CN108168473A - Light measurement device and method applied to flatness detection of FDM3D printed workpiece - Google Patents
Light measurement device and method applied to flatness detection of FDM3D printed workpiece Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 title claims description 8
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- 238000010146 3D printing Methods 0.000 claims abstract description 31
- 238000007639 printing Methods 0.000 claims abstract description 28
- 230000001681 protective effect Effects 0.000 claims description 16
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- 230000003287 optical effect Effects 0.000 claims description 9
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- 239000005357 flat glass Substances 0.000 claims 1
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- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000000149 argon plasma sintering Methods 0.000 description 1
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- 239000000498 cooling water Substances 0.000 description 1
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- 230000008018 melting Effects 0.000 description 1
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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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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Abstract
Description
技术领域technical field
本发明涉及3D打印技术领域，具体地说是一种应用于FDM 3D打印工件平整度检测的光测量方法和装置。The invention relates to the technical field of 3D printing, in particular to an optical measurement method and device applied to the flatness detection of FDM 3D printing workpieces.
背景技术Background technique
目前国内现有3D打印技术水平发展迅速但是大多处于研发阶段，做出来的成机质量也低于欧美国家。其中，对于熔融沉积成型（FDM）等特定类型的3D打印技术及设备，由于其打印零件的精度受到打印材料、熔融温度、冷却速度等多种因素的综合影响，其工艺技术研究具有显著的现实意义和应用价值。At present, the existing domestic 3D printing technology is developing rapidly, but most of them are in the research and development stage, and the quality of the finished products is also lower than that of European and American countries. Among them, for specific types of 3D printing technologies and equipment such as Fused Deposition Modeling (FDM), since the accuracy of the printed parts is affected by various factors such as printing materials, melting temperature, and cooling speed, the research on its process technology has significant practical significance. significance and application value.
在3D打印金属工件时，金属粉末在高能激光烧结下会发生膨胀，冷却后会有些收缩，因此在打印过程中工件会产生误差。最常见误差为工件中间部分出现凹陷。目前国内的FDM类型的3D打印设备不具备自动检测以及校正误差的能力。When 3D printing a metal workpiece, the metal powder will expand under high-energy laser sintering, and will shrink after cooling, so the workpiece will produce errors during the printing process. The most common error is a sink in the middle of the workpiece. At present, domestic FDM-type 3D printing equipment does not have the ability to automatically detect and correct errors.
发明内容Contents of the invention
本发明要解决的技术问题是提供应用于FDM 3D打印工件平整度检测的光测量装置和方法，操作方便，对3D打印机的打印误差起到辅助检测作用，提高3D打印机的打印精度。The technical problem to be solved by the present invention is to provide an optical measuring device and method applied to the flatness detection of FDM 3D printing workpieces, which is easy to operate, plays an auxiliary detection role in printing errors of 3D printers, and improves the printing accuracy of 3D printers.
为了解决上述技术问题，本发明采取以下技术方案：In order to solve the above technical problems, the present invention takes the following technical solutions:
应用于FDM 3D打印工件平整度检测的光测量装置，包括耐高温的外壳保护罩，所述外壳保护罩内设有线结构光系统，该线结构光系统包括线激光器和工业相机，外壳保护罩底面设有第一通孔和第二通孔，第一通孔和第二通孔内设有玻璃片，工业相机位于第二通孔正上方，线激光器发出的光线从第一通孔穿出投射到被测工件上。The optical measurement device applied to the flatness detection of FDM 3D printing workpieces, including a high temperature resistant shell protective cover, a line structured light system is arranged inside the shell protective cover, the line structured light system includes a line laser and an industrial camera, and the bottom surface of the shell protective cover A first through hole and a second through hole are provided, glass sheets are arranged in the first through hole and the second through hole, the industrial camera is located directly above the second through hole, and the light emitted by the line laser is projected through the first through hole onto the workpiece to be measured.
所述外壳保护罩内设有支撑板，线激光器装在该支撑板上。A supporting plate is arranged inside the protective cover of the housing, and the line laser is mounted on the supporting plate.
