CN107480356B - Component design and inspection integrated method based on CATIA and laser tracker - Google Patents
Component design and inspection integrated method based on CATIA and laser tracker Download PDFInfo
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- CN107480356B CN107480356B CN201710636042.8A CN201710636042A CN107480356B CN 107480356 B CN107480356 B CN 107480356B CN 201710636042 A CN201710636042 A CN 201710636042A CN 107480356 B CN107480356 B CN 107480356B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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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
Abstract
The invention discloses a component design and inspection integrated method based on a CATIA (computer-aided three-dimensional interactive application) and a laser tracker, which is characterized in that a CATIA secondary development environment is established by utilizing a CATIA development platform, and a 'Measurement' module is added in a CATIA system and consists of units such as instrument connection, parameter setting, coordinate conversion, automatic Measurement, position detection, straightness detection, model value deviation detection and the like. The CATIA software establishes communication with the laser tracker through the instrument connecting unit, and on the basis of the communication, parameter setting, coordinate system exchanging, measurement data acquisition and detection result analysis of the laser tracker are realized. Through the steps, the conversion from a design model to a detection model can be avoided, and the integration of design and inspection is realized; in addition, the invention also provides a customized development function, and compared with general software, the method has the advantages of simpler operation, wider use scene and higher efficiency.
Description
Technical Field
The invention relates to the field of component manufacturing, assembling and inspection, in particular to a component design and inspection integrated method based on CATIA and a laser tracker.
Background
The production process of mechanical products is generally divided into four parts, namely design, part manufacturing, component assembly and inspection, wherein the inspection directly influences the production progress and the product quality throughout the whole production process of the products. Since the eighties of the twentieth century, computer aided design and manufacturing (CAD/CAM) technology has been rapidly developed, and thus developed digital design simulation technology, digital inspection technology and digital information processing technology are increasingly widely applied to the production process of mechanical products.
At present, the digitalized inspection technology is mostly adopted for the inspection of the appearance size of parts with large size, complex appearance and high precision requirements at home and abroad. The digital inspection technology comprises two parts, namely digital inspection equipment and digital inspection software, wherein the main inspection equipment comprises a laser tracker, a three-coordinate measuring machine and the like, and the inspection software mainly comprises Spatial Analyzer (SA) of the company New River computers in the United states. The general inspection method is that three-dimensional models in design software such as CATIA, UG and the like are converted into international standard format igs or stl, and then imported into inspection software such as SA and the like to obtain the theoretical size and form and position tolerance requirements of the object to be inspected; and on the other hand, the inspection equipment is utilized to carry out actual measurement on the object to be measured to obtain actual measurement data, and the actual measurement data and the theoretical data are compared to detect whether the product is qualified or not. In the process, design data may be lost at the step of model conversion, so that the inspection result is relatively incorrect, the inspection efficiency is reduced, and the like. In addition, in order to prevent piracy, the verification software such as SA needs to insert a configured dongle Key into a computer during use, and cannot be applied to specific occasions.
Disclosure of Invention
The purpose of the invention is as follows: based on the defects, the invention provides a novel digital inspection method, which combines the current mainstream three-dimensional design software CATIA and a digital inspection equipment laser tracker, adds a corresponding inspection module in the CATIA software through a CAA (computer application architecture) development platform and a TIC/IP communication technology, and realizes the integration of design and inspection.
The technical scheme is as follows: the invention relates to a component design and inspection integrated method based on a CATIA and a laser tracker, which comprises the following steps:
1) connection establishment: and establishing connection between the laser tracker and the CATIA software based on a TCP/IP protocol, wherein a computer running the CATIA software is used as a client, the laser tracker is used as a server, and a C/S communication model is established.
2) Setting an environment: basic setting and measurement setting are carried out on the laser tracker in CATIA software, the basic setting specifically comprises unit setting of length, temperature, humidity and air pressure and environment parameter setting of temperature, humidity and air pressure, and the measurement setting comprises selection of coordinate types, selection of measurement modes and selection of target ball specifications. And set reference points for the design model in the CATIA.
3) And (3) actual measurement: and arranging reference point holes around the detected object, and measuring the coordinates of the reference point holes of the detected object by using a laser tracker to obtain three-dimensional coordinate values under a coordinate system of the laser tracker.
4) And (3) converting a coordinate system: and solving the conversion relation between the laser tracker coordinate system and the design coordinate system of the measured object by utilizing a least square relation, and unifying the laser tracker coordinate system to the coordinate system of the measured object.
5) Searching target coordinates: the laser of the driving laser tracker aims at the theoretical coordinate of the measured point, the actual coordinate of the measured point is inconsistent with the theoretical coordinate due to manufacturing or assembling errors, and automatic search which spirally shrinks from large to small by taking the theoretical coordinate as a center is adopted.
