CN106247938A - The method extracting bolt hole characteristic based on three-dimensional laser scanner - Google Patents
The method extracting bolt hole characteristic based on three-dimensional laser scanner Download PDFInfo
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- CN106247938A CN106247938A CN201610786161.7A CN201610786161A CN106247938A CN 106247938 A CN106247938 A CN 106247938A CN 201610786161 A CN201610786161 A CN 201610786161A CN 106247938 A CN106247938 A CN 106247938A
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- bolt hole
- spherical target
- laser scanner
- target
- dimensional laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of method extracting bolt hole characteristic based on three-dimensional laser scanner, for measuring the characteristic of the bolt hole on steel construction, including: step one, the radius measuring bolt hole to be measured and altitude information, being fixed on bolt hole to be measured by spherical target, one end of bolt hole contacts with spherical target；Step 2, utilize three-dimensional laser scanner that bolt hole to be measured and spherical target are carried out panoramic scanning, obtain the cloud data of spherical target surface；Step 3, the cloud data of gained in step 2 is processed, it is thus achieved that the three-dimensional coordinate of the central point of spherical target, be calculated the three-dimensional coordinate of the central point of bolt hole further according to the three-dimensional coordinate of the central point of spherical target.The three-dimensional coordinate of the central point of the bolt hole that the present invention obtains is improved in tradition direct Points cloud Fitting precision, provides reliable measurement data for the follow-up virtual preassembling of bolted steel construction.
Description
Technical field
The present invention relates to steel construction virtual preassembling field.It is more particularly related to one is based on three-dimensional laser
Scanner extracts the method for bolt hole characteristic.
Background technology
Bridge steel plate component is both needed to carry out preassembling after factory completes, in recent years, along with computer aided manufacturing
Development, more and more maker begin one's study virtual preassembling, to save a large amount of human and material resources and financial resources.Virtual preassembling
First work is exactly the collection of real component eigenvalue, and this is also a job of most critical, and the means of its test mainly have number
Word industrial measurement technique, three-dimensional laser scanner measuring technology, laser tracker measuring technology.For welded unit allowable error
Relatively big, test data can meet virtual preassembling requirement substantially, but measuring accuracy requires that high bolt connection can't be effective
Solution, key issue is that the centre coordinate data of bolt hole are difficult to accurately extract, conventional three-dimensional laser scanner test
Technology directly scans component, it is thus achieved that the cloud data of a large amount of components, by cloud data direct matching bolt hole center coordinate, but
Owing to the reasons such as cloud data survey station stitching error, the identification of bolt hole cloud data, component get rusty cause in direct matching
Heart error of coordinate is relatively big, does not reaches the machining accuracy of component self, more can not meet preframed requirement, the most a large amount of some cloud numbers
The most automatically do not search the position of feature bolt hole according to software, need to manually be identified.
Summary of the invention
It is an object of the present invention to provide a kind of method extracting bolt hole characteristic based on three-dimensional laser scanner,
Spherical target is fixed on bolt hole to be measured, by three-dimensional laser scanner, bolt hole to be measured and spherical target is carried out panorama
The cloud data of the spherical target surface that scanning obtains carries out being calculated the three-dimensional coordinate of the central point of spherical target, further according to
The three-dimensional coordinate of the central point of spherical target is calculated the three-dimensional coordinate of the central point of described bolt hole, directly puts cloud in tradition
It is improved on data fitting precision, provides reliable measurement data for the follow-up virtual preassembling of bolted steel construction.
