different measured zones is asked to measure the measurement angle of spoon of blade respectively as laser range sensor, obtain four dense cloud datas, by under four cloud datas unifications to the same coordinate system, obtain complete blade cloud data, global optimization is carried out to cloud data, final high-precision dense point cloud data are obtained.The beneficial effects of the invention are as follows：Taking full advantage of laser distance measuring principle gauge head does not influence this advantage of measurement accuracy when angled with testee, realizes the measurement in front and rear edge higher curvature minor radius region, and measurement accuracy is high, and speed is fast.
Description
The invention belongs to field of precision measurement for technical field, and in particular to a kind of complex-curved leaf based on laser ranging
Scanning survey paths planning method in piece dense point cloud acquisition process.
Technical background
Blade is the most crucial part of the turbomachineries such as aero-engine, gas turbine, and it fabricates quality and directly determined
Determine the energy conversion efficiency, operation safety and service life of engine, and with variable cross-section, change chord length, change torsional angle, quantity
It is huge, the features such as measurement parameter is more.Therefore efficient, accurate blade profile measurement how is realized, it is ensured that it fabricates quality,
The problem of turning into blade processing manufacturing industry urgent need to resolve.Simultaneously efficient, accurate blade profile measurement is applied to aeroplane engine
The measure planning of the dense point of the Complex Surface Parts such as machine, gas turbine blades, is that follow-up blade is reverse-engineered, parameter fitting is examined
Survey and basic data is provided.
Because the bulk required precision of blade is high, positioning is complicated, so blade is quick, high-acruracy survey is always tired
Disturb the problem of manufacture enterprise.Three-dimensional coordinates measurement is the Typical Representative of instrument with contacts, with precision height, highly versatile, measurement
Stable advantage, is the main means that currently manufactured enterprise carries out whole inspection to blade.But three-dimensional coordinates measurement limited can only be surveyed
Measure blade profile molded line, the Limited information of acquisition（May be overproof between two molded line）, when to Blade measuring, due to three axles connection
It is dynamic, it is difficult to normal direction measurement is fully achieved, and normal error backoff algorithm is complicated, low precision;Acutely locate in Curvature varying（Such as leaf
Piece front and rear edge）, realize that accurate measurement difficulty is big, or even can not realize, cost is high, the cycle is long（Particularly large-scale blades）, obtain
Obtaining master data needs the time of about 30-40 minutes, and obtaining total data needs to take several hours even for more time, and
And can not more meet the full demand for surveying full inspection.Therefore, measuring method starts the measurement applied to complex-curved blade, due to
Blade surface requires high, not in surface spraying anything（Such as developer, sprayed to reduce reflective.）, so
Spot light has the advantage that can directly measure.A kind of sensor based on laser distance measuring principle can realize blade fast precise
Scanning survey, the dense point cloud in acquisition type face, but this method has following deficiency：1）Laser distance measuring principle due to the depth of field and
The limitation of measurement distance is more suitable for measuring relatively flat surface；2）Measurement is complex-curved to be needed to add rotary shaft, former by measurement
Reason limitation rotating axis calibration precision is bad to be ensured；3）Noise is big during to the area measure of higher curvature minor radius.
To sum up, a kind of measure planning method is invented based on laser distance measuring principle and realizes complex-curved blade for fast precise
Dense point cloud obtain, be follow-up blade reverse engineer and parameter fitting detection will be very significant.
The content of the invention
The present invention measures complex-curved blade for solution laser distance measuring principle and there is problem, and the present invention discloses a kind of based on sharp
Ligh-ranging principle realizes the paths planning method that complex-curved blade dense point cloud fast precise is obtained, and completes blade profile and thin
Section, the exact point cloud data acquisition of such as blade intake and exhaust edge, blade root and tenon, this method has that speed is fast, precision is high, noise
Small the features such as.