The steps realize the coordinate determination of the measured object under a design system coordinate system, and in addition, the method also provides customized detection aiming at the measured object, which comprises position detection, straightness detection and type value deviation detection.
Has the advantages that: the method solves the problems of data loss, efficiency reduction and detection misalignment caused by format conversion of the three-dimensional design model at present, constructs a digital detection module based on CATIA three-dimensional design software, can realize design and detection integration, and is an important ring in full three-dimensional design, manufacture and detection. The invention also provides a customized development method, which is separated from the universal commercial detection software, and has the advantages of simpler and more convenient operation and wider applicability. Meanwhile, the method uses the laser tracker to automatically seek the point for measurement, and compared with the traditional handheld target ball, the method guides the light to the position of the measured point, the method reduces manual operation and improves the measurement efficiency.
Drawings
FIG. 1 is a general flow diagram of the method of the present invention;
FIG. 2 is a laser tracker initialization flow diagram;
FIG. 3 is a laser tracker operation dialog interface;
FIG. 4 is a schematic diagram of coordinate system conversion;
FIG. 5 is a flow chart of the conversion of the laser tracker coordinate system to the design coordinate system of the object under test;
FIG. 6 is a schematic diagram of the principle of auto-spotting;
fig. 7 is an automatic measurement flow chart.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The CATIA software adopted by the invention is CAD/CAM/CAE/PDM integrated software of Dassault (Dassault) France, comprises a plurality of modules of part design, part assembly, simulation, digital processing and the like, and is one of CAD software widely used by enterprises such as aviation and the like. The CAA is an expansion and user customization development platform of Dasuo products, can perform professional secondary development, realizes seamless combination with the original CATIA system, and is beneficial to operation and integration of users. The laser tracker adopted by the invention is a digital detection device for measuring a space three-dimensional coordinate based on the principles of optical interference distance measurement and encoder angle measurement, and is of a Leica AT 900 type, the measurement range of the laser tracker reaches 160m, the measurement precision reaches 15 mu m +5 mu m/m, and the laser tracker is widely applied to detection of large-size and high-precision parts. The invention utilizes a CATA development platform to build a CATIA secondary development environment, and adds a 'Measurement' module in a CATIA system, wherein the module comprises units such as instrument connection, parameter setting, coordinate conversion, automatic Measurement, position detection, straightness detection, type value deviation detection and the like. The CATIA software establishes communication with the laser tracker through the instrument connecting unit, and on the basis of the communication, parameter setting, coordinate system exchanging, measurement data acquisition and detection result analysis of the laser tracker are realized.
Figure 1 shows a general flow diagram of the method of the present invention. The method comprises the following steps: 1) connection establishment: establishing connection between a laser tracker and CATIA software by using a windows socket programming technology based on a TCP/IP protocol, wherein a computer running the CATIA software is used as a client, the laser tracker is used as a server, and a C/S communication model is constructed; 2) setting an environment: setting basic parameters of a laser tracker in CATIA software, including a measurement unit and environmental parameters, and setting a reference point for a design model; 3) and (3) actual measurement: arranging reference point holes around the detected object, measuring the coordinates of the reference point holes of the detected object by using a laser tracker, and obtaining three-dimensional coordinate values under a coordinate system of the laser tracker; 4) and (3) converting a coordinate system: solving the conversion relation between the laser tracker coordinate system and the measured object design coordinate system by using a least square relation, and unifying the laser tracker coordinate system to the measured object coordinate system; 5) searching target coordinates: the laser of the driving laser tracker aims at the theoretical coordinate of the measured point, the actual coordinate of the measured point is inconsistent with the theoretical coordinate due to manufacturing or assembling errors, and automatic search which spirally shrinks from large to small by taking the theoretical coordinate as a center is adopted. The specific implementation is detailed below.
According to the method, a laser tracker is taken as a server, a computer running CATIA is taken as a client, a secondary development package TPI (tracker Programming interface) of a Leica laser tracker is used for linking an ES _ C _ API _ DEF.h interface header file and an ES _ CPP _ API _ DEF.h interface header file, CESAP command types are used for sending commands to the tracker server, CESAP interference types are used for receiving and analyzing feedback information from the tracker, communication with the laser tracker is achieved, and a C/S software architecture is constructed.