所述支撑板倾斜设置，线激光器沿着该支撑板倾斜安装，该线激光器发出的光线与水平方向成倾斜夹角射入第一通孔。The support plate is arranged obliquely, and the line laser is installed obliquely along the support plate, and the light emitted by the line laser enters the first through hole at an oblique angle to the horizontal direction.
所述线激光器朝向第二通孔的方向倾斜安装。The line laser is installed obliquely towards the direction of the second through hole.
所述外壳保护罩底面导轨槽，外壳保护罩底面设有活动卡装在导轨槽上的滑动挡板。The guide rail groove on the bottom surface of the housing protection cover is provided with a sliding baffle plate which is movably clamped on the guide rail groove on the bottom surface of the housing protection cover.
所述外壳保护罩的侧壁内设有冷却管，该冷却管与冷却源连接。A cooling pipe is arranged in the side wall of the housing protection cover, and the cooling pipe is connected with a cooling source.
一种应用于FDM 3D打印工件平整度检测的光测量方法，包括以下步骤：A light measurement method applied to FDM 3D printing workpiece flatness detection, comprising the following steps:
相机和线结构光系统进行标定；Camera and line structured light system for calibration;
线激光器发出激光线从投射到被测工件上形成激光条纹，工业相机拍摄获取激光条纹图像；The laser line emitted by the line laser is projected onto the workpiece to form laser stripes, and the industrial camera captures the image of the laser stripes;
根据激光条纹图像，进行被测物体表面三维重构，并与理想模型做差，求出被测工件的打印误差参数，该打印误差参数包括误差位置和误差大小；According to the laser stripe image, the three-dimensional reconstruction of the surface of the measured object is carried out, and the difference is made with the ideal model to obtain the printing error parameters of the measured workpiece. The printing error parameters include the error position and the error size;
将打印误差参数发送给3D打印系统，3D打印系统根据打印误差参数进行自动修改，实现打印误差纠正。The printing error parameters are sent to the 3D printing system, and the 3D printing system automatically modifies them according to the printing error parameters to realize printing error correction.
所述相机和线结构光系统的标定具体为：The calibration of the camera and the line structured light system is specifically as follows:
世界坐标系通过外参矩阵转换到相机坐标系The world coordinate system is converted to the camera coordinate system through the external parameter matrix
=*=* = * = *
=*+*+*+t1； = * + * + * +t1;
=*+*+*+t2； = * + * + * +t2;
=*+*+*+t3； = * + * + * +t3;
其中[Xc,Yc,Zc]T表示相机坐标，[Xw,Yw,Zw，1]T表示被测工件所在的世界坐标，R表示旋转矩阵，T表示平移矩阵；Where [Xc, Yc, Zc] T represents the camera coordinates, [Xw, Yw, Zw, 1] T represents the world coordinates where the measured workpiece is located, R represents the rotation matrix, and T represents the translation matrix;
相机坐标系通过内参矩阵转换到图像像素坐标系：The camera coordinate system is converted to the image pixel coordinate system through the internal reference matrix:
X=；Y=；X= ;Y= ;
矩阵形式为：The matrix form is:
=* = *
其中f表示焦距， [x,y,1]T表示归一化后的图像物理坐标。Where f represents the focal length, and [x,y,1] T represents the normalized physical coordinates of the image.
本发明结构简单，装配方便，对3D打印机的打印误差起到辅助检测作用，提高3D打印机的打印精度，避免人工检测带来的误差及安全隐患。The invention has simple structure and convenient assembly, plays an auxiliary detection role on the printing error of the 3D printer, improves the printing accuracy of the 3D printer, and avoids errors and potential safety hazards caused by manual detection.
