CN109323667A - Outer mold surface laser scanning system and method in cylindrical workpiece - Google Patents
Outer mold surface laser scanning system and method in cylindrical workpiece Download PDFInfo
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- CN109323667A CN109323667A CN201811458209.7A CN201811458209A CN109323667A CN 109323667 A CN109323667 A CN 109323667A CN 201811458209 A CN201811458209 A CN 201811458209A CN 109323667 A CN109323667 A CN 109323667A
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention provides outer mold surface laser scanning measurement system and methods in a kind of cylindrical workpiece, in cylindrical workpiece three-dimensionalreconstruction, increase auxiliary splicing apparatus, the device surfaces externally and internally irregularly labelling point.Cylindrical workpiece is acquired respectively using line laser sensor, splices external form millet cake cloud dough sheet data in pedestal and auxiliary device, the splicing pedestal global mark point in dough sheet data is obtained by image procossing, it is initially registered with splicing pedestal initial value, utilize closed loop detection algorithm, the shared mark point of internally/two adjacent dough sheets of outer mold surface carries out splicing optimization, forms the reverse model of cylindrical workpiece.The reverse model that splicing acquires is carried out compared to traditional global coordinate system that only relies on, increase the point cloud acquisition system of auxiliary device and closed loop detection algorithm, each dough sheet data are spliced and carry out accurate adjustment optimization, external form millet cake cloud dough sheet data connection precision in cylindrical workpiece is improved, cylindrical member three-dimensionalreconstruction precision is improved.
Description
Technical field
The present invention relates to detection engineering fields, and in particular, to outer mold surface laser scanning measurement system in a kind of cylindrical workpiece
System and method especially design inside and outside a kind of improved cylindrical workpiece of the closed loop detection algorithm for industrial robot and line laser
Type face laser scanning measurement system and method.
Background technique
Line laser displacement sensor is with its small size, high-frequency, the advantages that high-precision, environmental suitability is strong, as high-precision
Degree measurement is in every profession and trade using very extensive.Industrial robot has that programmable, reconfigurability is strong, versatility is good, flexible high, easily
The advantages that maintaining, is at low cost, application is increasingly extensive.Cylindrical workpiece especially for small size cylindrical workpiece detection, due to inner cavity
Narrow and complicated, the instruments such as three coordinates, which are difficult to protrude into inner cavity, to be detected, and traditional point-by-point detection efficiency of caliper brake is low, cannot achieve
The size detection of accurate location.
Patent document CN106370106A provides the line laser structured light survey of a kind of combination industrial robot and linear guides
System and method is measured, system combines the flexible high and high linear guides precision of rectilinear motion feature of industrial robot, innovation
Property constructs a set of high performance movement executing mechanism；Part is completed by contactless three-dimensional machine vision (line laser)
The acquisition of actual physics information, line laser are triggered by optical encoder, and guarantee obtains the point cloud data of high quality, then pass through the overall situation
Coordinate system completes the splicing of high-precision cloud, then by being registrated and comparing with theoretical digital-to-analogue, final realize part key ruler
Very little full-automatic measurement, and can directly export the coordinate system of lower a second processing.With high-efficiency high-accuracy, high flexibility, number
The features such as changing, is intelligent can automatically and efficiently complete the scanning survey of a variety of different parts；It can also solve barrel-shaped part wall
The pain spots problem such as thickness measurement and processing, casting secondary lineation, effectively improves the generation quality of part.It has been effectively combined robot
The characteristics of high flexibility, wide adaptability and laser line generator high-precision, small size, solves the key of point cloud acquisition inside and outside complex component
Problem.But for higher-height cylindrical workpiece detect, due to being spliced only with pedestal, pedestal mark point cover height with
When workpiece height ratio is more than certain value, it may appear that inconsistent phenomenon between dough sheet data, as shown in Fig. 2, being covered for pedestal mark point
When lid height is with workpiece height ratio 1:2, the point cloud dough sheet dislocation of appearance, the dough sheet splicing result to misplace may cause inverse
To model inaccuracy, size detection precision is reduced.Through testing, in above patent document implementation, when pedestal mark point cover height
When being greater than 1:1 with workpiece height ratio, relatively good splicing precision can get, as shown in Figure 3.With linear guide stroke 1200mm
Meter, to guarantee that point cloud acquisition precision, workpiece height must not exceed 600mm, reduce system dimension adaptability.If workpiece height is super
1200mm is crossed, to guarantee acquisition precision, theoretically linear guide stroke will be more than 2400mm to above patent document, waste 50%
Linear guide stroke, efficiency will also decrease 50%, and to guarantee linear guide rigidity, will increase straight line mould group sectional dimension,
Weight will greatly increase, and propose tightened up requirement to robot load, linear guide and industrial robot cost all will
It is significantly increased.
