CN110230993A - A kind of accuracy assessment method of optical three-dimensional scanning instrument - Google Patents
A kind of accuracy assessment method of optical three-dimensional scanning instrument Download PDFInfo
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- CN110230993A CN110230993A CN201910625964.8A CN201910625964A CN110230993A CN 110230993 A CN110230993 A CN 110230993A CN 201910625964 A CN201910625964 A CN 201910625964A CN 110230993 A CN110230993 A CN 110230993A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of accuracy assessment methods of optical three-dimensional scanning instrument, comprising: A. to customization standard component be scanned pretreatment go forward side by side line scanner calibration；B. using optical three-dimensional scanning instrument measurement customization standard component, analog scanning splicing obtains complete point cloud data；C. the point cloud data that will acquire imports third party's processing software, and using fitting sphere order, the diameter match value and the centre of sphere for obtaining the sphere of customization standard component are away from match value；D. the match value for the corresponding data that scanning obtains is compared with the standard value of customization standard component corresponding data, quantitatively judges the single width measurement accuracy, duplicate measurements precision and stitching measure precision of optical three-dimensional scanning instrument.Method of the invention, it can be under identical natural environment and calibration environment, the single width measurement error, duplicate measurements error and stitching measure error of optical three-dimensional scanning instrument are obtained simultaneously, so that can the measurement accuracy of various dimensions precognition optical three-dimensional scanning instrument, judgement meet workpiece calibration demand.
Description
Technical field
The present invention relates to reverse Engineering Technology field, in particular to a kind of accuracy assessment method of optical three-dimensional scanning instrument.
Background technique
Intelligence manufacture mode characterized by information technology and manufacturing technology depth integration, can push manufacturing technology realize to
Intelligence manufacture transition, as the soldier at the head of a formation of intelligence manufacture, increases material manufacturing technology is leading conventionally manufactured mode to change.It is changing
In the process, increasing material manufacturing is not only compatible with the data format of traditional design, also supports the data format of optical three-dimensional scanning.
Though optical three-dimensional scanning can solve the data source problem of increasing material manufacturing, optical three-dimensional scanning instrument product on the market
Matter is very different, and in order to improve the market competitiveness, the equipment precision that manufacturer declares is the higher single width measurement of the order of magnitude mostly
Precision or duplicate measurements precision.In order to complete the entire scan of workpiece, measurement result be all by several Point-clouds Registrations and
At in mark point splicing, there are nonlinear measurement errors with merging features process, if evaluating optical 3-dimensional with single width measurement error
The precision of scanner, it is excessive there are whole measurement data deviation and the case where can not determine, cause later period increasing material manufacturing process to go out
Existing deviation.
It is inquired through open source information, dotes on rice (Beijing) Science and Technology Ltd. and applied for " a kind of high-precision optical spatial digitizer "
A kind of patent (application number 201720918132.1), high-precision optical spatial digitizer structure of the disclosure of the invention, passes through blend stop
With the setting of placing groove, fixed projection casing guarantees the hardware stability of spatial digitizer, to improve optical three-dimensional scanning instrument
Precision, but in practice, the precision of optical three-dimensional scanning instrument is not only related with products-hardware, also and software algorithm, scan ring
Border is closely bound up.
It is inquired through open source information, a kind of Peking University School of Stomatology application " precision evaluation of oral cavity spatial digitizer
Method " patent (application number 201810985014.1), a kind of Accuracy Assessment of oral cavity spatial digitizer of the disclosure of the invention,
Exemplar is designed and processed, measures workpiece respectively using high accuracy three coordinate machine and oral cavity spatial digitizer, obtains 2 groups of difference clouds
Data, with the average distance, standard deviation and root-mean-square error of 2 groups of data of third party software comparative analysis, thus evaluation three
Tie up the precision of scanner.But the exemplar of the evaluation method is only applicable in Buccodental industry, and point cloud data comparison deviation is fixed
The region difference of property, quantitatively cannot accurately determine the measurement accuracy of spatial digitizer.
Summary of the invention
It is insufficient in above-mentioned background technique the purpose of the present invention is overcoming, a kind of accuracy assessment of optical three-dimensional scanning instrument is provided
Method, can be under identical natural environment and calibration environment, while obtaining the single width measurement error of optical three-dimensional scanning instrument, repeating
Measurement error and stitching measure error, so that can the measurement accuracy of various dimensions precognition optical three-dimensional scanning instrument, judgement meet
Workpiece calibration demand.