附图说明Description of drawings
附图1为本发明装置的立体结构示意图；Accompanying drawing 1 is the three-dimensional structure schematic diagram of device of the present invention;
附图2为本发明方法中的工业相机针孔模型示意图；Accompanying drawing 2 is the industrial camera pinhole model schematic diagram in the inventive method;
附图3为本发明方法线结构光系统的标定原理示意图；Accompanying drawing 3 is the schematic diagram of the calibration principle of the line structured light system of the present invention;
附图4为本发明中的流程示意图。Accompanying drawing 4 is the schematic flow chart among the present invention.
具体实施方式Detailed ways
为能进一步了解本发明的特征、技术手段以及所达到的具体目的、功能，下面结合附图与具体实施方式对本发明作进一步详细描述。In order to further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
如附图1所示，本发明揭示了一种应用于FDM 3D打印工件平整度检测的光测量装置，包括耐高温的外壳保护罩1，所述外壳保护罩1内设有线结构光系统，该线结构光系统包括线激光器3和工业相机2，外壳保护罩1底面设有第一通孔6和第二通孔7，第一通孔6和第二通孔7内设有玻璃片8，工业相机位于第二通孔正上方，线激光器发出的光线从第一通孔穿出投射到被测工件上。As shown in Figure 1, the present invention discloses an optical measuring device applied to the flatness detection of FDM 3D printing workpieces, which includes a high temperature resistant housing protection cover 1, and a line structured light system is arranged inside the housing protection cover 1, the The line structured light system includes a line laser 3 and an industrial camera 2, the bottom surface of the housing protective cover 1 is provided with a first through hole 6 and a second through hole 7, and a glass sheet 8 is arranged in the first through hole 6 and the second through hole 7, The industrial camera is located directly above the second through hole, and the light emitted by the line laser passes through the first through hole and is projected onto the workpiece to be measured.
所述外壳保护罩1内设有支撑板4，线激光器3装在该支撑板4上。支撑板倾斜设置，线激光器沿着该支撑板倾斜安装，该线激光器发出的光线与水平方向成倾斜夹角射入第一通孔。线激光器朝向第二通孔的方向倾斜安装。支撑板下端延伸至外壳保护罩底面。The housing protective cover 1 is provided with a support plate 4 on which the line laser 3 is installed. The support plate is arranged obliquely, the line laser is installed obliquely along the support plate, and the light emitted by the line laser enters the first through hole at an oblique angle to the horizontal direction. The line laser is installed obliquely towards the direction of the second through hole. The lower end of the support plate extends to the bottom surface of the shell protective cover.
所述外壳保护罩底面导轨槽，外壳保护罩1底面设有活动卡装在导轨槽上的滑动挡板5。在不需要发出激光光线时，将滑动挡板滑动直到遮挡住第一通孔和第二通孔。防止高能激光工作时的激光束透过玻璃片直射工业相机镜头而导致工业相机损坏。工作时，将滑动挡板移开，使第一通孔和第二通孔裸露，操作方便，有利于保护外壳保护罩内的部件。The guide rail groove on the bottom surface of the housing protection cover, the bottom surface of the housing protection cover 1 is provided with a sliding baffle plate 5 that is movably clamped on the guide rail groove. When there is no need to emit laser light, slide the sliding baffle until it covers the first through hole and the second through hole. Prevent the laser beam from going through the glass sheet and directly hitting the industrial camera lens when the high-energy laser is working, causing damage to the industrial camera. When working, the sliding baffle is removed to expose the first through hole and the second through hole, which is convenient to operate and helps to protect the components in the protective cover of the shell.
所述外壳保护罩由耐高温材料制成，持久耐用，不易损坏，可采用铝合金材料制备。The outer shell protection cover is made of high temperature resistant material, which is durable and not easy to be damaged, and can be made of aluminum alloy material.
此外，所述外壳保护罩1的侧壁内设有冷却管，该冷却管与冷却源连接。冷却源可为冷却水，或者冷却气体。通过向冷却管输入冷却源，实现对外壳保护罩的冷却，防止温度过高。In addition, a cooling pipe is provided in the side wall of the housing protection cover 1, and the cooling pipe is connected with a cooling source. The cooling source can be cooling water, or cooling gas. By inputting the cooling source into the cooling pipe, the cooling of the protective cover of the shell is realized to prevent the temperature from being too high.