In view of above, it is necessary to study a kind of method, by supplementary means, improve linear guide operation mileage rate and point
Cloud data acquisition efficiency reduces system acquisition cost, while guaranteeing workpiece sensing precision.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide outer mold surface laser scannings in a kind of cylindrical workpiece to survey
Measure system and method.
Outer mold surface laser scanning measurement system in a kind of cylindrical workpiece provided according to the present invention, main composition include: to spell
Connect pedestal, auxiliary splicing apparatus, main motion executing agency, movement mechanism, line laser sensor and industrial personal computer；
The splicing pedestal is capable of fixing cylindrical workpiece；The auxiliary splicing apparatus is cylinder shape structure, from cylindrical workpiece
Inner cavity in stretch out；
The line laser sensor is mounted on movement mechanism, and the movement mechanism is connected with main motion executing agency；
The main motion executing agency drives line laser sensor arrival cylindrical workpiece to wait for after adjusting pose according to industrial personal computer
Detect position, completed by the line laser sensor to the Multiple-Scan of cylindrical workpiece, by scanning result feed back to industrial personal computer into
Row graph and image processing, and export calculated result.
Preferably, it is described auxiliary splicing apparatus inner cavity and outer wall by setting density irregularly post mark point.
Preferably, the coordinate value of mark point can be acquired before scanning cylindrical workpiece, and the coordinate value is made
To splice the global initial value of pedestal mark point and recording.
Preferably, the main motion executing agency is multiple degrees of freedom industrial robot.
Preferably, the movement mechanism is straight line mould group, can obtain point cloud data acquisition, the straight line mould group grating belt
Etc. closed loop feedbacks, can be realized high-precision move along a straight line.
Preferably, the industrial personal computer is according to sets requirement, to three dimensions of line laser sensor acquisition tubular workpiece surface
According to and greyscale image data handled and analyzed after obtain point cloud acquisition result.
Outer mold surface laser scanning measurement method in a kind of cylindrical workpiece provided according to the present invention, includes the following steps:
Step 1: the coordinate value of acquisition splicing pedestal mark point establishes global coordinate system, using the coordinate value as splicing
The initial value of pedestal mark point is denoted as theoretical pedestal coordinate value；
Step 2: cylindrical workpiece being placed on splicing pedestal, auxiliary splicing apparatus is placed on cylindrical workpiece；
Step 3: operation laser scanning, main motion executing agency drive movement mechanism, acquire the first dough sheet in cylindrical workpiece
Point cloud data, the point cloud data include splicing pedestal and auxiliary splicing apparatus；
Step 5: the mark point of the splicing pedestal in the point cloud data of the first dough sheet of identification is denoted as the first splicing pedestal label
Point；
Step 6: the first splicing pedestal mark point and theoretical pedestal coordinate value being spliced, the first dough sheet point cloud number is obtained
According to；
Step 7: operation laser scanning, main motion executing agency drive movement mechanism, acquisition the second dough sheet of cylindrical workpiece
Point cloud data；
Step 8: the mark point of the splicing pedestal in the point cloud data of the second dough sheet of identification is denoted as the second splicing pedestal label
Point；
Step 9: the second splicing pedestal mark point and theoretical pedestal coordinate value being spliced, the second dough sheet point cloud number is obtained
According to；
Step 10: calculating splicing pedestal mark point and auxiliary in the first dough sheet point cloud data and the second dough sheet point cloud data and spell
The distance value of connection device mark point, by the distance value be less than or equal to given threshold mark point be set as the first dough sheet and
The shared mark point of second dough sheet, and record share data in the first dough sheet point cloud data and the second dough sheet point cloud data respectively
Coordinate value；
Step 11: operation laser scanning, main motion executing agency drive movement mechanism, acquire the third dough sheet of cylindrical workpiece
Point cloud data；
Step 12: the mark point of the splicing pedestal in the point cloud data of identification third dough sheet is denoted as third splicing pedestal mark
Note point；
Step 13: third splicing pedestal mark point and theoretical pedestal coordinate value being spliced, third dough sheet point cloud is obtained