In order to reach above-mentioned technical effect, the present invention takes following technical scheme:
A kind of accuracy assessment method of optical three-dimensional scanning instrument, cooperation customization standard component are realized, comprising:
A. to customization standard component be scanned pretreatment go forward side by side line scanner calibration；Wherein, calibration of scanner includes making
Calibration steps is completed in measurement airspace with scaling board, calibration information is calculated according to scaling board space coordinate in Survey Software,
Specific operation process is known in the art content, and details are not described herein again；
B. using optical three-dimensional scanning instrument measurement customization standard component, analog scanning splicing obtains complete point cloud data；
C. the point cloud data that will acquire imports third party's processing software, using fitting sphere order, respectively obtains customization mark
The diameter match value and the centre of sphere of the sphere of quasi- part are away from match value；Wherein, data are carried out with the fitting ball of least square sphere surface fitting
Body order is the included function of third party's processing software；
D. the match value for the corresponding data that scanning obtains is compared with the standard value of customization standard component corresponding data, it is fixed
Amount ground judges the single width measurement accuracy, duplicate measurements precision and stitching measure precision of optical three-dimensional scanning instrument.
Further, the customization standard component includes supporting table, connecting rod and at least two dumbbell balls, the supporting table surface
Equipped with multilayer platform terrace, and each step surface is all made of more inclined-planes, more curved designs, and dumbbell ball is connected by connecting rod, and the company
Bar is fixed on the step surface of supporting table surface top, preferably, high-precision, high rigidity, matt can be used dumbbell ball
Design, and the diameter of preferably single dumbbell ball is 4mm-60mm, circularity is preferably smaller than 0.5 μm, and connecting rod preferably uses carbon fiber etc.
High-intensitive material, by each step surface be all made of more inclined-planes, more curved designs to realize in each mark point of Scan orientation, can be right
The coordinate of mark point realizes three-dimensional constraining, to be conducive to ensure final measurement accuracy.
Further, the scanning pretreatment in the step A is specifically included in supporting table surface mount mark point, and will determine
Standard component processed is placed on the spinning device, wherein existing can be manually rotated or the rotation of automatic rotation mode can be selected in rotating device
Rotary device.
Further, in binding mark point, interval is not less than 20mm, and multiple mark points between two neighboring mark point
Arrangement cannot for straight line or constitute isosceles triangle.
Further, the step B includes:
B1. the rotating device for being placed with customization standard component is rotated according to certain orientation, every rotation once passes through light
Spatial digitizer is learned to be scanned customization standard component and obtain the point cloud data of a set of telltale mark point；
B2. after the complete scan for completing customization standard component, obtained more set point cloud datas are saved.
Further, the rotation angle for rotating rotating device in the step B1 every time is 10 °~45 °, and need to guarantee phase
Adjacent two sets of point cloud datas its common indicium point number being overlapped in splicing is no less than 4, and common indicium point is not preferably one
In a plane.
Further, it when saving point cloud data in the step B2, including individually saves and is saved with whole, the entirety is protected
The point cloud data deposited is special by the disconnected item of disconnection, the outer acnode of removing body, reduction noise, data sampling, encapsulation, filling, removal
Levy operation processing, wherein above-mentioned processing can directly realize that details are not described herein again is specifically handled in existing third party software
Process, the point cloud data individually saved are then not necessarily to editing and processing, wherein the point cloud data individually saved is used for calculating optical
The single width measurement accuracy and duplicate measurements precision of spatial digitizer, the point cloud data integrally saved are used for calculating optical 3-D scanning
The stitching measure precision of instrument.
It further, is that will be obtained in step C when judging the single width measurement accuracy of optical three-dimensional scanning instrument in the step D
To customization standard component the diameter match value of sphere and the diameter criteria value of sphere of actual customization standard component subtract each other, and take
Its absolute value as single width measurement error, and if single width measurement error value be no more than limits of error limit value, optical 3-dimensional
The single width measurement accuracy of scanner complies with standard.
It further, is by step C when judging the duplicate measurements precision of optical three-dimensional scanning instrument in the step D
Obtained multiple groups customize the diameter match value of the sphere of standard component to seek standard deviation, if standard deviation is no more than setting most
Big tolerance limit value, then the duplicate measurements precision of optical three-dimensional scanning instrument complies with standard, and standard deviation can be used for response data
The dispersion degree of collection, the smaller stability for representing optical three-dimensional scanning instrument of standard deviation values is better, specifically seeks multi-group data
Standard deviation have existing formula of mathematical, details are not described herein again.