通过线激光器发出激光光线，光线从第一通孔中射出，投射到目标物体表面形成光条，光条的形状随着被测物体表面的深度变化而变化，线激光器和工业相机之间的相对位置也决定了光条的形变程度。工业相机获取光条的图像。利用图像处理软件对光条纹图像进行一系列处理，从而进行被测物体表面三维重构。然后将重构出的工件三维轮廓与理想模型做差，最后将误差位置以及误差大小反馈给3D打印系统，从而使得系统能够进行自动校正。最终使得整个3D打印过程实现完全自动化。The laser light is emitted by the line laser, the light is emitted from the first through hole, and is projected onto the surface of the target object to form a light strip. The shape of the light strip changes with the depth of the surface of the measured object. The relative distance between the line laser and the industrial camera The position also determines the degree of deformation of the light bar. Industrial cameras acquire images of light bars. The image processing software is used to perform a series of processing on the light fringe image, so as to perform three-dimensional reconstruction of the surface of the measured object. Then, the reconstructed three-dimensional contour of the workpiece is compared with the ideal model, and finally the error position and error size are fed back to the 3D printing system, so that the system can perform automatic correction. Ultimately, the entire 3D printing process is fully automated.
另外，如附图2-4所示，本发明还揭示了一种应用于FDM 3D打印工件平整度检测的光测量方法，包括以下步骤：In addition, as shown in accompanying drawings 2-4, the present invention also discloses a light measurement method applied to FDM 3D printing workpiece flatness detection, including the following steps:
相机和线结构光系统进行标定。The camera and line structured light system are calibrated.
线激光器发出激光线从投射到被测工件上形成激光条纹，工业相机拍摄获取激光条纹图像。高精度线激光发射器，所发射的激光条纹宽度约为1mm，较小的激光条纹宽度决定了物体重构的精度。The laser line emitted by the line laser is projected onto the workpiece to form laser stripes, and the industrial camera captures the image of the laser stripes. High-precision line laser transmitter, the emitted laser stripe width is about 1mm, and the smaller laser stripe width determines the accuracy of object reconstruction.
根据激光条纹图像，进行被测物体表面三维重构，并与理想模型做差，求出被测工件的打印误差参数，该打印误差参数包括误差位置和误差大小。通过预设一个理想模型，将重构的图形与之对比，可以查看相应的误差，从而为后续打印提供参考信息。According to the laser stripe image, the three-dimensional reconstruction of the surface of the measured object is carried out, and the difference with the ideal model is made to obtain the printing error parameters of the measured workpiece. The printing error parameters include the error position and the error size. By presetting an ideal model and comparing the reconstructed graphics with it, the corresponding error can be viewed, thus providing reference information for subsequent printing.
将打印误差参数发送给3D打印系统，3D打印系统根据打印误差参数进行自动修改，实现打印误差纠正。最终使得整个3D打印过程实现完全自动化。The printing error parameters are sent to the 3D printing system, and the 3D printing system automatically modifies them according to the printing error parameters to realize printing error correction. Ultimately, the entire 3D printing process is fully automated.
相机标定的实质是获取相机的内参、外参以及畸变系数。其中主要涉及到世界坐标系、相机坐标系以及像素坐标系之间的转换。相机的标定如下：The essence of camera calibration is to obtain the internal parameters, external parameters and distortion coefficients of the camera. It mainly involves the conversion between the world coordinate system, camera coordinate system and pixel coordinate system. The camera is calibrated as follows:
世界坐标系通过外参矩阵转换到相机坐标系：The world coordinate system is converted to the camera coordinate system through the external parameter matrix:
=*=* = * = *
=*+*+*+t1； = * + * + * +t1;
=*+*+*+t2； = * + * + * +t2;
=*+*+*+t3； = * + * + * +t3;
其中[Xc,Yc,Zc]T表示相机坐标，[Xw,Yw,Zw，1]T表示被测工件所在的世界坐标，R表示旋转矩阵，T表示平移矩阵；Where [Xc, Yc, Zc] T represents the camera coordinates, [Xw, Yw, Zw, 1] T represents the world coordinates where the measured workpiece is located, R represents the rotation matrix, and T represents the translation matrix;
相机坐标系通过内参矩阵转换到图像像素坐标系：The camera coordinate system is converted to the image pixel coordinate system through the internal reference matrix:
X=；Y=；X= ;Y= ;
矩阵形式为：The matrix form is:
=* = *
其中f表示焦距， [x,y,1]T表示归一化后的图像物理坐标。Where f represents the focal length, and [x,y,1] T represents the normalized physical coordinates of the image.