Data；
Step 14: calculating splicing pedestal mark point and auxiliary in the second dough sheet point cloud data and third dough sheet point cloud data and spell
The distance value of connection device mark point, by the distance value be less than or equal to given threshold mark point be set as the second dough sheet and
The shared mark point of third dough sheet, and record share data in the second dough sheet point cloud data and third dough sheet point cloud data respectively
Coordinate value；
Step 15: the inside and outside dough sheet point cloud data to cylindrical workpiece is completed to acquire and matches spelling with theoretical pedestal coordinate value
After connecing, initial reverse model is obtained；
Step 16: all shared mark points are optimized using closed loop detection, so that after forming loop-like point cloud data,
Accurate adjustment is carried out to each dough sheet data, obtains new reverse model；
Step 17: will newly splicing pedestal point cloud and auxiliary splicing apparatus point cloud are deleted in reverse model, after being optimized
The reverse model of cylindrical workpiece.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, auxiliary splicing apparatus is placed on cylindrical workpiece fixed by the present invention, by auxiliary splicing apparatus mark point and is spelled
Pedestal mark point collective effect is connect, realizes that cylindrical workpiece top and bottom constrain simultaneously, improves detection accuracy；
2, assist the application of splicing apparatus that can substantially reduce splicing pedestal mark point cover height, so that the row of straight line mould group
Journey utilization rate greatly improves, and under same detection altitudes, reduces the range demands to mould group；
3, the reduction of mould group range demands, so that straight line mould group length is lower, mould group own cost is reduced；Mould group weight simultaneously
Amount reduces, and requires also to reduce to the load capacity of industrial robot, can reduce the cost of system robot again.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is method flow schematic diagram of the invention；
Fig. 2 is the point cloud dough sheet data splicing result to misplace；
Fig. 3 is normal dough sheet Point-clouds Registration result；
Fig. 4 is system structure diagram of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
It is an object of the invention to overcome at present in conjunction with robot, the scanning system stroke utilization of straight line mould group, line laser
A series of problems, such as rate is insufficient, high expensive, efficiency is relatively low provides a kind of utilize and assists splicing apparatus and closed loop detection algorithm pair
The system optimizes, and improves cylindrical workpiece point cloud data collecting efficiency and precision, reduces system cost.
Outer mold surface laser scanning measurement system in a kind of cylindrical workpiece provided according to the present invention, main composition include: to spell
Connect pedestal, auxiliary splicing apparatus, main motion executing agency, movement mechanism, line laser sensor and industrial personal computer；
The splicing pedestal is capable of fixing cylindrical workpiece；The auxiliary splicing apparatus is cylinder shape structure, from cylindrical workpiece
Inner cavity in stretch out；
The line laser sensor is mounted on movement mechanism, and the movement mechanism is connected with main motion executing agency；
The main motion executing agency drives line laser sensor arrival cylindrical workpiece to wait for after adjusting pose according to industrial personal computer
Detect position, completed by the line laser sensor to the Multiple-Scan of cylindrical workpiece, by scanning result feed back to industrial personal computer into
Row graph and image processing, and export calculated result.
Specifically, it is described auxiliary splicing apparatus inner cavity and outer wall by setting density irregularly post mark point.
Specifically, the coordinate value of mark point can be acquired before scanning cylindrical workpiece, and the coordinate value is made
To splice the global initial value of pedestal mark point and recording.
Specifically, the main motion executing agency is multiple degrees of freedom industrial robot.
Specifically, the movement mechanism is straight line mould group, can obtain point cloud data acquisition, the straight line mould group grating belt
Etc. closed loop feedbacks, can be realized high-precision move along a straight line.
Specifically, the industrial personal computer is according to sets requirement, to three dimensions of line laser sensor acquisition tubular workpiece surface
According to and greyscale image data handled and analyzed after obtain point cloud acquisition result.