In order to realize according to object of the present invention and further advantage, it is provided that one carries based on three-dimensional laser scanner
The method taking bolt hole characteristic, for measuring the characteristic of the bolt hole on steel construction, including:
Step one, the radius measuring bolt hole to be measured and altitude information, be fixed on spherical target on bolt hole to be measured, spiral shell
One end of keyhole contacts with described spherical target；
Step 2, utilize three-dimensional laser scanner that bolt hole to be measured and spherical target are carried out panoramic scanning, obtain spherical
The cloud data of target surface；
Step 3, the cloud data of gained in step 2 is processed, it is thus achieved that the three-dimensional seat of the central point of spherical target
Mark, is calculated the three-dimensional coordinate of the central point of described bolt hole further according to the three-dimensional coordinate of the central point of spherical target.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, in step 2,
After spherical target is fixed on bolt hole to be measured, the height of the part that described spherical target is positioned at outside bolt hole is not less than described ball
The 3/4 of shape target diameter.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, described spherical
Target uses the engineering plastics of lightweight to be made.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, described spherical
The surface of target is done frosted and is processed or spray contrast enhancement agents.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, in step 3
Obtain the three-dimensional coordinate (X of the central point of spherical target1,Y1,Z1After), according to the three-dimensional coordinate (X of the central point of spherical target1,
Y1,Z1) it is calculated the three-dimensional coordinate (X of the central point of described bolt hole1’,Y1’,Z1') computing formula as follows:
X′1=X1
Y′1=Y1
Z′1=Z1-Δh
The computing formula of Δ h is as follows:
H represents the height of bolt hole；R represents the radius of spherical target；R represents the radius of bolt hole.
Preferably, the described method extracting bolt hole characteristic based on three-dimensional laser scanner, specifically include: point
Other actionradius is the spherical target of R, 1.2R, 1.4R, 1.6R, 1.8R, keeps position and the scan angle of three-dimensional laser scanner
Spend constant, repeat step one to step 3, obtain when spherical target radius is R, 1.2R, 1.4R, 1.6R, 1.8R in spherical target
Three-dimensional coordinate (the X of heart point1,Y1,Z1)、(X2,Y2,Z2)、(X3,Y3,Z3)、(X4,Y4,Z4) and (X5,Y5,Z5), then it is calculated ball
Three-dimensional coordinate data (the X of the central point of described bolt hole when shape target radius is R, 1.2R, 1.4R, 1.6R, 1.8R, 2R1’,
Y1’,Z1’)、(X2’,Y2’,Z2’)、(X3’,Y3’,Z3’)、(X4’,Y4’,Z4') and (X5’,Y5’,Z5'), then by being calculated
The three-dimensional coordinate of described bolt hole (X ', Y ', Z '), computational methods are as follows:
X '=K1X′1+K2X′2+K3X′3+K4X′4+K5X′5
Y '=K1Y′1+K2Y′2+K3Y′3+K4Y′4+K5Y′5
Z '=K1XZ′1+K2Z′2+K3Z′3+K4Z′4+K5Z′5
K1=0.3；K2=0.25；K3=0.2；K4=0.15；K5=0.1.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, solid with target
Determining device to be fixed with bolt hole to be measured by described spherical target, described target fixing device includes:
Connecting rod, it is located in bolt hole to be measured, and the outer wall at described connecting rod two ends is equipped with external screw thread；
Spherical target, is provided with the first blind hole along radial direction with its ball, and the inwall of described first blind hole is provided with spiral shell
Stricture of vagina, described spherical target is connected with the threaded one end of described connecting rod by described first blind hole；
Fixed station, it is made up of integrated Part I and Part II, and described Part I is for inserting spiral shell to be measured
The cylindrical of keyhole, the radius of described Part I is equal with the radius of bolt hole to be measured, in the top of described Part I
Heart position is provided with the second blind hole, and the inwall of described second blind hole is provided with screw thread, described second blind hole and described connecting rod
The other end is threaded, and described Part II is up big and down small truncated cone-shaped, the top of described Part II and described first
Point bottom connect, the centrage of Part II and the centrage of described Part I on the same line, described Part II
Arranging of fitting of the bottom of top and described steel construction and its radius more than the radius of described Part I, described second
Point top is also hinged with many fixing bars, and described fixing bar is the semicolumn bodily form, and the free end of described fixing bar is provided with Magnet,
The sidewall of described Part II is provided with multiple fixing bar holding tank along sidewall direction, and described fixing bar holding tank is solid with described
The semi-cylindrical of fixed pole coupling, and equal with described fixing bar quantity, and one_to_one corresponding, described fixing bar holding tank is away from first
It is provided with iron plate in the cell body of one end of part.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, described fixing
The material of platform is light plastic.
Preferably, in the described method extracting bolt hole characteristic based on three-dimensional laser scanner, multiple fixing
Bar holding tank is four, and four fixing bar holding tanks are set at 90 ° intervals on same circumference.