Further, when judging the stitching measure precision of optical three-dimensional scanning instrument in the step D, in the step C also
A splicing, the angle splicing of turntable, shape feature splicing, whole process simulation work the point cloud data integrally saved need to be marked
Least square sphere surface fitting is carried out to dumbbell ball point cloud again after part scanning process, finds out the coordinate system of the both ends centre of sphere to obtain ball
The heart away from match value, and in the step D be sphere by the centre of sphere away from match value and actual customization standard component the centre of sphere away from
Standard value is subtracted each other, and takes its absolute value as stitching measure trueness error, and if stitching measure trueness error value be no more than maximum
Allowable error threshold value, then the stitching measure precision of optical three-dimensional scanning instrument complies with standard.
Compared with prior art, the present invention have it is below the utility model has the advantages that
The accuracy assessment method of optical three-dimensional scanning instrument of the invention is applicable to all Non-contacting optical scanning instrument, packet
White light three-dimensional measuring system, blue light three-dimension measuring system, 3-d laser measurement system etc. are included, it can be achieved that by primary simple survey
Amount, rapidly and accurately judges the single width measurement error and stitching measure error of optical three-dimensional scanning instrument, while can also valuator device
The stability repeatedly measured, so that the measurement accuracy of various dimensions precognition optical three-dimensional scanning instrument, is realized timely according to measurement error
Calibration process and natural environment are adjusted, to meet workpiece calibration demand.
Detailed description of the invention
Fig. 1 is the schematic diagram of the customization standard component in one embodiment of the present of invention.
Appended drawing reference: 1- mark point, the first dumbbell ball of 2-, 3- supporting table, the second dumbbell ball of 4-, 5- connecting rod.
Specific embodiment
Below with reference to the embodiment of the present invention, the invention will be further elaborated.
Embodiment:
Embodiment one:
A kind of accuracy assessment method of optical three-dimensional scanning instrument, cooperation customization standard component are realized, wherein as shown in Figure 1, should
Customizing standard component includes supporting table 3, connecting rod 5 and at least two dumbbell balls, specifically, two dumbbells are only arranged in the present embodiment
Ball, i.e. the first dumbbell ball 2 and the second dumbbell ball 4, wherein the second dumbbell ball 4 is used as standard ball.3 surface of supporting table is equipped with three layers
Step surface, and each step surface is all made of more inclined-planes, more curved designs, two dumbbell balls are connected by connecting rod 5, and connecting rod 5 is fixed
In on the step surface of 3 surface top of supporting table.
Preferably, dumbbell ball can be designed using high-precision, high rigidity, matt, and the diameter of preferably single dumbbell ball
For 4mm-60mm, circularity is preferably smaller than 0.5 μm, and two dumbbell balls are all matt white.Connecting rod 5 is preferably high-strength using carbon fiber etc.
Material is spent, and connecting rod 5 is black, 3 surface of supporting table is matt white.
Specifically, in the present embodiment, the accuracy assessment method of optical three-dimensional scanning instrument specifically includes the following steps:
Step 1: to customization standard component be scanned pretreatment go forward side by side line scanner calibration.
Wherein, scanning pretreatment is specifically included in 3 surface mount mark point 1 of supporting table, and customization standard component is placed on
On rotating device, wherein rotating device can be selected it is existing can be manually rotated or the rotating device of automatic rotation mode, scanning
Instrument calibration then includes the focal length and aperture of adjustment scanner, selects scaling board range, adjusts temperature range in real time, use scaling board
9 standard calibration procedures are completed in measurement airspace, calibration information is calculated according to scaling board space coordinate in Survey Software,
Specific operation process is known in the art content, and details are not described herein again.
Preferably, interval is not less than 20mm, and multiple labels between two neighboring mark point 1 in binding mark point 1
The arrangement of point 1 cannot be straight line or composition isosceles triangle.
Step 2: data collection task, analog scanning splicing are carried out using optical three-dimensional scanning instrument measurement customization standard component
Process carries out stitching measure by the mark point 1 of stickup, obtains complete point cloud data.
Specially first the rotating device for being placed with customization standard component is rotated according to certain orientation, every rotation is primary logical
Optical three-dimensional scanning instrument is crossed to be scanned customization standard component and obtain the point cloud data of a set of telltale mark point 1；Then complete
After complete scan at customization standard component, obtained more set point cloud datas are saved.