Outer mold surface laser scanning measurement method in a kind of cylindrical workpiece provided according to the present invention, includes the following steps:
Step 1: the coordinate value of acquisition splicing pedestal mark point establishes global coordinate system, using the coordinate value as splicing
The initial value of pedestal mark point is denoted as theoretical pedestal coordinate value；
Step 2: cylindrical workpiece being placed on splicing pedestal, auxiliary splicing apparatus is placed on cylindrical workpiece；
Step 3: operation laser scanning, main motion executing agency drive movement mechanism, acquire the first dough sheet in cylindrical workpiece
Point cloud data, the point cloud data include splicing pedestal and auxiliary splicing apparatus；
Step 5: the mark point of the splicing pedestal in the point cloud data of the first dough sheet of identification is denoted as the first splicing pedestal label
Point；
Step 6: the first splicing pedestal mark point and theoretical pedestal coordinate value being spliced, the first dough sheet point cloud number is obtained
According to；
Step 7: operation laser scanning, main motion executing agency drive movement mechanism, acquisition the second dough sheet of cylindrical workpiece
Point cloud data；
Step 8: the mark point of the splicing pedestal in the point cloud data of the second dough sheet of identification is denoted as the second splicing pedestal label
Point；
Step 9: the second splicing pedestal mark point and theoretical pedestal coordinate value being spliced, the second dough sheet point cloud number is obtained
According to；
Step 10: calculating splicing pedestal mark point and auxiliary in the first dough sheet point cloud data and the second dough sheet point cloud data and spell
The distance value of connection device mark point, by the distance value be less than or equal to given threshold mark point be set as the first dough sheet and
The shared mark point of second dough sheet, and record share data in the first dough sheet point cloud data and the second dough sheet point cloud data respectively
Coordinate value；
Step 11: operation laser scanning, main motion executing agency drive movement mechanism, acquire the third dough sheet of cylindrical workpiece
Point cloud data；
Step 12: the mark point of the splicing pedestal in the point cloud data of identification third dough sheet is denoted as third splicing pedestal mark
Note point；
Step 13: third splicing pedestal mark point and theoretical pedestal coordinate value being spliced, third dough sheet point cloud is obtained
Data；
Step 14: calculating splicing pedestal mark point and auxiliary in the second dough sheet point cloud data and third dough sheet point cloud data and spell
The distance value of connection device mark point, by the distance value be less than or equal to given threshold mark point be set as the second dough sheet and
The shared mark point of third dough sheet, and record share data in the second dough sheet point cloud data and third dough sheet point cloud data respectively
Coordinate value；
Step 15: the inside and outside dough sheet point cloud data to cylindrical workpiece is completed to acquire and matches spelling with theoretical pedestal coordinate value
After connecing, initial reverse model is obtained；
Step 16: all shared mark points are optimized using closed loop detection, so that after forming loop-like point cloud data,
Accurate adjustment is carried out to each dough sheet data, obtains new reverse model；
Step 17: will newly splicing pedestal point cloud and auxiliary splicing apparatus point cloud are deleted in reverse model, after being optimized
The reverse model of cylindrical workpiece.
The embodiment of the present invention is further elaborated below in conjunction with attached drawing.
As shown in figure 4, high-precision straight line mould group 2 is fixedly mounted in 1 six shaft flange end face of industrial robot, in straight line mould group 2
The laser line generator 3 for having high-precision to run, pedestal 4 fix on the ground, and mountable thereon to have splicing pedestal 5, cylindrical workpiece 6 is placed
In on splicing pedestal 5, auxiliary splicing apparatus 7 is placed on cylindrical workpiece 6.Splice pedestal 5 and assist splicing apparatus 7 inner cavity with
And outer wall posts mark point.The pedestal is fixed for cylindrical workpiece；The line laser sensor is mounted on movement mechanism,
The movement mechanism is connected with main motion executing agency；The main motion executing agency is according to band moving-wire after industrial personal computer adjustment pose
Laser sensor reaches workpiece position to be detected, completes the gradually scanning to cylindrical workpiece to be measured by the line laser sensor,
And scanning result is fed back into industrial personal computer and carries out graph and image processing, and exports calculated result.Auxiliary splicing apparatus is and tubular
Ring-type, inner cavity and outer wall as workpieces irregularly post mark point by setting density, and can before scanning cylindrical workpiece
Mark point coordinate value is subjected to high precision collecting with the means such as photogrammetric, and using the coordinate value as splicing pedestal mark point
Global initial value simultaneously records.Main motion executing agency can be multiple degrees of freedom industrial robot.Movement mechanism is straight line mould group, for
It is acquired to high-precision point cloud data, the closed loop feedbacks such as the straight line mould group grating belt, can be realized high-precision and move along a straight line.It is described
Industrial personal computer according to the requirement of setting, three-dimensional data and greyscale image data to line laser sensor acquisition measured workpiece surface into
Point cloud acquisition result is obtained after row processing and analysis.