The present invention realizes that the method that goal of the invention is used is；
Step 1. is using the datum plane of blade CAD model as starting point, along the vertical Z-direction of reference plane according to design
Fixed step pitch intercepts the sectional profile curve lin of one group of blade profile to be measured, and by the cross section profile of one group of blade profile to be measured
Curve carries out arranged in sequence and made a mark respectively；
Step 2. constitutes to be measured to step 1 acquisition interception by blade inlet edge, trailing edge, leaf basin, the partial trace of blade back four
The sectional profile curve lin of blade profile, extracts one group of leaf pelvic curvature line and the public circle of contact deferent of blade back curve, forms leaf pelvic curvature line
With the mean camber line L of blade back curve；
The leaf pelvic curvature line and the mean camber line two ends of blade back curve that step 3. is obtained to step 2 are extended to and blade inlet edge curve
With trailing edge curve intersection, intersection point P is obtained1And P2, intersection point P1And P2The sectional profile curve lin of blade profile is divided into two sections of curve L1
And L2；
Two sections of curve L that step 4. is divided into the sectional profile curve lin that step 3 is obtained1And L2On, calculating obtains blade
Two point P at the maximum gauge of section3And P4, point P3And P4By two sections of curve L1And L2Four sections of curves are divided into, line segment L is obtained1-1、
L1-2、L2-1And L2-2；
The line segment L that step 5. is obtained to step 41-1、L1-2、L2-1And L2-2Make extension processing, two ends development length point in two ends
Not Wei the line segment length 1/8-1/4, P1And P2The extension of point is P1And P2The tangential direction extension of point curve arc, P3And P4Prolong
Stretch and extend for curvature；
The sectional profile curve lin for one group of blade profile to be measured that step 6. is obtained by step 2- steps 5 to step 1 is by mark
Note order whole is handled；
The sectional profile curve lin for one group of blade profile to be measured that step 7. is all handled step 6, by whole L1-1
Line segment is set as first group, L1-2Line segment is set as second group, L2-1Line segment is set as the 3rd group and L2-2Line segment is set as the 4th
Group, using every group of L1-1、L1-2、L2-1And L2-2The measuring route of curve generation measurement kinetic control system two-axle interlocking；
Step 8. is according to the sampled distance of design respectively to the L in step 71-1、L1-2、L2-1And L2-2Point on four suite lines
Sampled respectively, calculate the curvature direction of each sampled point, L is asked for respectively1-1、L1-2、L2-1And L2-2Four groups of normals to a curve
Angle average, using the normal angle average of every suite line group respectively as laser range sensor and L1-1、L1-2、L2-1And L2-2
The measurement angle of the measured spoon of blade of four suite lines correspondence；
Scanning survey path and the measurement angle of the determination of step 8 that step 9. is generated according to step 7, it is every to blade respectively
The measured spoon of blade of suite line correspondence carries out subregion scanning survey, four dense cloud datas is obtained, to four point clouds
Coordinate rotation is carried out around next equipment rotating shaft is calibrated, by under four cloud datas unifications to the same coordinate system, is obtained completely
Blade cloud data；
Curve extension processing and the measuring route of step 7 of the step 10. by step 5 so that the point cloud number that measurement is obtained
According to lap, iteration closest approach algorithm ICP is used according to lap（Iterative Closest Point）To point
Cloud data carry out global optimization, obtain final high-precision dense point cloud data.
The beneficial effects of the invention are as follows can effectively solve in complex-curved measurement process due to the measurement brought beyond the depth of field
The problem of precision is low.Accurate complete point cloud is obtained by data-optimized, the dependence of countershaft stated accuracy is reduced.Make full use of
Laser distance measuring principle gauge head does not influence this advantage of measurement accuracy when angled with testee, realizes well
The measurement of front and rear edge data.
The utility model is described in detail below in conjunction with the accompanying drawings.
Accompanying drawing 1 is flow chart of the present invention.
Section and mean camber line schematic diagram of the accompanying drawing 2 for blade profile to be measured.
Accompanying drawing 3 splits schematic diagram for the cross section contour of blade profile to be measured.
Accompanying drawing 4 extends schematic diagram for the cross section contour segmentation of blade profile to be measured.
Embodiment
Referring to accompanying drawing, a kind of planning parameters of scanning paths method that blade dense point cloud based on laser ranging is obtained, this method
There is following steps realization：
Step 1. is using the datum plane of blade CAD model as starting point, along the vertical Z-direction of reference plane according to design
Fixed step pitch intercepts the sectional profile curve lin of one group of blade profile to be measured, and by the cross section profile of one group of blade profile to be measured
Curve carries out arranged in sequence and made a mark respectively；
Step 2. constitutes to be measured to step 1 acquisition interception by blade inlet edge, trailing edge, leaf basin, the partial trace of blade back four
The sectional profile curve lin of blade profile, extracts one group of leaf pelvic curvature line and the public circle of contact deferent of blade back curve, forms leaf pelvic curvature line
With the mean camber line L of blade back curve；
The leaf pelvic curvature line and the mean camber line two ends of blade back curve that step 3. is obtained to step 2 are extended to and blade inlet edge curve
With trailing edge curve intersection, intersection point P is obtained1And P2, intersection point P1And P2The sectional profile curve lin of blade profile is divided into two sections of curve L1
And L2；