Wherein, the rotation angle of rotation rotating device is 10 °~45 ° every time, and need to guarantee that adjacent two sets of point cloud datas exist
1 number of common indicium point that it is overlapped when splicing no less than 4, and common indicium point 1 is preferably not in one plane.
Specifically, when saving point cloud data, including individually save and saved with whole, the point cloud data integrally saved passes through
It disconnects the outer acnode of disconnected item, removing body, reduce noise, data sampling, encapsulation, filling, removal characteristic manipulation processing, wherein
Above-mentioned processing can realize directly in existing third party software, specific treatment process that details are not described herein again, in the present embodiment
The software of the above-mentioned data edition processing of progress of selection is Geomagic Wrap 2017, and the point cloud data individually saved is then not necessarily to
Editing and processing, wherein the point cloud data individually saved is surveyed for the single width measurement accuracy of calculating optical spatial digitizer and repetition
Accuracy of measurement, the point cloud data integrally saved are used for the stitching measure precision of calculating optical spatial digitizer.
Step 3: the point cloud data that will acquire imports third party's processing software, the processing of third party used in the present embodiment
Software specifically: Geomagic Wrap 2017 carries out registration alignment and encapsulation to cloud, is ordered using the fitting sphere of software
It enables, the diameter match value and the centre of sphere for respectively obtaining the sphere of customization standard component are away from match value.
Step 4: the match value for the corresponding data that scanning obtains and the standard value of customization standard component corresponding data are compared
It is right, quantitatively judge the single width measurement accuracy, duplicate measurements precision and stitching measure precision of optical three-dimensional scanning instrument.Specifically
, it is with the first dumbbell ball when judging single width measurement accuracy, the duplicate measurements precision of optical three-dimensional scanning instrument in the present embodiment
The correlation of 2 diameter judges that the stitching measure precision of optical three-dimensional scanning instrument is then mute with two as data sample is judged
The centre of sphere of bell ball is away from as judging data sample.
It is then that standard component will be customized obtained in step 3 when that need to judge the single width measurement accuracy of optical three-dimensional scanning instrument
The first dumbbell ball 2 diameter match value and the diameter criteria value of actual first dumbbell ball 2 subtract each other, and take its absolute value conduct
Single width measurement error, and if single width measurement error value be no more than limits of error limit value, the single width of optical three-dimensional scanning instrument
Measurement accuracy complies with standard, wherein limits of error limit value can be set according to actual scanning demand, wherein judge light
When learning the single width measurement accuracy of spatial digitizer, in step 3 when carrying out least square sphere surface fitting, 3 ‰ data are at most filtered out
Point.
It is then to take multiple measurements and will will be in step 3 when that need to judge the duplicate measurements precision of optical three-dimensional scanning instrument
The diameter match value of obtained the first dumbbell ball of multiple groups 2 seeks standard deviation as data sample, if standard deviation is no more than
The maximum allowable offset limit value of setting, then the duplicate measurements precision of optical three-dimensional scanning instrument complies with standard, and standard deviation can be used for
The dispersion degree of response data collection, the smaller stability for representing optical three-dimensional scanning instrument of standard deviation values is better, specifically seeks
The standard deviation of multi-group data has existing formula of mathematical, and details are not described herein again.
When that need to judge the stitching measure precision of optical three-dimensional scanning instrument, then also needed in step 3 to the point integrally saved
A splicing, the angle splicing of turntable, shape feature splicing is marked in cloud data, wherein point cloud data is marked a little
Splicing, the angle splicing of turntable, shape feature splicing can also be automatically performed in third party software COMET plus, whole mould
Least square sphere surface fittings are carried out to two dumbbell ball point clouds again after quasi- workpiece scanning process, find out the coordinate system of the both ends centre of sphere from
And obtain the centre of sphere away from match value, and in step 4 be sphere by the centre of sphere away from match value and actual customization standard component the centre of sphere away from
Standard value is subtracted each other, and takes its absolute value as stitching measure trueness error, and if stitching measure trueness error value be no more than maximum
Allowable error threshold value, then the stitching measure precision of optical three-dimensional scanning instrument complies with standard.
