CN109323667B - Cylindrical workpiece inner and outer profile laser scanning system and method - Google Patents
Cylindrical workpiece inner and outer profile laser scanning system and method Download PDFInfo
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- CN109323667B CN109323667B CN201811458209.7A CN201811458209A CN109323667B CN 109323667 B CN109323667 B CN 109323667B CN 201811458209 A CN201811458209 A CN 201811458209A CN 109323667 B CN109323667 B CN 109323667B
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- 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
Abstract
The invention provides a laser scanning measurement system and method for inner and outer molded surfaces of a cylindrical workpiece. The method comprises the steps of respectively acquiring point cloud patch data of an inner surface and an outer surface of a cylindrical workpiece, a splicing base and an auxiliary device by using a line laser sensor, obtaining global marking points of the splicing base in the patch data through image processing, initially registering the global marking points with an initial value of the splicing base, and carrying out splicing optimization on the marking points shared by two adjacent patches of the inner surface and the outer surface by using a closed-loop detection algorithm to form a reverse model of the cylindrical workpiece. Compared with a traditional reverse model which is obtained by splicing only by means of a global coordinate system, the point cloud acquisition system with the auxiliary device and the closed-loop detection algorithm is added, fine adjustment and optimization are carried out on data splicing of each surface patch, the splicing precision of point cloud surface patch data of the inner surface and the outer surface of the cylindrical workpiece is improved, and the three-dimensional reconstruction precision of the cylindrical member is improved.
Description
Technical Field
The invention relates to the field of detection engineering, in particular to a cylindrical workpiece inner and outer profile laser scanning measurement system and method, and particularly relates to a cylindrical workpiece inner and outer profile laser scanning measurement system and method for improving a closed-loop detection algorithm of an industrial robot and a linear laser.
Background
The linear laser displacement sensor has the advantages of small size, high frequency, high precision, strong environmental adaptability and the like, and is widely applied to various industries as high-precision measurement. The industrial robot has the advantages of programmability, strong recombinability, good universality, high flexibility, easy maintenance, low cost and the like, and is increasingly widely applied. The tubular workpiece is especially directed at the detection of small-size tubular workpieces, and because the inner cavity is narrow and complex, instruments such as three-coordinate instruments are difficult to extend into the inner cavity for detection, the traditional caliper type point-by-point detection efficiency is low, and the size detection of accurate positions cannot be realized.
Patent document CN106370106A provides a line laser scanning measurement system and method combining an industrial robot and a linear guide rail, the system combines the characteristics of high flexibility of the industrial robot and high linear motion precision of the linear guide rail, and a set of high-performance motion execution mechanism is innovatively constructed; the method comprises the steps of obtaining actual physical information of a part through non-contact three-dimensional machine vision (linear laser), triggering the linear laser by an optical encoder to ensure that high-quality data point clouds are obtained, splicing the high-precision point clouds through a global coordinate system, registering and comparing the high-precision point clouds with a theoretical digital analog, finally realizing full-automatic measurement of the key size of the part, and directly outputting a coordinate system of the next processing. The device has the characteristics of high efficiency, high precision, high flexibility, digitization, intellectualization and the like, and can automatically and efficiently complete the scanning measurement of various different parts; the problem of pain points such as wall thickness measurement and processing of barrel-shaped parts and secondary lineation of castings can be solved, and the generation quality of the parts is effectively improved. The robot has the advantages of being high in flexibility, wide in adaptability, high in precision of a line laser and small in size, and the key problem of point cloud collection inside and outside a complex component is solved. However, for the detection of cylindrical workpieces with higher heights, because only the base is adopted for splicing, when the ratio of the coverage height of the base mark point to the height of the workpiece exceeds a certain value, the dislocation phenomenon between patch data occurs, as shown in fig. 2, when the ratio of the coverage height of the base mark point to the height of the workpiece is 1:2, the point cloud patch is dislocated, and the dislocated patch splicing result may cause the inaccuracy of a reverse model, and reduce the size detection precision. Through experiments, in the implementation of the above patent documents, when the ratio of the coverage height of the base mark point to the height of the workpiece is greater than 1:1, a relatively good splicing precision can be obtained, as shown in fig. 3. The stroke of the linear guide rail is 1200mm, the height of a workpiece is not more than 600mm in order to ensure the point cloud collection precision, and the size adaptability of the system is reduced. If the height of the workpiece exceeds 1200mm, in order to guarantee acquisition precision, the stroke of the linear guide rail in the patent literature theoretically exceeds 2400mm, 50% of the stroke of the linear guide rail is wasted, efficiency is reduced by 50%, the section size of a linear module is increased in order to guarantee rigidity of the linear guide rail, weight is greatly increased, strict requirements on load of the robot are met, and the cost of the linear guide rail and the cost of the industrial robot are greatly increased.
