CN109163677A - A kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure - Google Patents
A kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure Download PDFInfo
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- CN109163677A CN109163677A CN201811196451.1A CN201811196451A CN109163677A CN 109163677 A CN109163677 A CN 109163677A CN 201811196451 A CN201811196451 A CN 201811196451A CN 109163677 A CN109163677 A CN 109163677A
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure, belongs to field of measuring technique.The method of the present invention is relative to podium level ruler method, using three-dimensional laser scanning system, precision is higher, with the obvious advantage to small size, the demanding aerofoil established angle of installation accuracy, upper counterangle measurement, calculating, measurement process can effectively avoid the introducing of accidental error, as a result reliably；Entire measurement process does not require the posture of product, does not also need the auxiliary positioning of tooling, has saved design and manufacture cost and the management of tooling；The process of leveling product repeatedly is eliminated during aerofoil horizontal measurement in the process, and data output can calculate measurement result automatically, effectively reduce the working strength of operator, improve operating efficiency.
Description
Technical field
The present invention relates to a kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure, it is suitable for producing
Product install aerofoil established angle and the upper counterangle measurement of symmetrical airfoil, belong to field of measuring technique.
Background technique
By master-plan unit requirement, when flight product export, needs to complete the horizontal measurement work of assembling structure, includes
The concentricity of each bay section, the established angle of wing class formation, the upper counterangle and sliding block, the depth of parallelism of lifting lug, installation accuracy etc. are horizontal to be surveyed
Measure content.Wherein, the initial installation accuracy of wing class formation has great influence to the flight attitude of product, control and with reference to meaning
Justice needs general assembly factory to accurately measure established angle and the upper counterangle of aerofoil in aerofoil horizontal measurement.Currently, product final assemble factory owner
The horizontal measurement that use reference platform that the traditional measurement mode of high metric is combined to complete wing class formation, whole process are as follows: by
Horizontal measurement special tooling, with the horizontal survey point leveling product on Product Level measuring basis section, using reference platform as
The unique reference of all horizontal survey points on product, with each horizontal survey point on height gauge measurement aerofoil to the height of reference platform
Degree, calculates the difference in height between each measurement point and obtains aerofoil horizontal measurement deviation data.Since entire measurement process needs repeatedly
Rotation, leveling product, process is cumbersome, and efficiency is lower, and leveling, measurement process are readily incorporated accidental error, lead to measurement result
Precision is not high.It is small in aerofoil size, when installation accuracy requires high, use the limitation of this kind of measurement method evaluation aerofoil installation quality
It is especially prominent.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of three-dimensional laser scanning system
The method for carrying out the horizontal measurement of product airfoil structure, overcomes the disadvantage that prior art scheme measurement accuracy is not high, efficiency is lower,
The dependence to tooling auxiliary positioning is eliminated, the introducing of accidental error has been evaded, is effective to ensure that small size, high accuracy install
Aerofoil horizontal measurement demand.
The technical solution of the invention is as follows: a kind of three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure
Method includes the following steps:
S1 determines that the benchmark bay section, each aerofoil shape and product aerofoil theory of product theoretical longitudinal axis are pacified according to detail of design
Fill the corresponding fixed reference feature of plane；
S2 scans using three-dimensional laser scanner and obtains the benchmark bay section, each aerofoil shape and fixed reference feature same
Point cloud data under one coordinate system；
S3, the point cloud data for being fitted the benchmark bay section obtain product theoretical longitudinal axis；It is fitted the point cloud of the fixed reference feature
Data obtain the characteristic face of each aerofoil fixed reference feature；The point cloud data for being fitted each aerofoil shape obtains pair of each aerofoil
Product is made in the cross section at described any point by any point on product theoretical longitudinal axis in title face；
Each aerofoil characteristic face is pressed angle corresponding with corresponding aerofoil theory mounting plane respectively and become by S4
It gets each aerofoil theory mounting plane in return, then using product theoretical longitudinal axis as rotary shaft, rotates each aerofoil theory mounting plane
90 °, obtain the vertical plane of each aerofoil theory mounting plane；
S5, by the cross section, each aerofoil theory mounting plane, each aerofoil theory mounting plane vertical plane and each aerofoil
The unit normal vector of the plane of symmetry calculates each aerofoil established angle and the upper counterangle, completes the horizontal measurement of each airfoil structure.