Two sections of curve L that step 4. is divided into the sectional profile curve lin that step 3 is obtained1And L2On, calculating obtains blade
Two point P at the maximum gauge of section3And P4, point P3And P4By two sections of curve L1And L2Four sections of curves are divided into, line segment L is obtained1-1、
L1-2、L2-1And L2-2；
The line segment L that step 5. is obtained to step 41-1、L1-2、L2-1And L2-2Make extension processing, two ends development length point in two ends
Not Wei the line segment length 1/8-1/4, P1And P2The extension of point is P1And P2The tangential direction extension of point curve arc, P3And P4 3
Extend to curvature extension；
The sectional profile curve lin for one group of blade profile to be measured that step 6. is obtained by step 2- steps 5 to step 1 is by mark
Note order whole is handled；
The sectional profile curve lin for one group of blade profile to be measured that step 7. is all handled step 6, by whole L1-1
Line segment is set as first group, L1-2Line segment is set as second group, L2-1Line segment is set as the 3rd group and L2-2Line segment is set as the 4th
Group, using every group of L1-1、L1-2、L2-1And L2-2The measuring route of curve generation measurement kinetic control system two-axle interlocking；
Step 8. is according to the sampled distance of design respectively to the L in step 71-1、L1-2、L2-1And L2-2Point on four suite lines
Sampled respectively, calculate the curvature direction of each sampled point, L is asked for respectively1-1、L1-2、L2-1And L2-2Four groups of normals to a curve
Angle average, using the normal angle average of every suite line group respectively as laser range sensor and L1-1、L1-2、L2-1And L2-2
The measurement angle of the measured spoon of blade of four suite lines correspondence；
Scanning survey path and the measurement angle of the determination of step 8 that step 9. is generated according to step 7, it is every to blade respectively
The measured spoon of blade of suite line correspondence carries out subregion scanning survey, four dense cloud datas is obtained, to four point clouds
Coordinate rotation is carried out around next equipment rotating shaft is calibrated, by under four cloud datas unifications to the same coordinate system, is obtained completely
Blade cloud data；
Curve extension processing and the measuring route of step 7 of the step 10. by step 5 so that the point cloud number that measurement is obtained
According to lap, iteration closest approach algorithm ICP is used according to lap（Iterative Closest Point）To point
Cloud data carry out global optimization, obtain final high-precision dense point cloud data.
When the present invention implements subregion scanning survey, the rotation of angle need to be disposably only measured, remaining is in same plane
The measurement of two-axle interlocking, greatlys save time of measuring.
The curve of step 5 of the present invention extends the purpose handled：Increase scanning survey scope so that twice sweep measurement
Data have overlapping region.For example：The curve L obtained after being handled by extension1-1And L1-2There is part weight in leaf basin region
It is folded, L2-1And L2-2Have in blade back region and partly overlap.Each rules and regulations tracing all has lap, is obtained after grouping mea-sure
The four part cloud datas obtained just have overlapping region, and overlapping region is used for follow-up data-optimized processing.
During the present invention is implemented, in step 2, forming mean camber line L method is, leaf pelvic curvature line and blade back curve are carried out respectively
Iso-metric offset, obtains the normal distance equal leaf pelvic curvature everywhere of one group of iso-metric offset curve and virgin curve each point in the same plane
The intersection point of the bias curve cluster of the bias curve cluster of line and blade back curve, leaf pelvic curvature line and blade back curve, by the intersection point of set of curves
Fitting just obtains mean camber line.
During the present invention is implemented, leaf pelvic curvature line and blade back curve carry out iso-metric offset step-length and carried on the back for 0 ＜ R length in/2, embodiment
R=0.05D is taken, R value size decides the number put on the mean camber line most always obtained here, R values are smaller, are used for
The point for being fitted mean camber line is more.Wherein R is offset or dish, and D is blade profile maximum gauge.
During the present invention is implemented, the sampled distance that the point on the suite line of step 8 pair four is sampled respectively is 0.1mm, sampling
The selection rule of distance is that can reflect bent curvature of a curve trend while amount of calculation is not increased.
The present invention is beneficial in that compared with the prior art：
1. due to ensure that the precision of measurement data must assure that the every bit of report measurement all exists using laser distance measuring principle
In effective field depth, this is fatal shortcoming for complex-curved, if without path planning, it is impossible to realized high
The measurement of precision, it is impossible to meet the high-precision demand of Blade measuring., can be effective after measurement path planning method using the present invention
Solve in complex-curved measurement process due to the measurement accuracy brought beyond the depth of field it is low the problem of.
2. complex-curved perfect measurement is realized using laser distance measuring principle, it is necessary to add the 4th axle in equipment --- rotation
Rotating shaft.Need to demarcate rotary shaft, the data for measuring each angle carry out coordinate transform, and then obtain complete blade
Cloud data.Rotating axis calibration precision directly determines the precision of partial data, and rotating axis calibration low precision can cause measurement data to be layered
Seriously.Due to when carrying out rotating axis calibration acquisition be standard ball part spherical crown data, rotating axis calibration precision is unstable, sometimes
It can not even ensure.After path planning algorithm using the present invention, accurate complete point cloud, drop can be obtained by data-optimized
The dependence of low countershaft stated accuracy.