In view of the above, there is a need to develop a method for improving the linear guide track stroke utilization rate and the point cloud data acquisition efficiency by an auxiliary means, reducing the system acquisition cost, and simultaneously ensuring the workpiece detection accuracy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a cylindrical workpiece inner and outer profile laser scanning measurement system and method.
The invention provides a laser scanning measuring system for inner and outer molded surfaces of a cylindrical workpiece, which mainly comprises: the splicing device comprises a splicing base, an auxiliary splicing device, a main motion executing mechanism, a motion mechanism, a linear laser sensor and an industrial personal computer;
the splicing base can fix a cylindrical workpiece; the auxiliary splicing device is of an annular cylindrical structure and extends out of an inner cavity of the cylindrical workpiece;
the line laser sensor is arranged on a motion mechanism, and the motion mechanism is connected with a main motion executing mechanism;
the main motion executing mechanism drives the line laser sensor to reach a position to be detected of the cylindrical workpiece after adjusting the pose of the industrial personal computer, the line laser sensor finishes multiple scanning of the cylindrical workpiece, the scanning result is fed back to the industrial personal computer for graphic image processing, and a calculation result is output.
Preferably, the inner cavity and the outer wall of the auxiliary splicing device are irregularly adhered with mark points according to a set density.
Preferably, before scanning the cylindrical workpiece, coordinate values of the mark points can be collected, and the coordinate values are used as global initial values of the mark points of the splicing base and recorded.
Preferably, the master motion actuator is a multiple degree of freedom industrial robot.
Preferably, the movement mechanism is a linear module, point cloud data acquisition can be achieved, the linear module is provided with closed-loop feedback such as a grating, and high-precision linear movement can be achieved.
Preferably, the industrial personal computer processes and analyzes three-dimensional data and gray image data of the surface of the cylindrical workpiece acquired by the line laser sensor according to a set requirement to obtain a point cloud acquisition result.
The invention provides a laser scanning measuring method for inner and outer molded surfaces of a cylindrical workpiece, which comprises the following steps:
step 1: collecting coordinate values of the splicing base mark points, establishing a global coordinate system, and taking the coordinate values as initial values of the splicing base mark points and recording the initial values as theoretical base coordinate values;
step 2: placing the cylindrical workpiece on a splicing base, and placing an auxiliary splicing device on the cylindrical workpiece;
and step 3: operating laser scanning, wherein a main motion executing mechanism drives a motion mechanism to acquire point cloud data of a first surface patch in a cylindrical workpiece, and the point cloud data comprises a splicing base and an auxiliary splicing device;
and 5: identifying mark points of a splicing base in the point cloud data of the first surface patch, and recording the mark points as first splicing base mark points;
step 6: splicing the first splicing base mark point and the theoretical base coordinate value to obtain first surface piece point cloud data;
and 7: operating laser scanning, driving a motion mechanism by a main motion executing mechanism, and acquiring point cloud data of a second surface patch of the cylindrical workpiece;
and 8: identifying mark points of the splicing base in the point cloud data of the second surface patch, and recording the mark points as second splicing base mark points;
and step 9: splicing the second splicing base mark point with the theoretical base coordinate value to obtain second patch point cloud data;
step 10: calculating the distance value between a splicing base mark point and an auxiliary splicing device mark point in the first surface piece point cloud data and the second surface piece point cloud data, setting the mark point with the distance value smaller than or equal to a set threshold value as a common mark point of the first surface piece and the second surface piece, and respectively recording the coordinate value of common data in the first surface piece point cloud data and the second surface piece point cloud data;
step 11: operating laser scanning, driving a movement mechanism by a main movement executing mechanism, and acquiring point cloud data of a third surface patch of the cylindrical workpiece;
step 12: identifying mark points of the splicing base in the point cloud data of the third surface patch, and recording the mark points as third splicing base mark points;
step 13: splicing the third splicing base mark point with the theoretical base coordinate value to obtain third surface piece point cloud data;
step 14: calculating the distance value between the mark point of the splicing base and the mark point of the auxiliary splicing device in the second surface patch point cloud data and the third surface patch point cloud data, setting the mark point with the distance value smaller than or equal to a set threshold value as a common mark point of the second surface patch and the third surface patch, and respectively recording the coordinate value of common data in the second surface patch point cloud data and the third surface patch point cloud data;
step 15: after the point cloud data of the inner surface patch and the point cloud data of the outer surface patch of the cylindrical workpiece are acquired and matched and spliced with the coordinate value of the theoretical base, an initial reverse model is obtained;
step 16: optimizing all common mark points by closed loop detection to form closed loop point cloud data, and finely adjusting the data of each patch to obtain a new reverse model;
and step 17: and deleting the splicing base point cloud and the auxiliary splicing device point cloud in the new reverse model to obtain the optimized reverse model of the cylindrical workpiece.