需要说明的是，以上仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换，但是凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。It should be noted that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still implement the foregoing Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features, but within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection of the present invention. within range.
Claims (8)
- It is 1. special including heat safe shell protective cover applied to the optical measurement instrument of FDM 3D printing workpiece flatness detections Sign is, line-structured light system is equipped in the shell protective cover, which includes laser line generator and industrial camera, Shell protective cover bottom surface is equipped with first through hole and the second through-hole, and sheet glass, industrial camera are equipped in first through hole and the second through-hole Right over the second through-hole, the light that laser line generator is sent out is pierced by from first through hole to be projected on measured workpiece.
- 2. the optical measurement instrument according to claim 1 applied to FDM 3D printing workpiece flatness detections, feature exists In equipped with support plate in the shell protective cover, laser line generator is in the support plate.
- 3. the optical measurement instrument according to claim 2 applied to FDM 3D printing workpiece flatness detections, feature exists In the support plate is obliquely installed, and laser line generator is tilted along the support plate and installed, the light which sends out and level First through hole is injected in direction into slanted angle.
- 4. the optical measurement instrument according to claim 3 applied to FDM 3D printing workpiece flatness detections, feature exists In the laser line generator tilts installation towards the direction of the second through-hole.
- 5. the light measurement applied to FDM 3D printing workpiece flatness detections according to any one of claim 1-4 fills It puts, which is characterized in that the shell protective cover floor rails slot, shell protective cover bottom surface are equipped with active card on guide-track groove Slide damper.
- 6. the optical measurement instrument according to claim 5 applied to FDM 3D printing workpiece flatness detections, feature exists In the side wall of the shell protective cover is interior to be equipped with cooling tube, which connect with cooling source.
- 7. a kind of light measurement method according to claim 1 applied to FDM 3D printing workpiece flatness detections, including Following steps：Camera and line-structured light system are demarcated；Laser line generator sends out laser rays and laser stripe is formed on measured workpiece from projecting, and industrial camera shooting obtains laser stripe Image；According to laser stripe image, testee surface three dimension reconstruct is carried out, and make the difference with ideal model, measured workpiece is obtained Printing error parameter, the printing error parameter include error position and error size；Printing error parameter is sent to 3D printing system, 3D printing system is changed automatically according to printing error parameter, real Existing printing error is corrected.
- 8. the light measurement method according to claim 7 applied to FDM 3D printing workpiece flatness detections, feature exists In the calibration of the camera and line-structured light system is specially：World coordinate system passes through outer ginseng matrix conversion to camera coordinates system=*=*=*+*+*+t1；=*+*+*+t2；=*+*+*+t3；Wherein [Xc, Yc, Zc]TRepresent camera coordinates, [Xw, Yw, Zw, 1]TRepresent the world coordinates where measured workpiece, R is represented Spin matrix, T represent translation matrix；Camera coordinates system passes through internal reference matrix conversion to image pixel coordinates system：X=；Y=；Matrix form is：=*Wherein f represents focal length, [x, y, 1]TRepresent the image physical coordinates after normalization.
Priority Applications (1)
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| CN112815843A (en) * | 2021-01-07 | 2021-05-18 | 西安理工大学 | Online monitoring method for workpiece surface printing deviation in 3D printing process |
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