Opening a CAA development platform, inserting a 'Measurement' module into a CATIA software system, and in order to be capable of intuitively simulating and actually measuring a digital docking process, firstly calling an Add-Product (CAIProduct _ variProduct, control CATICONTAIner _ var & iCont ═ NULL _ var) function to load a laser tracker model, and setting the initial position of the laser tracker model under the 'Measurement' module as an origin. And a dialog box of the laser tracker is inserted under the module, and the parameters of the laser tracker are set and initialized in an interface interaction mode. Fig. 2 shows an initialization process of the laser tracker, and fig. 3 shows a screenshot of a dialog box interface of the laser tracker. The basic parameter settings of the laser tracker include unit settings for length, temperature, humidity and air pressure and environmental parameter settings for temperature, humidity and air pressure. The measurement setup of the laser tracker includes the selection of the coordinate type, the selection of the measurement mode and the selection of the target ball specification. After setting of each parameter is completed, clicking 'tracker initialization' to enable the parameter to take effect, and then, measurement can be carried out. The method of the present invention not only provides the automatic measurement function shown in fig. 3, namely, the coordinate determination of the measured object under the coordinate system of the design system is realized, but also provides the customized detection aiming at the measured object, including position detection, straightness detection and type value deviation detection, and the detection functions realize more various detection means for the measured object.
According to reference points set for a design model in a CATIA software system, reference point holes are arranged around a detected object, and the reference point holes are usually designed and processed on a detected part or a fixture for mounting a component and have a certain position degree. And measuring the hole coordinates of the reference point by using the laser tracker to obtain three-dimensional coordinate values under a coordinate system of the laser tracker, and solving a conversion relation between the coordinate system of the laser tracker and a design coordinate system of the measured object by using a least square relation. Fig. 4 shows a coordinate system conversion diagram. The conversion between the laser tracker coordinate system and the design coordinate system of the measured object is a spatial point P, the three-dimensional coordinate value in the laser tracker coordinate system O-XYZ coordinate system is [ x y z ], and the three-dimensional coordinate value in the design coordinate system O '-XYZ coordinate system of the measured object is [ x' y 'z' ]. The point P may be converted from the coordinate system O-XYZ to the coordinate system O' -XYZ by: firstly, translating an original point O of a coordinate system O-XYZ along an X, Y, Z axis respectively to enable delta x, delta y and delta z to coincide with an original point O 'of the coordinate system O' -XYZ; rotating X, Y, Z axes of a coordinate system O-XYZ by angles of alpha, beta and gamma respectively to coincide with three axes X ', Y' and Z 'of O' -XYZ; if the proportions of the two coordinate systems are not consistent, the O-XYZ coordinate system is zoomed according to the proportion scale K of the two coordinate systems, and finally the coordinate values of the P point coordinate under the two coordinate systems are the same.
The above process is expressed by mathematical formula as: [ x ' y ' z ']T＝[Δx Δy Δz]T+KR[x y z]TWhere R is a spatial rotation matrix:
seven unknown parameters are contained in this equation: Δ x, Δ y, Δ z, α, β, γ and the scaling factor K, seven equations are required to be established at least three reference points to solve the above equations. In the invention, the value of the scaling factor K is 1, and 6 datum points are arranged on the measured object. The specific solving process is as follows.
Let the design coordinate of the reference point hole be Pi[xPiyPizPi]Coordinate measured by the laser tracker is Ji[xJiyJizJi]Assuming that the laser tracker coordinate system rotates by α, β and gamma angles around the X, Y, Z axis respectively and translates by Δ x, Δ y and Δ z along the X, Y, Z axis respectively to coincide with the design coordinate system, the coordinates of the fiducial hole in the two coordinate systems have the following coordinate transformation relationship:
t is the displacement vector [ Δ x Δ y Δ z]T。
An objective function established using a least squares method:
in formula (2), X ═ α β γ Δ X Δ y Δ z. The coordinate values of the 6 reference points are substituted for formula (2), and formula (2) is abbreviated as:
in the formula (3)
The meanings of (A) are as follows:
using Newton iteration method to find the minimum value of the objective function F (X), the iteration formula is:
finally, the transformation matrixes R and T between the theoretical coordinate system and the measurement coordinate system are obtained. Fig. 5 shows the process of converting the laser tracker coordinate system to the design coordinate system of the measured object on the software implementation level.
FIG. 6 is a schematic diagram of the principle of driving a laser tracker to automatically search for a target point to be measured, wherein due to manufacturing or assembly errors, the actual coordinate of the measured point is inconsistent with the theoretical coordinate, and the actual coordinate and the theoretical coordinate are automatically searched in a spiral manner from large to small by taking the theoretical coordinate as the center. And FIG. 7 shows the automatic measurement process, a search range and a search time are set according to the theoretical coordinate of the measured point, then the laser tracker is driven to automatically find the measured point, if a target point is found in the specified search range and search time, the actual coordinate value of the measured point is output, otherwise, a failure message is returned. In software implementation, a function SetSearchParams (SearchParamsDataT searchParams) is written to set automatic measurement parameters, wherein the SearchParamsDataT is a data structure and comprises a search radius (dSearchradius) and a limit time (lTimeout), then a GoPoposition () function is used for driving a laser tracker laser to reach a theoretical position, a FindReflector () function is used for searching a target sphere center, if the searching is successful, a StartMeasure () function is called for measurement, and actual point coordinate information is obtained, otherwise, the automatic measurement fails.