The present invention at least includes following beneficial effect:
The present invention extracts the method for bolt hole characteristic rationally, accurately based on three-dimensional laser scanner, analyzes, calculates
Quickly, it is possible to accurately obtain the central point data of bolt hole to be measured, improve 3 D laser scanning strap bolt hole and obtain bolt hole spy
Levy the precision of data.
The method extracting bolt hole characteristic based on three-dimensional laser scanner of the present invention, uses the spherical of different radii
Bolt hole to be measured is taken multiple measurements by target, obtains Duo Zu bolt hole center point data, and it is asked weighted mean, obtain
The three-dimensional coordinate data of bolt hole center's point more accurate.
The target fixture structure that the present invention provides is simple and convenient to operate, it is possible to be stably fixed to by spherical target
On bolt hole to be measured, prevent in three-dimensional laser scanner scanning process the measurement data that causes because of the skew of spherical target not
Accurately, thus improve the certainty of measurement at center of bolt hole, it is ensured that the test data essence of the bolt hole of virtual pre-splicing component
Degree.
Part is embodied by the further advantage of the present invention, target and feature by description below, and part also will be by this
Invention research and practice and be understood by the person skilled in the art.
Accompanying drawing explanation
Fig. 1 is the structural representation of target fixing device of the present invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to description literary composition
Word can be implemented according to this.
It should be noted that in describing the invention, term " laterally ", " longitudinally ", " on ", D score, "front", "rear",
The orientation of the instruction such as "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " or position relationship are for based on accompanying drawing institute
The orientation shown or position relationship, be for only for ease of the description present invention and simplify description, is not instruction or the dress of hint indication
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit to the present invention
System.
As it is shown in figure 1, the present invention provides a kind of method extracting bolt hole characteristic based on three-dimensional laser scanner, use
The characteristic of the bolt hole on measurement steel construction, including:
Step one, the radius measuring bolt hole to be measured and altitude information, be fixed on spherical target on bolt hole to be measured, spiral shell
One end of keyhole contacts with described spherical target；
Step 2, utilize three-dimensional laser scanner that bolt hole to be measured and spherical target are carried out panoramic scanning, wherein to ball
Improve scanning accuracy during the scanning of shape target area, obtain the cloud data of spherical target surface；
Step 3, utilize virtual preassembling software that the cloud data of gained in step 2 is processed, it is thus achieved that spherical mark
The three-dimensional coordinate of the central point of target, is calculated the center of described bolt hole further according to the three-dimensional coordinate of the central point of spherical target
The three-dimensional coordinate of point.
The method extracting bolt hole characteristic based on three-dimensional laser scanner that this programme is provided, passes through in step 3
The cloud data of spherical target is calculated the three-dimensional coordinate of the central point of spherical target, and RANSAC algorithm can be used to realize ball
The extraction of body central point, RANSAC is the abbreviation of " Random Sample Consensus (stochastical sampling concordance) ".It is from
The alternative manner of one group of observation data its mathematical model parameter of collective estimation comprising exceptional value.RANSAC is a kind of uncertain calculation
Method, in a sense, it only has certain probability to draw a rational result, and improving this probability needs to increase iteration
Number of times.This algorithm is proposed in 1981 by Fischler and Bolles the earliest.The basic assumption of RANSAC is: data are by " intra-office
Point " form, the distribution of such as data can be explained by some model parameters, and " point not in the know " is the number not adapting to this model
According to, data in addition belong to noise.Not in the know noisy extreme value of Producing reason, the observation of mistake and the mistake to data
False assumption etc..RANSAC have also been made it is assumed hereinafter that: given one group of (the least) intra-office point, have one and can estimate model