As shown in Figure 1, specific measurement procedure is as follows:
Step 1: operation laser scanning system, industrial robot 1 drive straight line mould group 2, acquire 1 cloud of cylindrical workpiece dough sheet
Data, the point cloud data include splicing pedestal 5 and auxiliary splicing apparatus 7；
Step 2: the mark point of the splicing pedestal 5 in identification 1 point cloud data of dough sheet；
Step 3: the mark point and theoretical pedestal mark point that will be identified as the splicing pedestal of dough sheet 1 are spliced；
Step 4: operation robot and straight line mould group acquire 2 point cloud data of cylindrical workpiece dough sheet；
Step 5: the mark point of the splicing pedestal in identification 2 point cloud data of dough sheet；
Step 6: the mark point and theoretical pedestal mark point that will be identified as the splicing pedestal of dough sheet 2 are spliced；
Step 7: calculating splicing pedestal mark point and auxiliary in splicing rear piece point cloud data 1 and dough sheet point cloud data 2 and spell
Distance value≤given threshold mark point is set the label that dough sheet 1 and dough sheet 2 share by the distance value of connection device mark point
Point, and the coordinate value that data are shared in dough sheet point cloud data 1 and dough sheet point cloud data 2 is recorded respectively；
Step 8: operation main motion mechanism and straight line mould group acquire 3 point cloud data of cylindrical workpiece dough sheet；
Step 9: the mark point of the firm banking in identification 3 point cloud data of dough sheet；
Step 10: the mark point for being identified as 3 firm banking of dough sheet and theoretical pedestal mark point are spliced；
Step 11: calculating splicing pedestal mark point and auxiliary in splicing rear piece point cloud data 2 and dough sheet point cloud data 3 and spell
Distance value≤given threshold mark point is set the label that dough sheet 2 and dough sheet 3 share by the distance value of connection device mark point
Point, and the coordinate value that data are shared in dough sheet point cloud data 2 and dough sheet point cloud data 3 is recorded respectively；
Step 12: after inside and outside dough sheet point cloud data completes acquisition and splices with theoretical pedestal reference points matching, obtaining
Initial reverse model；
Step 13: all shared mark points being optimized using closed loop detection algorithm, so that forming loop-like cloud number
According to rear, accurate adjustment is carried out to each dough sheet data, obtains new reverse model；
Step 14: pedestal point cloud will be spliced in reverse model and auxiliary splicing apparatus point cloud is deleted, the cylinder after as optimizing
The reverse model of shape workpiece.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (7)
1. outer mold surface laser scanning measurement system in a kind of cylindrical workpiece, which is characterized in that main composition include: splicing pedestal,
Assist splicing apparatus, main motion executing agency, movement mechanism, line laser sensor and industrial personal computer；
The splicing pedestal is capable of fixing cylindrical workpiece；The auxiliary splicing apparatus is cylinder shape structure, out of cylindrical workpiece
It is stretched out in chamber；
The line laser sensor is mounted on movement mechanism, and the movement mechanism is connected with main motion executing agency；
The main motion executing agency drives line laser sensor arrival cylindrical workpiece to be detected after adjusting pose according to industrial personal computer
Position by the line laser sensor is completed that scanning result is fed back to industrial personal computer and carries out figure to the Multiple-Scan of cylindrical workpiece
Shape image procossing, and export calculated result.
2. outer mold surface laser scanning measurement system in cylindrical workpiece according to claim 1, which is characterized in that the auxiliary
The inner cavity of splicing apparatus and outer wall irregularly post mark point by setting density.
3. outer mold surface laser scanning measurement system in cylindrical workpiece according to claim 2, which is characterized in that in scanning drum
The coordinate value of mark point can be acquired before shape workpiece, and just using the coordinate value as the overall situation of splicing pedestal mark point
Initial value simultaneously records.