Further, the aerofoil established angle α meetsWherein,
For projection vector of the normal vector in the vertical plane of aerofoil theory mounting plane of the plane of symmetry of aerofoil, B'n=BnFor aerofoil theory
Projection vector of the normal vector of mounting plane in the vertical plane of aerofoil theory mounting plane；The deflection side of the aerofoil established angle
It is determined to the coordinate symbol of the unit normal vector according to the plane of symmetry of aerofoil.
Further, the aerofoil upper counterangle β meetsWherein,
For projection vector of the normal vector in product cross section of the plane of symmetry of aerofoil,For aerofoil theory mounting plane normal vector
Projection vector in product cross section, A are product cross-sectional unit normal vector；The deflection direction at the aerofoil upper counterangle according to
The coordinate symbol of the unit normal vector of the plane of symmetry of aerofoil determines.
Further, the fixed reference feature be in the sliding block of the mechanical machine-shaping of benchmark bay section one, benchmark bay section
Assembly sliding block on positioning pin or benchmark bay section.
Further, described to scan and obtain the benchmark bay section, each aerofoil shape and ginseng using three-dimensional laser scanner
Point cloud data of the feature under the same coordinate system is examined, scanning resolution is set as 2mm.
Further, described to scan and obtain the benchmark bay section, each aerofoil shape and ginseng using three-dimensional laser scanner
Point cloud data of the feature under the same coordinate system is examined, if product surface has carried out the processing of flange, anodic oxidation or galvanizing surface,
Then the laser intensity of three-dimensional laser scanner is the 50%~60% of system default value, scanning speed 100mm/s.
Further, described to scan and obtain the benchmark bay section, each aerofoil shape and ginseng using three-dimensional laser scanner
Point cloud data of the feature under the same coordinate system is examined, if product surface is stainless steel or aluminum alloy materials, 3 D laser scanning
The laser intensity of instrument is the 90% of system default value, and scanning speed is 10~20mm/s.
The advantages of the present invention over the prior art are that:
1) airfoil structure more demanding for small size, installation accuracy, three-dimensional laser scanning system measurement accuracy can arrive
It can measure the setting angle error of second grade higher than the perfect precision of podium level ruler method 0.1mm up to 0.03mm, it is preferable to meet
Product structure part assembly precision measurement request.
2) measurement process does not require the posture of product, does not need the auxiliary positioning of tooling, has saved the design of tooling
Manufacture and management cost.
3) measurement of aerofoil installation accuracy carried out using three-dimensional laser scanning system, calculated, can effectively avoid accidental error
Introducing, measurement process is reliable.
4) leveling product horizontal measurement baseline cross-section is not needed when aerofoil horizontal measurement, effectively reduces the work of operator
Make intensity, also do not need hand-kept and calculate measurement data, operating efficiency is higher.
Detailed description of the invention
Fig. 1 is the method for the present invention flow diagram；
Fig. 2 is the signal of I established angle of the method for the present invention rudder face；
Fig. 3 is the signal of I upper counterangle of the method for the present invention rudder face；
Fig. 4 is I unit normal vector of the method for the present invention rudder face projection institute into established angle；
I unit normal vector of Fig. 5 the method for the present invention rudder face projection institute is at the upper counterangle.
Specific embodiment
A kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure, wherein product includes flight
Product, such as guided missile.As shown in Figure 1, the specific steps are that:
Step S1 determines benchmark bay section and fixed reference feature: the benchmark of product theoretical longitudinal axis can be obtained according to detail of design establishment
Bay section, the selected fixed reference feature that can establish product aerofoil theory mounting plane.