The process of parameter, this model can optimally be explained or be applicable to these data.The input of RANSAC algorithm is one group of observation
Data, a parameterized model that can explain or be adapted to observe data, some believable parameters.RANSAC is by repeatedly
One group of random subset in data is selected to reach target.The subset selected is assumed to be intra-office point, and carries out by following method
Checking: 1) there is a model to be adapted to the intra-office point assumed, the most all of unknown parameter can calculate from the intra-office point assumed
Go out；2) with 1) in the model that obtains go to test other data all of, if certain point is applicable to the model estimated, it is believed that it is also
It it is intra-office point；3) if there being abundant point to be classified as the intra-office point assumed, then the model of estimation is sufficient for rationally；4) right
After, go to reappraise model with the intra-office point of all hypothesis, because it is only by initial hypothesis intra-office point estimation；5)
After, by estimating that intra-office point carrys out assessment models with the error of model.This process is repeatedly executed fixing number of times, produces every time
Model otherwise because intra-office point is rejected very little, or because more preferable and selected than existing model.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, in step 2, spherical target
After being fixed on bolt hole to be measured, the height of the part that described spherical target is positioned at outside bolt hole is straight not less than described spherical target
The 3/4 of footpath.The cloud data that can ensure that in the cloud data that spatial digitizer measurement obtains on spherical target surface and bolt
The cloud data difference in hole becomes apparent from.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, described spherical target uses light
The engineering plastics of matter are made.Spherical target uses the engineering plastics of lightweight to make, convenient formation, and low price is suitable for surveying
Situation during target is used in a large number during amount.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, the surface of described spherical target
Do frosted process or spray contrast enhancement agents.The surface of spherical target do frosted process or spray contrast enhancement agents enable in
The cloud data that three-dimensional laser scanner measurement obtains is the most accurate.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, step 3 obtains spherical mark
Three-dimensional coordinate (the X of the central point of target1,Y1,Z1After), according to the three-dimensional coordinate (X of the central point of spherical target1,Y1,Z1) calculate
Three-dimensional coordinate (X to the central point of described bolt hole1’,Y1’,Z1') computing formula as follows:
X′1=X1
Y′1=Y1
Z′1=Z1-Δh
The computing formula of Δ h is as follows:
H represents the height of bolt hole；R represents the radius of spherical target；R represents the radius of bolt hole.
The method extracting bolt hole characteristic based on three-dimensional laser scanner that this programme is provided, by spherical mark
The process of the three dimensional point cloud on target surface obtains the three-dimensional coordinate of the central point of spherical target, according to the central point of spherical target
Being positioned on the centrage of bolt hole, the central point of bolt hole coordinate in X, Y-axis is identical with the central point of spherical target, then counts
Calculate the distance of the central point of spherical target and the central point of bolt hole, just can be according to the central point of spherical target seat on Z axis
Mark obtains the central point of bolt hole coordinate on Z axis, can be calculated the three-dimensional coordinate of the central point of bolt hole.
The described method extracting bolt hole characteristic based on three-dimensional laser scanner, specifically includes: use half respectively
Footpath is the spherical target of R, 1.2R, 1.4R, 1.6R, 1.8R, keeps the position of three-dimensional laser scanner and scanning angle constant, weight
Multiple step one, to step 3, obtains when spherical target radius is R, 1.2R, 1.4R, 1.6R, 1.8R the three of spherical Target Center point
Dimension coordinate (X1,Y1,Z1)、(X2,Y2,Z2)、(X3,Y3,Z3)、(X4,Y4,Z4) and (X5,Y5,Z5), then it is calculated spherical target half
Footpath is the three-dimensional coordinate data (X of the central point of described bolt hole when being R, 1.2R, 1.4R, 1.6R, 1.8R, 2R1’,Y1’,Z1’)、
(X2’,Y2’,Z2’)、(X3’,Y3’,Z3’)、(X4’,Y4’,Z4') and (X5’,Y5’,Z5'), then by being calculated described bolt
The three-dimensional coordinate in hole (X ', Y ', Z '), computational methods are as follows:
X '=K1X′1+K2X′2+K3X′3+K4X′4+K5X′5
Y '=K1Y′1+K2Y′2+K3Y′3+K4Y′4+K5Y′5
Z '=K1XZ′1+K2Z′2+K3Z′3+K4Z′4+K5Z′5
K1=0.3；K2=0.25；K3=0.2；K4=0.15；K5=0.1.