4. outer mold surface laser scanning measurement system in cylindrical workpiece according to claim 1, which is characterized in that the main fortune
Dynamic executing agency is multiple degrees of freedom industrial robot.
5. outer mold surface laser scanning measurement system in cylindrical workpiece according to claim 1, which is characterized in that the movement
Mechanism is straight line mould group, can obtain point cloud data acquisition, and the straight line mould group can move along a straight line.
6. outer mold surface laser scanning measurement system in cylindrical workpiece according to claim 1, which is characterized in that the industry control
Machine is handled the three-dimensional data and greyscale image data of line laser sensor acquisition tubular workpiece surface according to sets requirement
With point cloud acquisition result is obtained after analysis.
7. outer mold surface laser scanning measurement method in a kind of cylindrical workpiece, which comprises the steps of:
Step 1: the coordinate value of acquisition splicing pedestal mark point establishes global coordinate system, using the coordinate value as splicing pedestal
The initial value of mark point is denoted as theoretical pedestal coordinate value；
Step 2: cylindrical workpiece being placed on splicing pedestal, auxiliary splicing apparatus is placed on cylindrical workpiece；
Step 3: operation laser scanning, main motion executing agency drive movement mechanism, acquire the point of the first dough sheet in cylindrical workpiece
Cloud data, the point cloud data include splicing pedestal and auxiliary splicing apparatus；
Step 5: the mark point of the splicing pedestal in the point cloud data of the first dough sheet of identification is denoted as the first splicing pedestal mark point；
Step 6: the first splicing pedestal mark point and theoretical pedestal coordinate value being spliced, the first dough sheet point cloud data is obtained；
Step 7: operation laser scanning, main motion executing agency drive movement mechanism, acquire the point cloud of the second dough sheet of cylindrical workpiece
Data；
Step 8: the mark point of the splicing pedestal in the point cloud data of the second dough sheet of identification is denoted as the second splicing pedestal mark point；
Step 9: the second splicing pedestal mark point and theoretical pedestal coordinate value being spliced, the second dough sheet point cloud data is obtained；
Step 10: calculating splicing pedestal mark point and auxiliary splicing dress in the first dough sheet point cloud data and the second dough sheet point cloud data
The mark point that the distance value is less than or equal to given threshold is set the first dough sheet and second by the distance value of tagging point
The shared mark point of dough sheet, and the coordinate that data are shared in the first dough sheet point cloud data and the second dough sheet point cloud data is recorded respectively
Value；
Step 11: operation laser scanning, main motion executing agency drive movement mechanism, acquire the point of the third dough sheet of cylindrical workpiece
Cloud data；
Step 12: the mark point of the splicing pedestal in the point cloud data of identification third dough sheet is denoted as third splicing pedestal mark point；
Step 13: third splicing pedestal mark point and theoretical pedestal coordinate value being spliced, third dough sheet point cloud data is obtained；
Step 14: calculating splicing pedestal mark point and auxiliary splicing dress in the second dough sheet point cloud data and third dough sheet point cloud data
The mark point that the distance value is less than or equal to given threshold is set the second dough sheet and third by the distance value of tagging point
The shared mark point of dough sheet, and the coordinate that data are shared in the second dough sheet point cloud data and third dough sheet point cloud data is recorded respectively
Value；
Step 15: the inside and outside dough sheet point cloud data to cylindrical workpiece is completed to acquire and matches splicing with theoretical pedestal coordinate value
Afterwards, initial reverse model is obtained；
Step 16: all shared mark points are optimized using closed loop detection, so that after forming loop-like point cloud data, to each
Dough sheet data carry out accurate adjustment, obtain new reverse model；
Step 17: will newly splicing pedestal point cloud and auxiliary splicing apparatus point cloud are deleted in reverse model, the tubular after being optimized
The reverse model of workpiece.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111159852A (en) * | 2019-12-09 | 2020-05-15 | 上海航天精密机械研究所 | Device and method for reverse modeling of inner and outer contours of cylindrical workpiece |
| CN111259492A (en) * | 2020-02-10 | 2020-06-09 | 湖南省西城建设有限公司 | Point cloud data processing method and device applied to bridge structure pre-assembly and storage medium |
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