Step S2 prepares product and three-dimensional laser scanning system: secure support on lifting product to support vehicle, expansion are three-dimensional
Laser scanning system arranges scanning reference point near product to be measured and on product.
Step S3 scanning: setting three-dimensional laser scanning system scanning resolution, by the three-dimensional laser scanner in system,
Benchmark bay section in scanning step S1, fixed reference feature and each aerofoil shape in step S1, with benchmark bay section, step in obtaining step S1
The point cloud data of fixed reference feature and each aerofoil shape under the same coordinate system in S1；
Step S4 processing point cloud data obtains benchmark: by step S3 point cloud data, being post-processed using 3 D scanning system
Software Geomagic, fit procedure S3 benchmark bay section point cloud data obtain product theoretical longitudinal axis；Fixed reference feature in fit procedure S3
Point cloud data, obtain a certain characteristic face in step S1 on fixed reference feature；It is fitted each aerofoil top airfoil, lower aerofoil, with each wing
Face top airfoil, lower aerofoil are reference, are fitted the plane of symmetry of each aerofoil；Make product at this by any point on product theoretical longitudinal axis
The cross section of point.
Step S5 makes each aerofoil theory mounting plane and its vertical plane: a certain characteristic face on fixed reference feature is by specific angle
Aerofoil theory mounting plane is made in degree transformation；Using product theoretical longitudinal axis as rotary shaft, rotary wings foliation discusses mounting plane angle
90 °, obtain the vertical plane of aerofoil theory mounting plane.
Step S6 repeats the 5th step and makes each aerofoil theory mounting plane and its vertical plane.
Step S7 output calculates relevant unit's normal vector: defeated using three-dimensional laser scanning system the poster processing soft Geomagic
Out step S4 under the same coordinate system, step S5, product cross section, each aerofoil theory mounting plane and its vertical plane in step S6,
The unit normal vector of each aerofoil plane of symmetry.
Step S8 calculates each aerofoil established angle and the upper counterangle: aerofoil plane of symmetry unit normal vector, the wing according to unit normal vector
The angle that foliation discusses projection vector of the mounting plane unit normal vector in the vertical plane of aerofoil theory mounting plane is aerofoil peace
Fill angle；The angle of the projection vector of aerofoil plane of symmetry normal vector, aerofoil theory mounting plane normal vector in product cross section is
The aerofoil upper counterangle.Direction is deflected to be determined according to the coordinate symbol of aerofoil plane of symmetry unit normal vector.
Highly preferred embodiment of the present invention is described in further detail with reference to the accompanying drawing.
By taking the rudder face I of " X " type aerodynamic arrangement as an example, installation form and shape are shown in Fig. 2, Fig. 3.The theoretical peace of adjacent rudder face
Filling its angle of plane is 80 ° or 100 °, Product Level measuring basis section is arranged in design in bay section 2 and bay section 4, and require
Whole machining is carried out again after sliding block and cabin welding, it is ensured that the relative positional relationship of sliding block and product axis.
Specific embodiment is carried out by following processing step:
The first step determines benchmark bay section and fixed reference feature: because setting Product Level measuring basis section is located at bay section in design
2 and bay section 4 on, therefore selected bay section 2 and bay section 4 are benchmark bay section, for obtaining the theoretical longitudinal axis of product；Because of sliding block and product phase
Higher to positional relationship machining accuracy, the sliding block plane of symmetry is overlapped with product water plane, therefore selected sliding block is fixed reference feature, for obtaining
Obtain the theoretical mounting plane of rudder face.
Second step prepares product and three-dimensional laser scanning system: secure support on lifting product to support vehicle swashs three-dimensional
Photo-scanning system is placed in product neighbouring position.