The data method based on three-dimensional laser scanner extraction bolt hole characteristic that this programme is provided, according to reality
Border measurement structure, repetitive measurement asks the degree of accuracy ratio of the three-dimensional coordinate of the central point of the spherical target that weighted average is worth to single
The degree of accuracy of the three-dimensional coordinate of the central point of the spherical target that measured value obtains wants high by 30%, and the radius of spherical target is the biggest,
The three-dimensional coordinate data degree of accuracy of the central point of calculated spherical target is the poorest, the central point of the bolt hole finally obtained
Degree of accuracy is the poorest, so the change with the radius of spherical target is big, by more and more less for its weight seeking weighted mean when,
Finally by the three-dimensional coordinate (X of the central point of spherical target that footpath is R, 1.2R, 1.4R, 1.6R, 1.8R1,Y1,Z1)、(X2,Y2,
Z2)、(X3,Y3,Z3)、(X4,Y4,Z4) and (X5,Y5,Z5) weight be respectively set to K1=0.3；K2=0.25；K3=0.2；K4=
0.15；K5=0.1.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, by target fixing device by institute
Stating spherical target to fix with bolt hole to be measured, described target fixing device includes:
Connecting rod 110, it is located in bolt hole 100 to be measured, and the outer wall at described connecting rod 110 two ends is equipped with outer spiral shell
Stricture of vagina；
Spherical target 120, is provided with the first blind hole 121, the inwall of described first blind hole 121 along radial direction with its ball
Being provided with screw thread, described spherical target 120 is connected with the threaded one end of described connecting rod 110 by described first blind hole 121；Logical
Cross connecting rod 110 and the first blind hole 121 threaded, spherical target 120 and connecting rod 110 are fixed；
Fixed station 130, it is made up of integrated Part I 131 and Part II 132, described Part I 131
For inserting the cylindrical of bolt hole 100 to be measured, the radius of described Part I 131 is equal with the radius of bolt hole 100 to be measured,
The top center of described Part I 131 is provided with the second blind hole 133, and the inwall of described second blind hole 133 is provided with spiral shell
Stricture of vagina, described second blind hole 133 is threadeded with the other end of described connecting rod 110, owing to the radius of Part I 131 is with to be measured
The radius of bolt hole 100 is equal, thus ensures that the centrage of the second blind hole 133 centrage with bolt hole 100 to be measured is same
On straight line, threadeded with the other end of connecting rod 110 by the second blind hole 133 so that the centrage of connecting rod 110 and to be measured
The centrage of bolt hole 100 on the same line, and then ensure that the centre of sphere of spherical target 120 is in bolt hole 100 to be measured
On heart line；Simultaneously because the radius of Part I 131 is equal with the radius of bolt hole 100 to be measured, the relative steel of Part I 131 is tied
Structure will not the displacement in occurred level direction；Described Part II 132 is up big and down small truncated cone-shaped, described Part II 132
Top is connected with the bottom of described Part I 131, the centrage of Part II 132 and the centrage of described Part I 131
On the same line, the top of described Part II 132 fits with the bottom of described steel construction 140 setting and its radius are big
In the radius of described Part I 131, the setting that the bottom of the top of Part II 132 and described steel construction fits can be protected
The stability connected between card fixed station 130 and steel construction, fixes fixed station 130 with steel construction；Described Part II 132
Top is also hinged with many fixing bars 134, and described fixing bar 134 is the semicolumn bodily form, and the free end of described fixing bar 134 is arranged
Having Magnet 135, when fixed station 130 is fixed on bolt hole 100, fixing bar 134 and steel structure connection, by steel construction to solid
The magnetic force of the Magnet 135 in fixed pole 134, is fixed on fixed station 130 on steel construction；The sidewall of described Part II 132 is along side
Wall direction is provided with multiple fixing bar holding tank 136, and described fixing bar holding tank 136 is half mated with described fixing bar 134
Cylinder, and equal with described fixing bar 134 quantity, and one_to_one corresponding, described fixing bar holding tank 136 is away from Part I
It is provided with iron plate 137 in the cell body of one end of 131, when not using, fixing bar 134 can be recovered in fixing bar holding tank 136,
By the magneticaction between the iron plate 137 in cell body and the Magnet 135 on fixing bar 134, fixing bar 134 is fixed on fixing
In bar holding tank 136.