Compared with the prior art, the invention has the following beneficial effects:
1. the auxiliary splicing device is placed on the cylindrical workpiece and fixed, and the upper end and the lower end of the cylindrical workpiece are simultaneously restrained through the combined action of the mark points of the auxiliary splicing device and the mark points of the splicing base, so that the detection precision is improved;
2. the application of the auxiliary splicing device can greatly reduce the covering height of the splicing base mark points, so that the stroke utilization rate of the linear module is greatly improved, and the stroke requirement on the module is reduced under the condition of the same detection height;
3. the requirement on the stroke of the module is reduced, so that the length of the linear module is reduced, and the cost of the module is reduced; meanwhile, the weight of the module is reduced, the requirement on the load capacity of the industrial robot is also reduced, and the cost of the system robot can be reduced again.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 shows a result of data stitching of a point cloud patch with a dislocation;
FIG. 3 is a normal patch point cloud data stitching result;
fig. 4 is a schematic diagram of the system structure of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention aims to overcome a series of problems of insufficient stroke utilization rate, high cost, low efficiency and the like of the existing scanning system combining a robot, a linear module and a linear laser, and provides a method for optimizing the system by using an auxiliary splicing device and a closed-loop detection algorithm, so that the point cloud data acquisition efficiency and precision of a cylindrical workpiece are improved, and the system cost is reduced.
The invention provides a laser scanning measuring system for inner and outer molded surfaces of a cylindrical workpiece, which mainly comprises: the splicing device comprises a splicing base, an auxiliary splicing device, a main motion executing mechanism, a motion mechanism, a linear laser sensor and an industrial personal computer;
the splicing base can fix a cylindrical workpiece; the auxiliary splicing device is of an annular cylindrical structure and extends out of an inner cavity of the cylindrical workpiece;
the line laser sensor is arranged on a motion mechanism, and the motion mechanism is connected with a main motion executing mechanism;
the main motion executing mechanism drives the line laser sensor to reach a position to be detected of the cylindrical workpiece after adjusting the pose of the industrial personal computer, the line laser sensor finishes multiple scanning of the cylindrical workpiece, the scanning result is fed back to the industrial personal computer for graphic image processing, and a calculation result is output.
Specifically, the inner cavity and the outer wall of the auxiliary splicing device are irregularly adhered with mark points according to a set density.
Specifically, the coordinate values of the mark points can be collected before the cylindrical workpiece is scanned, and the coordinate values are used as the global initial values of the mark points of the splicing base and recorded.
Specifically, the master motion actuator is a multiple degree of freedom industrial robot.
Specifically, the motion mechanism is a linear module, point cloud data collection can be obtained, the linear module is provided with closed-loop feedback such as a grating, and high-precision linear motion can be achieved.
Specifically, the industrial personal computer processes and analyzes three-dimensional data and gray image data of the surface of the cylindrical workpiece acquired by the line laser sensor according to a set requirement to obtain a point cloud acquisition result.