Third step scanning: setting three-dimensional laser scanning system scanning resolution scans bay section using three-dimensional laser scanner
2, bay section 4, the upper and lower surface and I rudder face upper and lower surface shape of rear slider obtain bay section 2, bay section 4, rear slider upper and lower surface
With point cloud data of the I rudder face shape under the same coordinate system, coordinate system uses measuring system default coordinate system；
4th step handles point cloud data and obtains benchmark: 3 D scanning system the poster processing soft Geomagic is used, with bay section
2,4 Points cloud Fitting of bay section goes out product theoretical longitudinal axis；Rear slider is gone out with the upper and lower surfaces Points cloud Fitting of rear slider respectively
Upper and lower surfaces, further make the sliding block plane of symmetry as datum level using the rear slider upper and lower surfaces of fitting；Respectively with rudder face I
Upper and lower surfaces Points cloud Fitting go out the upper and lower surfaces of rudder face I, further make rudder with I upper and lower surfaces of the rudder face of fitting
The plane of symmetry in face I；Make product in the cross section of the point by any point on product theoretical longitudinal axis.
5th step makes the theoretical mounting plane of rudder face I, rudder face III and its vertical plane: by with datum level at 40 ° counterclockwise
And the theoretical mounting plane of rudder face I, rudder face III is obtained by the plane of product theoretical longitudinal axis；It is rotation with product theoretical longitudinal axis
Axis, rotation rudder face I, 90 ° of theoretical mounting plane angle of rudder face III, obtain rudder face I, rudder face III theoretical mounting plane it is vertical
Face.
6th step makes the theoretical mounting plane of rudder face II, rudder face IV and its vertical plane: by with datum level at 40 ° clockwise
And the theoretical mounting plane of rudder face II, rudder face IV is obtained by the plane of product theoretical longitudinal axis；It is rotation with product theoretical longitudinal axis
Axis, rotation rudder face II, 90 ° of theoretical mounting plane angle of rudder face IV obtain rudder face II, the theoretical mounting plane of rudder face IV hangs down
It faces directly.
The output of 7th step calculates relevant unit's normal vector: being exported using 3 D scanning system the poster processing soft Geomagic same
Product cross section, rudder face I, rudder face II, rudder face III, the theoretical mounting plane of rudder face IV and its vertical plane, the plane of symmetry under one coordinate system
Unit normal vector；Product cross-sectional unit normal vector is A=(a1,a2,a3)；The theoretical mounting plane unit normal vector of rudder face I is
B1=(i1,j1,k1)；The unit normal vector of the vertical plane of the theoretical mounting plane of rudder face I is C1=(m1,p1,q1)；I plane of symmetry of rudder face
Unit normal vector is U1=(x1,y1,z1)。
8th step calculates I established angle of rudder face and the upper counterangle: such as Fig. 4,5, I plane of symmetry normal vector of rudder face is in the theoretical peace of rudder face I
Fill the projection vector in the vertical plane of planeThe theoretical mounting plane normal vector of rudder face I is in aerofoil
Projection vector B in the vertical plane of theoretical mounting plane1'=B1, therefore aerofoil established angle α meetsRudder face
I upper counterangle: projection vector of I plane of symmetry normal vector of rudder face in product cross sectionRudder face I is managed
By projection vector B of the mounting plane normal vector in product cross section1"=B1, therefore aerofoil upper counterangle β meets
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (7)
1. a kind of method that three-dimensional laser scanning system carries out the horizontal measurement of product airfoil structure, it is characterised in that: including as follows
Step:
S1 determines that the benchmark bay section, each aerofoil shape and product aerofoil theory of product theoretical longitudinal axis are installed according to detail of design and puts down
The corresponding fixed reference feature in face；
S2 scans using three-dimensional laser scanner and obtains the benchmark bay section, each aerofoil shape and fixed reference feature in same seat
Point cloud data under mark system；
S3, the point cloud data for being fitted the benchmark bay section obtain product theoretical longitudinal axis；It is fitted the point cloud data of the fixed reference feature
Obtain the characteristic face of each aerofoil fixed reference feature；The point cloud data for being fitted each aerofoil shape obtains the symmetrical of each aerofoil
Product is made in the cross section at described any point by any point on product theoretical longitudinal axis in face；
S4 is obtained each aerofoil characteristic face by angular transformation corresponding with corresponding aerofoil theory mounting plane respectively
To each aerofoil theory mounting plane, then using product theoretical longitudinal axis as rotary shaft, each 90 ° of aerofoil theory mounting plane is rotated, is obtained
To the vertical plane of each aerofoil theory mounting plane；
S5, it is symmetrical by the cross section, each aerofoil theory mounting plane, the vertical plane of each aerofoil theory mounting plane and each aerofoil
The unit normal vector in face calculates each aerofoil established angle and the upper counterangle, completes the horizontal measurement of each airfoil structure.