Target fixing device provided by the present invention, is now connected connecting rod 110 with Part I 131 during use,
Then being penetrated in bolt hole 100 to be measured by Part I 131, Part II 132 is inconsistent with steel construction, arranges many fixing bars
134, by the magneticaction between Magnet 135 and the steel construction on fixing bar 134, fixed station 130 is fixed on steel construction,
Again spherical target 120 is connected with connecting rod 110, spherical target 120 is fixed on bolt hole 100 to be measured, thus ensures ball
The shape target 120 stability during measuring, prevents in three-dimensional laser scanner scanning process because spherical target 120 inclined
Move and the measurement data that causes is inaccurate, thus improve the certainty of measurement at the center of bolt hole 100, it is ensured that virtual pre-piece together
The data testing accuracy of the bolt hole 100 of part.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, the material of described fixed station 130
Material is light plastic.The material of spherical target 120 and fixed station 130 is light plastic, both can ensure that the strong of fixed station 130
Degree, also can alleviate the weight of fixed station 130, prevents from causing the magnetic of Magnet 135 on fixing bar 134 because fixed station 130 mass is excessive
Power causes fixed station 130 stability not enough not.
In the described method extracting bolt hole characteristic based on three-dimensional laser scanner, multiple fixing bar holding tanks
136 is four, and four fixing bar holding tanks 136 are set at 90 ° intervals on same circumference.Multiple fixing bar holding tanks 136 are also
Can be six, six fixing bar holding tanks 136 are spaced 60 ° and are arranged on same circumference；Or multiple fixing bar holding tanks
136 can also be five, and five fixing bar holding tanks 136 are spaced 72 ° and are arranged on same circumference, multiple fixing bars 134
As long as arranging and ensure that multiple fixing bar 134 is uniformly distributed, it is ensured that the uniform force of fixed station 130.
Although embodiment of the present invention are disclosed as above, but it is not restricted in description and embodiment listed
Using, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily
Realizing other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention does not limit
In specific details with shown here as the legend with description.
Claims (9)
1. the method extracting bolt hole characteristic based on three-dimensional laser scanner, for measuring the bolt hole on steel construction
Characteristic, it is characterised in that including:
Step one, the radius measuring bolt hole to be measured and altitude information, be fixed on spherical target on bolt hole to be measured, bolt hole
One end contact with described spherical target；
Step 2, utilize three-dimensional laser scanner that bolt hole to be measured and spherical target are carried out panoramic scanning, obtain spherical target
The cloud data on surface；
Step 3, the cloud data of gained in step 2 is processed, it is thus achieved that the three-dimensional coordinate of the central point of spherical target, then
The three-dimensional coordinate of the central point according to spherical target is calculated the three-dimensional coordinate of the central point of described bolt hole.
2. want the method extracting bolt hole characteristic based on three-dimensional laser scanner as described in 1 such as right, it is characterised in that step
In rapid two, after spherical target is fixed on bolt hole to be measured, the height of the part that described spherical target is positioned at outside bolt hole is the least
In described spherical target diameter 3/4.
3. want the method extracting bolt hole characteristic based on three-dimensional laser scanner as described in 2 such as right, it is characterised in that institute
Stating spherical target uses the engineering plastics of lightweight to be made.
4. want the method extracting bolt hole characteristic based on three-dimensional laser scanner as described in 3 such as right, it is characterised in that institute
The surface stating spherical target is done frosted process or sprays contrast enhancement agents.
5. want the method extracting bolt hole characteristic based on three-dimensional laser scanner as described in 1 such as right, it is characterised in that step
Three-dimensional coordinate (the X of the central point of spherical target is obtained in rapid three1,Y1,Z1After), according to the three-dimensional seat of the central point of spherical target
Mark (X1,Y1,Z1) it is calculated the three-dimensional coordinate (X of the central point of described bolt hole1’,Y1’,Z1') computing formula as follows:
X′1=X1
Y′1=Y1
Z′1=Z1-Δh
The computing formula of Δ h is as follows:
H represents the height of bolt hole；R represents the radius of spherical target；R represents the radius of bolt hole.
6. the method extracting bolt hole characteristic based on three-dimensional laser scanner as claimed in claim 5, it is characterised in that
Specifically include: actionradius is the spherical target of R, 1.2R, 1.4R, 1.6R, 1.8R respectively, keep the position of three-dimensional laser scanner
Put constant with scanning angle, repeat step one to step 3, obtain spherical target radius when being R, 1.2R, 1.4R, 1.6R, 1.8R
Three-dimensional coordinate (the X of spherical Target Center point1,Y1,Z1)、(X2,Y2,Z2)、(X3,Y3,Z3)、(X4,Y4,Z4) and (X5,Y5,Z5), then
It is calculated the three-dimensional coordinate of the central point of described bolt hole when spherical target radius is R, 1.2R, 1.4R, 1.6R, 1.8R, 2R
Data (X1’,Y1’,Z1’)、(X2’,Y2’,Z2’)、(X3’,Y3’,Z3’)、(X4’,Y4’,Z4') and (X5’,Y5’,Z5'), then lead to
Crossing the three-dimensional coordinate (X ', Y ', Z ') being calculated described bolt hole, computational methods are as follows:
X '=K1X′1+K2X′2+K3X′3+K4X′4+K5X′5
Y '=K1Y′1+K2Y′2+K3Y′3+K4Y′4+K5Y′5
Z '=K1XZ′1+K2Z′2+K3Z′3+K4Z′4+K5Z′5
K1=0.3；K2=0.25；K3=0.2；K4=0.15；K5=0.1.