Claims (4)
1. A component design and inspection integrated method based on CATIA and laser tracker is characterized by comprising the following steps:
1) connection establishment: establishing connection between a laser tracker and CATIA software based on a TCP/IP protocol, wherein a computer running the CATIA software is used as a client, the laser tracker is used as a server, and a C/S communication model is established;
2) setting an environment: basic setting and measurement setting are carried out on a laser tracker in CATIA software, reference points are set for a design model, wherein the basic setting comprises unit setting of length, temperature, humidity and air pressure and environment parameter setting of the temperature, the humidity and the air pressure, the measurement setting comprises selection of coordinate types, selection of measurement modes and selection of target ball specifications, and the number of the set reference points is 6;
3) and (3) actual measurement: arranging reference point holes around the detected object, measuring the coordinates of the reference point holes of the detected object by using a laser tracker, and obtaining three-dimensional coordinate values under a coordinate system of the laser tracker;
4) and (3) converting a coordinate system: the method comprises the following steps of solving a conversion relation between a laser tracker coordinate system and a design coordinate system of a measured object by utilizing a least square relation, unifying the laser tracker coordinate system under the design coordinate system of the measured object, and converting the coordinate system by the following specific method:
recording the design coordinate of the reference point hole as Pi[xPiyPizPi]Coordinate measured by the laser tracker is Ji[xJiyJizJi]When the laser tracker coordinate system rotates around the X, Y, Z axis by α, β and gamma angles respectively and translates along the X, Y, Z axis by Δ x, Δ y and Δ z respectively to coincide with the design coordinate system, the coordinates of the reference point hole under the two coordinate systems have the following coordinate transformation relation:
Pi T＝RJi T+T(i＝1,2,...6) (1)
t represents a displacement vector [ Δ x Δ y Δ z]TAnd establishing an objective function by using a least square method:
in formula (2), X ═ α β γ Δ X Δ y Δ z ], coordinate values of 6 reference points are substituted for formula (2), and formula (2) is abbreviated as:
in the formula (3)
The meanings of (A) are as follows:
Jix、Jiy、Jizrepresenting the three-dimensional coordinates of the reference point hole measured by the laser tracker, x, y and z representing the three-dimensional coordinates of the reference point hole in the coordinate system of the laser tracker, Pix、Piy、PizX, Y, Z axis rotation amounts respectively representing coordinate conversion of the reference point hole between a design coordinate system and a laser tracker coordinate system;
using Newton iteration method to find the minimum value of the objective function F (X), the iteration formula is:
t represents iteration turns, and finally a conversion matrix R between a design coordinate system and a laser tracker coordinate system is obtained;
5) searching target coordinates: the laser of the driving laser tracker aims at the theoretical coordinate of the measured point, the actual coordinate of the measured point is inconsistent with the theoretical coordinate due to manufacturing or assembling errors, and automatic search which spirally shrinks from large to small by taking the theoretical coordinate as a center is adopted.
2. The CATIA and laser tracker based integrated component design and inspection method as claimed in claim 1, wherein the automatic search in step 5) is performed as follows: and setting a searching range and searching time according to the theoretical coordinate of the measured point, then driving a laser tracker to automatically search the measured point, outputting an actual coordinate value of the measured point if a target point is found in the specified searching range and searching time, and otherwise, returning a failure message.
3. The CATIA and laser tracker based integrated component design and inspection method of claim 1, further comprising performing customized inspection of the object under test in CATIA software.
4. The CATIA and laser tracker based component design and inspection integration method of claim 3, wherein the customized inspection comprises position inspection, straightness inspection and type value deviation inspection.
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| CN109117602A (en) * | 2018-10-17 | 2019-01-01 | 江西洪都航空工业集团有限责任公司 | Large scale covering digitizing detection method based on laser tracker |
| CN112304214B (en) * | 2019-08-01 | 2022-10-11 | 上海飞机制造有限公司 | Tool detection method and tool detection system based on photogrammetry |
| CN112139470B (en) * | 2020-08-10 | 2021-12-28 | 唐山钢铁集团有限责任公司 | Three-dimensional modeling measurement method for base of sector section of slab continuous casting machine |
| CN112066923A (en) * | 2020-08-14 | 2020-12-11 | 苏州环球科技股份有限公司 | Virtual measurement method for position degree |
| CN112066877B (en) * | 2020-08-28 | 2022-02-18 | 浙江西子势必锐航空工业有限公司 | Method for assembling and adjusting airplane type frame |
| CN115439613B (en) * | 2022-09-23 | 2023-11-07 | 苏州浪潮智能科技有限公司 | Complete machine simulation assembly realization method and device |
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