2. the method that a kind of three-dimensional laser scanning system according to claim 1 carries out the horizontal measurement of product airfoil structure,
It is characterized by: the aerofoil established angle α meetsWherein,For the wing
Projection vector of the normal vector of the plane of symmetry in face in the vertical plane of aerofoil theory mounting plane, B'n=BnFor the installation of aerofoil theory
Projection vector of the normal vector of plane in the vertical plane of aerofoil theory mounting plane；The deflection direction root of the aerofoil established angle
It is determined according to the coordinate symbol of the unit normal vector of the plane of symmetry of aerofoil.
3. the method that a kind of three-dimensional laser scanning system according to claim 1 carries out the horizontal measurement of product airfoil structure,
It is characterized by: the aerofoil upper counterangle β meetsWherein,For the wing
Projection vector of the normal vector of the plane of symmetry in face in product cross section, B "n=BnIt is being produced for aerofoil theory mounting plane normal vector
Projection vector in product cross section, A are product cross-sectional unit normal vector；The deflection direction at the aerofoil upper counterangle is according to aerofoil
The plane of symmetry unit normal vector coordinate symbol determine.
4. the method that a kind of three-dimensional laser scanning system according to claim 1 carries out the horizontal measurement of product airfoil structure,
It is characterized by: the fixed reference feature is and the positioning pin in the sliding block of the mechanical machine-shaping of benchmark bay section one, benchmark bay section
Or the assembly sliding block in benchmark bay section.
5. the method that a kind of three-dimensional laser scanning system according to claim 1 carries out the horizontal measurement of product airfoil structure,
It is characterized by: described scan and obtain the benchmark bay section, each aerofoil shape and fixed reference feature using three-dimensional laser scanner
Point cloud data under the same coordinate system, scanning resolution are set as 2mm.
6. the method that a kind of three-dimensional laser scanning system according to claim 1 carries out the horizontal measurement of product airfoil structure,
It is characterized by: described scan and obtain the benchmark bay section, each aerofoil shape and fixed reference feature using three-dimensional laser scanner
Point cloud data under the same coordinate system, it is three-dimensional if product surface has carried out the processing of flange, anodic oxidation or galvanizing surface
The laser intensity of laser scanner is the 50%~60% of system default value, scanning speed 100mm/s.
7. the method that a kind of three-dimensional laser scanning system according to claim 1 carries out the horizontal measurement of product airfoil structure,
It is characterized by: described scan and obtain the benchmark bay section, each aerofoil shape and fixed reference feature using three-dimensional laser scanner
Point cloud data under the same coordinate system, if product surface is stainless steel or aluminum alloy materials, three-dimensional laser scanner swashs
Luminous intensity is the 90% of system default value, and scanning speed is 10~20mm/s.
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| CN110567422A (en) * | 2019-06-25 | 2019-12-13 | 江苏省特种设备安全监督检验研究院 | Automatic detection method for torsion angle of crane hook |
| CN110850810A (en) * | 2019-11-19 | 2020-02-28 | 中国航空制造技术研究院 | Finish machining registration method based on double-reference constraint |
| CN112665504A (en) * | 2020-11-23 | 2021-04-16 | 北京星航机电装备有限公司 | Horizontal measurement method based on exterior profile scanning |
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