7. the method extracting bolt hole characteristic based on three-dimensional laser scanner as claimed in claim 1, it is characterised in that
Being fixed with bolt hole to be measured by described spherical target by target fixing device, described target fixing device includes:
Connecting rod, it is located in bolt hole to be measured, and the outer wall at described connecting rod two ends is equipped with external screw thread；
Spherical target, is provided with the first blind hole along radial direction with its ball, and the inwall of described first blind hole is provided with screw thread, institute
State spherical target to be connected with the threaded one end of described connecting rod by described first blind hole；
Fixed station, it is made up of integrated Part I and Part II, and described Part I is for inserting bolt hole to be measured
Cylindrical, the radius of described Part I is equal with the radius of bolt hole to be measured, the top center position of described Part I
Installing and be equipped with the second blind hole, the inwall of described second blind hole is provided with another of screw thread, described second blind hole and described connecting rod
Holding threaded, described Part II is up big and down small truncated cone-shaped, the top of described Part II and described Part I
Bottom connect, the centrage of Part II and the centrage of described Part I on the same line, the top of described Part II
What the bottom of portion and described steel construction fitted arranged and its radius is more than the radius of described Part I, described Part II top
Portion is also hinged with many fixing bars, and described fixing bar is the semicolumn bodily form, and the free end of described fixing bar is provided with Magnet, described
The sidewall of Part II is provided with multiple fixing bar holding tank along sidewall direction, and described fixing bar holding tank is and described fixing bar
The semi-cylindrical of coupling, and equal with described fixing bar quantity, and one_to_one corresponding, described fixing bar holding tank is away from Part I
One end cell body in be provided with iron plate.
8. want the method extracting bolt hole characteristic based on three-dimensional laser scanner as described in 7 such as right, it is characterised in that institute
The material stating fixed station is light plastic.
9. want the method extracting bolt hole characteristic based on three-dimensional laser scanner as described in 7 such as right, it is characterised in that many
Individual fixing bar holding tank is four, and four fixing bar holding tanks are set at 90 ° intervals on same circumference.
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| CN106886659A (en) * | 2017-03-21 | 2017-06-23 | 湖南联智监测科技有限公司 | The virtual pre-splicing and detection method of steel structure bridge based on 3 D laser scanning and cloud platform |
| CN107024174A (en) * | 2017-05-18 | 2017-08-08 | 北京市建筑工程研究院有限责任公司 | Powdery material pile volume measuring apparatus and method based on three-dimensional laser scanning technique |
| CN108645339A (en) * | 2018-05-14 | 2018-10-12 | 国能生物发电集团有限公司 | A kind of acquisition of bio-power plant material buttress point cloud data and calculation method of physical volume |
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| CN110223373A (en) * | 2019-04-23 | 2019-09-10 | 北京建筑大学 | The determination method, device and equipment of bolt sphere geometry parameter information |
| CN110411341A (en) * | 2019-07-31 | 2019-11-05 | 易思维（杭州）科技有限公司 | The pose calculation method of the object containing screw thread |
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| CN111710447A (en) * | 2020-06-23 | 2020-09-25 | 中国核动力研究设计院 | Method and system for detecting main bolt hole of pressure vessel |
| CN112372282A (en) * | 2020-11-06 | 2021-02-19 | 苏州锐凯标准件有限公司 | Bolt tightening system |
| CN114061448A (en) * | 2021-10-26 | 2022-02-18 | 成都飞机工业（集团）有限责任公司 | Method and device for obtaining assembling position deviation of assembling hole of composite material wallboard |
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