The invention provides a laser scanning measuring method for inner and outer molded surfaces of a cylindrical workpiece, which comprises the following steps:
step 1: collecting coordinate values of the splicing base mark points, establishing a global coordinate system, and taking the coordinate values as initial values of the splicing base mark points and recording the initial values as theoretical base coordinate values;
step 2: placing the cylindrical workpiece on a splicing base, and placing an auxiliary splicing device on the cylindrical workpiece;
and step 3: operating laser scanning, wherein a main motion executing mechanism drives a motion mechanism to acquire point cloud data of a first surface patch in a cylindrical workpiece, and the point cloud data comprises a splicing base and an auxiliary splicing device;
and 5: identifying mark points of a splicing base in the point cloud data of the first surface patch, and recording the mark points as first splicing base mark points;
step 6: splicing the first splicing base mark point and the theoretical base coordinate value to obtain first surface piece point cloud data;
and 7: operating laser scanning, driving a motion mechanism by a main motion executing mechanism, and acquiring point cloud data of a second surface patch of the cylindrical workpiece;
and 8: identifying mark points of the splicing base in the point cloud data of the second surface patch, and recording the mark points as second splicing base mark points;
and step 9: splicing the second splicing base mark point with the theoretical base coordinate value to obtain second patch point cloud data;
step 10: calculating the distance value between a splicing base mark point and an auxiliary splicing device mark point in the first surface piece point cloud data and the second surface piece point cloud data, setting the mark point with the distance value smaller than or equal to a set threshold value as a common mark point of the first surface piece and the second surface piece, and respectively recording the coordinate value of common data in the first surface piece point cloud data and the second surface piece point cloud data;
step 11: operating laser scanning, driving a movement mechanism by a main movement executing mechanism, and acquiring point cloud data of a third surface patch of the cylindrical workpiece;
step 12: identifying mark points of the splicing base in the point cloud data of the third surface patch, and recording the mark points as third splicing base mark points;
step 13: splicing the third splicing base mark point with the theoretical base coordinate value to obtain third surface piece point cloud data;
step 14: calculating the distance value between the mark point of the splicing base and the mark point of the auxiliary splicing device in the second surface patch point cloud data and the third surface patch point cloud data, setting the mark point with the distance value smaller than or equal to a set threshold value as a common mark point of the second surface patch and the third surface patch, and respectively recording the coordinate value of common data in the second surface patch point cloud data and the third surface patch point cloud data;
step 15: after the point cloud data of the inner surface patch and the point cloud data of the outer surface patch of the cylindrical workpiece are acquired and matched and spliced with the coordinate value of the theoretical base, an initial reverse model is obtained;
step 16: optimizing all common mark points by closed loop detection to form closed loop point cloud data, and finely adjusting the data of each patch to obtain a new reverse model;
and step 17: and deleting the splicing base point cloud and the auxiliary splicing device point cloud in the new reverse model to obtain the optimized reverse model of the cylindrical workpiece.
The embodiments of the present invention will be further explained with reference to the drawings.
As shown in fig. 4, a high-precision linear module 2 is fixedly installed on the end face of a six-axis flange of an industrial robot 1, a line laser 3 running at high precision is arranged on the linear module 2, a base 4 is fixed on the ground, a splicing base 5 can be installed on the base, a cylindrical workpiece 6 is placed on the splicing base 5, and an auxiliary splicing device 7 is placed on the cylindrical workpiece 6. The inner cavities and the outer walls of the splicing base 5 and the auxiliary splicing device 7 are all pasted with mark points. The base is used for fixing the cylindrical workpiece; the line laser sensor is arranged on a motion mechanism, and the motion mechanism is connected with a main motion executing mechanism; the main motion executing mechanism drives the line laser sensor to reach a position to be detected of the workpiece after adjusting the pose of the industrial personal computer, the line laser sensor finishes successive scanning of the cylindrical workpiece to be detected, the scanning result is fed back to the industrial personal computer for graphic image processing, and a calculation result is output. The auxiliary splicing device is in a ring shape similar to the cylindrical workpiece, marking points are irregularly pasted on the inner cavity and the outer wall of the auxiliary splicing device according to a set density, the coordinate values of the marking points can be acquired at high precision by means of photogrammetry and the like before the cylindrical workpiece is scanned, and the coordinate values are used as the global initial values of the marking points of the splicing base and are recorded. The main motion executing mechanism can be a multi-degree-of-freedom industrial robot. The motion mechanism is a linear module, and in order to acquire high-precision point cloud data, the linear module is provided with closed-loop feedback such as a grating and the like, and can realize high-precision linear motion. And the industrial personal computer processes and analyzes the three-dimensional data and the gray image data of the surface of the workpiece to be detected acquired by the line laser sensor according to the set requirements to obtain a point cloud acquisition result.
