CN106289146A - Complex curved surface parts topography measurement experimental technique - Google Patents
Complex curved surface parts topography measurement experimental technique Download PDFInfo
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- CN106289146A CN106289146A CN201610978837.2A CN201610978837A CN106289146A CN 106289146 A CN106289146 A CN 106289146A CN 201610978837 A CN201610978837 A CN 201610978837A CN 106289146 A CN106289146 A CN 106289146A
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- Prior art keywords
- measurement
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- curved surface
- surface parts
- igps
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Classifications
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
Abstract
Complex curved surface parts topography measurement experimental technique of the present invention, belongs to topography field, solves present in prior art that robot is when converting attitude scanning or scanning area is apart from each other, and certainty of measurement reduces technical problem；This method comprises the following steps: step one: demarcate topographical sensors；Step 2: obtain robot pose based on IGPS；Step 3: the three-dimensional appearance of complex curved surface parts is measured；Step 4: obtain complex-curved measurement data cloud data；Step 5: the cloud data obtained is simplified, extracts, smoothing processing；Step 6: complex-curved Point-clouds Registration based on IGPS；Step 7: the certainty of measurement of assay shape measurement system；The present invention utilizes global point cloud splicing based on IGPS to complete the splicing of cloud data, it is possible to efficiently reduces the measurement error that robot motion introduces, improves certainty of measurement.
Description
Technical field
The invention belongs to topography field, be specifically related to complex curved surface parts topography measurement experimental technique.
Background technology
Industrial robot has the highest repetitive positioning accuracy, but absolute fix precision is relatively low, but absolute fix is smart
Spend relatively low, although the correction through kinematics parameters can improve the absolute fix precision of robot, but can exist certain
Error.Robot convert attitude scanning or scanning area apart from each other time, the data of measurement cannot well split one
Rise, occur between the some cloud of zones of different translating or rotary shifted, but the cloud data of adjacent attitude scanning has overlap
Region, causes measurement error, reduces certainty of measurement.
Summary of the invention
The method that it is an object of the invention to provide the experiment of complex curved surface parts topography measurement, solves present in prior art
Robot is when converting attitude scanning or scanning area is apart from each other, and certainty of measurement reduces technical problem.
Complex curved surface parts topography measurement experimental technique of the present invention comprises the following steps:
Step one: demarcate topographical sensors；
Step 2: obtain robot pose based on IGPS；
Step 3: the three-dimensional appearance of complex curved surface parts is measured；
Step 4: obtain complex-curved measurement data cloud data；
Step 5: the cloud data obtained is simplified, extracts, smoothing processing；
Step 6: complex-curved Point-clouds Registration based on IGPS；
Step 7: the certainty of measurement of assay shape measurement system.
The Advantageous Effects of the present invention: the present invention utilizes global point cloud splicing based on IGPS to complete a cloud number
According to splicing, it is possible to efficiently reduce robot motion introduce measurement error, improve certainty of measurement.
Accompanying drawing explanation
Fig. 1 is the overview flow chart of complex curved surface parts topography measurement method of the present invention.
Detailed description of the invention
The present invention is further elaborated below in conjunction with the accompanying drawings.
Seeing accompanying drawing 1, invention complex curved surface parts topography measurement experimental technique comprises the following steps:
Step one: demarcate topographical sensors；
Step 2: obtain robot pose based on IGPS；
Step 3: the three-dimensional appearance of complex curved surface parts is measured；
Step 4: obtain complex-curved measurement data cloud data；
Step 5: the cloud data obtained is simplified, extracts, smoothing processing；
Step 6: complex-curved Point-clouds Registration based on IGPS；
Step 7: the certainty of measurement of assay shape measurement system.
Claims (1)
1. complex curved surface parts topography measurement experimental technique, it is characterised in that comprise the following steps:
Step one: demarcate topographical sensors；
Step 2: obtain robot pose based on IGPS；
Step 3: the three-dimensional appearance of complex curved surface parts is measured；
Step 4: obtain complex-curved measurement data cloud data；
Step 5: the cloud data obtained is simplified, extracts, smoothing processing；
Step 6: complex-curved Point-clouds Registration based on IGPS；
Step 7: the certainty of measurement of assay shape measurement system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610978837.2A CN106289146A (en) | 2016-11-08 | 2016-11-08 | Complex curved surface parts topography measurement experimental technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610978837.2A CN106289146A (en) | 2016-11-08 | 2016-11-08 | Complex curved surface parts topography measurement experimental technique |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106289146A true CN106289146A (en) | 2017-01-04 |
Family
ID=57721515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610978837.2A Pending CN106289146A (en) | 2016-11-08 | 2016-11-08 | Complex curved surface parts topography measurement experimental technique |
Country Status (1)
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| CN (1) | CN106289146A (en) |
Citations (6)
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|---|---|---|---|---|
| CN101363716A (en) * | 2008-09-26 | 2009-02-11 | 华中科技大学 | Combination space precision measurement system |
| WO2009127526A1 (en) * | 2008-04-18 | 2009-10-22 | 3D Scanners Ltd | Method and computer program for improving the dimensional acquisition of an object |
| CN101672637A (en) * | 2009-09-24 | 2010-03-17 | 华东理工大学 | Digitizing detection method of complicated curved face |
| CN102313522A (en) * | 2011-07-05 | 2012-01-11 | 长春理工大学 | High-precision all-airplane digital three-dimensional horizontal measuring system of airplane |
| CN102937426A (en) * | 2012-11-14 | 2013-02-20 | 湘潭大学 | Measurement method for large and complex parts based on robot visual servo |
| CN104484508A (en) * | 2014-11-26 | 2015-04-01 | 华中科技大学 | Optimizing method for noncontact three-dimensional matching detection of complex curved-surface part |
-
2016
- 2016-11-08 CN CN201610978837.2A patent/CN106289146A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009127526A1 (en) * | 2008-04-18 | 2009-10-22 | 3D Scanners Ltd | Method and computer program for improving the dimensional acquisition of an object |
| CN101363716A (en) * | 2008-09-26 | 2009-02-11 | 华中科技大学 | Combination space precision measurement system |
| CN101672637A (en) * | 2009-09-24 | 2010-03-17 | 华东理工大学 | Digitizing detection method of complicated curved face |
| CN102313522A (en) * | 2011-07-05 | 2012-01-11 | 长春理工大学 | High-precision all-airplane digital three-dimensional horizontal measuring system of airplane |
| CN102937426A (en) * | 2012-11-14 | 2013-02-20 | 湘潭大学 | Measurement method for large and complex parts based on robot visual servo |
| CN104484508A (en) * | 2014-11-26 | 2015-04-01 | 华中科技大学 | Optimizing method for noncontact three-dimensional matching detection of complex curved-surface part |
Non-Patent Citations (1)
| Title |
|---|
| 钟凯 等: "《组合式大尺寸三维测量系统中的结构参数标定算法》", 《天津大学学报》 * |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170104 |