It should be noted that the accuracy assessment method of optical three-dimensional scanning instrument of the invention be applicable to it is all non-contact
Formula optical scanner, such as including but not limited to white light three-dimensional measuring system, blue light three-dimension measuring system, 3-d laser measurement system
Deng.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of accuracy assessment method of optical three-dimensional scanning instrument, cooperation customization standard component is realized, which is characterized in that including following
Step:
A. to customization standard component be scanned pretreatment go forward side by side line scanner calibration；
B. using optical three-dimensional scanning instrument measurement customization standard component, analog scanning splicing obtains complete point cloud data；
C. the point cloud data that will acquire imports third party's processing software and respectively obtains customization standard component using fitting sphere order
Sphere diameter match value and the centre of sphere away from match value；
D. the match value for the corresponding data that scanning obtains is compared with the standard value of customization standard component corresponding data, quantitatively
Judge the single width measurement accuracy, duplicate measurements precision and stitching measure precision of optical three-dimensional scanning instrument.
2. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 1, which is characterized in that the customization
Standard component includes supporting table, connecting rod and at least two dumbbell balls, and the supporting table surface is equipped with multilayer platform terrace, and each step surface
More inclined-planes, more curved designs are all made of, dumbbell ball is connected by connecting rod, and the connecting rod is fixed on supporting table surface top
On step surface.
3. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 2, which is characterized in that the step
Scanning pretreatment in A is specifically included in supporting table surface mount mark point, and customization standard component is placed on the spinning device.
4. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 3, which is characterized in that in label adhering
When note point, interval is not less than 20mm between two neighboring mark point, and the arrangement of multiple mark points cannot be straight line or composition etc.
Lumbar triangle shape.
5. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 3, which is characterized in that the step
B includes:
B1. the rotating device for being placed with customization standard component is rotated according to certain orientation, every rotation is primary to pass through optics three
Dimension scanner is scanned customization standard component and obtains the point cloud data of a set of telltale mark point；
B2. after the complete scan for completing customization standard component, obtained more set point cloud datas are saved.
6. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 4, which is characterized in that the step
The rotation angle for rotating rotating device in B1 every time is 10 °~45 °, and adjacent two sets of point cloud datas need to be guaranteed in splicing Shi Qichong
The common indicium point number of conjunction is no less than 4.
7. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 5, which is characterized in that the step
It when saving point cloud data in B2, including individually saves and is saved with whole, the point cloud data integrally saved is by disconnecting non-company
It connects the outer acnode of item, removing body, reduce noise, data sampling, encapsulation, filling, removal characteristic manipulation processing, it is described individually to save
Point cloud data is then not necessarily to editing and processing, wherein single width of the point cloud data individually saved for calculating optical spatial digitizer is surveyed
Accuracy of measurement and duplicate measurements precision, the point cloud data integrally saved are used for the stitching measure precision of calculating optical spatial digitizer.
8. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 7, which is characterized in that the step
It is by the diameter for the sphere for customizing standard component obtained in step C when judging the single width measurement accuracy of optical three-dimensional scanning instrument in D
The diameter criteria value of sphere of match value and actual customization standard component is subtracted each other, and takes its absolute value as single width measurement error,
And if single width measurement error value, no more than limits of error limit value, the single width measurement accuracy of optical three-dimensional scanning instrument meets mark
It is quasi-.
9. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 8, which is characterized in that the step
It is the sphere that standard component is customized by multiple groups obtained in step C when judging the duplicate measurements precision of optical three-dimensional scanning instrument in D
Diameter match value seek standard deviation, if standard deviation is no more than the maximum allowable offset limit value of setting, optical 3-dimensional
The duplicate measurements precision of scanner complies with standard.
10. a kind of accuracy assessment method of optical three-dimensional scanning instrument according to claim 7, which is characterized in that the step
When judging the stitching measure precision of optical three-dimensional scanning instrument in rapid D, also needed in the step C to the point cloud data integrally saved into
The splicing of line flag point, the angle splicing of turntable, shape feature splice, again to dumbbell ball point after whole simulation workpiece scanning process
Cloud carries out least square sphere surface fitting, finds out the coordinate system of the both ends centre of sphere to obtain the centre of sphere away from match value, and in the step D
It is to subtract each other the centre of sphere away from standard value away from the centre of sphere of match value and the sphere of actual customization standard component, and its absolute value is taken to make
For stitching measure trueness error, and if stitching measure trueness error value be no more than limits of error threshold value, optical 3-dimensional is swept
The stitching measure precision for retouching instrument complies with standard.
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