As shown in fig. 1, the specific measurement process is as follows:
step 1: operating a laser scanning system, driving a linear module 2 by an industrial robot 1, and acquiring point cloud data of a cylindrical workpiece surface patch 1, wherein the point cloud data comprises a splicing base 5 and an auxiliary splicing device 7;
step 2: identifying mark points of a splicing base 5 in the point cloud data of the patch 1;
and step 3: splicing the mark points identified as the splicing base of the dough sheet 1 with the mark points of the theoretical base;
and 4, step 4: operating the robot and the linear module, and acquiring point cloud data of a cylindrical workpiece surface patch 2;
and 5: identifying mark points of a splicing base in the point cloud data of the patch 2;
step 6: splicing the mark points identified as the splicing base of the dough sheet 2 with the mark points of the theoretical base;
and 7: calculating the distance value between the mark point of the splicing base and the mark point of the auxiliary splicing device in the spliced patch point cloud data 1 and the patch point cloud data 2, setting the mark point with the distance value less than or equal to a set threshold value as a mark point shared by the patch 1 and the patch 2, and respectively recording the coordinate values of the shared data in the patch point cloud data 1 and the patch point cloud data 2;
and 8: operating the main motion mechanism and the linear module, and collecting point cloud data of a cylindrical workpiece surface patch 3;
and step 9: identifying mark points of a fixed base in the point cloud data of the patch 3;
step 10: splicing the mark points identified as the fixed base of the dough sheet 3 with the mark points of the theoretical base;
step 11: calculating the distance value between the mark point of the splicing base and the mark point of the auxiliary splicing device in the spliced patch point cloud data 2 and patch point cloud data 3, setting the mark point with the distance value less than or equal to a set threshold value as a mark point shared by the patch 2 and the patch 3, and respectively recording the coordinate values of the shared data in the patch point cloud data 2 and the patch point cloud data 3;
step 12, acquiring an initial reverse model after the point cloud data of the inner and outer surface patches are acquired and matched and spliced with the theoretical base mark points;
step 13: optimizing all common mark points by using a closed loop detection algorithm to form closed loop point cloud data, and finely adjusting the data of each surface patch to obtain a new reverse model;
step 14: and deleting the splicing base point cloud and the auxiliary splicing device point cloud in the reverse model to obtain the optimized reverse model of the cylindrical workpiece.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (1)
1. A laser scanning measurement method for inner and outer molded surfaces of a cylindrical workpiece is characterized by comprising the following steps:
step 1: collecting coordinate values of the splicing base mark points, establishing a global coordinate system, and taking the coordinate values as initial values of the splicing base mark points and recording the initial values as theoretical base coordinate values;
step 2: placing the cylindrical workpiece on a splicing base, and placing an auxiliary splicing device on the cylindrical workpiece;
and step 3: operating laser scanning, wherein a main motion executing mechanism drives a motion mechanism to acquire point cloud data of a first surface patch in a cylindrical workpiece, and the point cloud data comprises a splicing base and an auxiliary splicing device;
and 5: identifying mark points of a splicing base in the point cloud data of the first surface patch, and recording the mark points as first splicing base mark points;
step 6: splicing the first splicing base mark point and the theoretical base coordinate value to obtain first surface piece point cloud data;
and 7: operating laser scanning, driving a motion mechanism by a main motion executing mechanism, and acquiring point cloud data of a second surface patch of the cylindrical workpiece;
and 8: identifying mark points of the splicing base in the point cloud data of the second surface patch, and recording the mark points as second splicing base mark points;
and step 9: splicing the second splicing base mark point with the theoretical base coordinate value to obtain second patch point cloud data;
step 10: respectively calculating distance values between a mark point of a splicing base and a mark point of an auxiliary splicing device in the first surface piece point cloud data and the second surface piece point cloud data, setting the mark point with the distance value smaller than or equal to a set threshold value as a common mark point of the first surface piece and the second surface piece, and respectively recording coordinate values of common data in the first surface piece point cloud data and the second surface piece point cloud data;
step 11: operating laser scanning, driving a movement mechanism by a main movement executing mechanism, and acquiring point cloud data of a third surface patch of the cylindrical workpiece;
step 12: identifying mark points of the splicing base in the point cloud data of the third surface patch, and recording the mark points as third splicing base mark points;
step 13: splicing the third splicing base mark point with the theoretical base coordinate value to obtain third surface piece point cloud data;
step 14: respectively calculating the distance values between the mark points of the splicing base and the mark points of the auxiliary splicing device in the second surface patch point cloud data and the third surface patch point cloud data, setting the mark points with the distance values smaller than or equal to a set threshold value as the common mark points of the second surface patch and the third surface patch, and respectively recording the coordinate values of the common data in the second surface patch point cloud data and the third surface patch point cloud data;
step 15: after the point cloud data of the inner surface patch and the point cloud data of the outer surface patch of the cylindrical workpiece are acquired and matched and spliced with the coordinate value of the theoretical base, an initial reverse model is obtained;
step 16: optimizing all common mark points by closed loop detection to form closed loop point cloud data, and finely adjusting the data of each patch to obtain a new reverse model;
and step 17: and deleting the splicing base point cloud and the auxiliary splicing device point cloud in the new reverse model to obtain the optimized reverse model of the cylindrical workpiece.
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| CN111259492B (en) * | 2020-02-10 | 2023-08-11 | 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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