3. laser distance measuring principle is when measuring the higher curvature minor radius regions such as blade front and rear edge, if without effective
Path planning, perpendicular to front and rear edge direct measurement, the front and rear edge data noise measured is big, sometimes even false data.
After path planning algorithm using the present invention, when taking full advantage of laser distance measuring principle gauge head and being that testee is angled
This advantage of measurement accuracy is not influenceed, and the measurement of front and rear edge data is realized well.
Claims (3)
1. a kind of planning parameters of scanning paths method that blade dense point cloud based on laser ranging is obtained, it is characterised in that：This method
There is following steps realization：
Step 1. is using the datum plane of blade CAD model as starting point, along the Z-direction vertical with reference plane consolidating according to design
Determine the sectional profile curve lin that step pitch intercepts one group of blade profile to be measured, and the cross section profile of one group of blade profile to be measured is bent
Line carries out arranged in sequence and made a mark respectively；
Step 2. constitutes blade to be measured to step 1 acquisition interception by blade inlet edge, trailing edge, leaf basin, the partial trace of blade back four
The sectional profile curve lin in type face, extracts one group of leaf pelvic curvature line and the public circle of contact deferent of blade back curve, forms leaf pelvic curvature line and leaf
Carry on the back the mean camber line L of curve；
The leaf pelvic curvature line and the mean camber line two ends of blade back curve that step 3. is obtained to step 2 extend to blade inlet edge curve and after
Edge curve intersection, obtains intersection point P1And P2, intersection point P1And P2The sectional profile curve lin of blade profile is divided into two sections of curve L1And L2；
Two sections of curve L that step 4. is divided into the sectional profile curve lin that step 3 is obtained1And L2On, calculating obtains blade profile
Two point P at maximum gauge3And P4, point P3And P4By two sections of curve L1And L2Four sections of curves are divided into, line segment L is obtained1-1、L1-2、
L2-1And L2-2；
The line segment L that step 5. is obtained to step 41-1、L1-2、L2-1And L2-2Extension processing is made at two ends, and two ends development length is respectively
The 1/8-1/4 of the line segment length, P1And P2The extension of point is P1And P2The tangential direction extension of point curve arc, P3And P4Extend to
Curvature extends；
The sectional profile curve lin for one group of blade profile to be measured that step 6. is obtained by step 2- steps 5 to step 1 is suitable by marking
Sequence whole is handled；
The sectional profile curve lin for one group of blade profile to be measured that step 7. is all handled step 6, by whole L1-1Line segment
It is set as first group, L1-2Line segment is set as second group, L2-1Line segment is set as the 3rd group and L2-2Line segment is set as the 4th group, should
With every group of L1-1、L1-2、L2-1And L2-2The measuring route of curve generation measurement kinetic control system two-axle interlocking；
Step 8. is according to the sampled distance of design respectively to the L in step 71-1、L1-2、L2-1And L2-2Point difference on four suite lines
Sampled, calculate the curvature direction of each sampled point, L is asked for respectively1-1、L1-2、L2-1And L2-2The normal angle of four suite lines
Average, using the normal angle average of every suite line group respectively as laser range sensor and L1-1、L1-2、L2-1And L2-2Four groups
The measurement angle of the measured spoon of blade of curve correspondence；
Scanning survey path and the measurement angle of the determination of step 8 that step 9. is generated according to step 7, respectively to blade per suite
The measured spoon of blade of line correspondence carries out subregion scanning survey, obtains four dense cloud datas, to four point clouds around
Calibrate the equipment rotating shaft come and carry out coordinate rotation, by under four cloud datas unifications to the same coordinate system, obtain complete blade
Cloud data；
Curve extension processing and the measuring route of step 7 of the step 10. by step 5 so that the cloud data tool that measurement is obtained
There is lap, iteration closest approach algorithm ICP is used according to lap（Iterative Closest Point）To a cloud number
According to global optimization is carried out, final high-precision dense point cloud data are obtained.
2. the planning parameters of scanning paths side that a kind of blade dense point cloud based on laser ranging according to claim 1 is obtained
Method, it is characterised in that：In step 2, forming mean camber line L method is, leaf pelvic curvature line and blade back curve is carried out respectively equidistant inclined
Put, obtain the normal distance equal leaf pelvic curvature line and leaf everywhere of one group of iso-metric offset curve and virgin curve each point in the same plane
The intersection point of the bias curve cluster of the bias curve cluster of back of the body curve, leaf pelvic curvature line and blade back curve, by the intersection point fitting of set of curves just
Obtain mean camber line.
3. the planning parameters of scanning paths that a kind of blade dense point cloud based on laser ranging according to claim 1 or 2 is obtained
Method, it is characterised in that：The sampled distance that point on the suite line of step 8 pair four is sampled respectively is 0.1mm.
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