CN110735733B - Laser point cloud based solid rocket engine inner molded surface reconstruction method and device - Google Patents
Laser point cloud based solid rocket engine inner molded surface reconstruction method and device Download PDFInfo
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- CN110735733B CN110735733B CN201911013136.5A CN201911013136A CN110735733B CN 110735733 B CN110735733 B CN 110735733B CN 201911013136 A CN201911013136 A CN 201911013136A CN 110735733 B CN110735733 B CN 110735733B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02K—JET-PROPULSION PLANTS
- F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
- F02K9/08—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using solid propellants
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
Abstract
The invention belongs to the technical field of inner molded surface reconstruction, and particularly relates to a method and a device for reconstructing an inner molded surface of a solid rocket engine based on laser point cloud. A solid rocket engine inner molded surface reconstruction method based on laser point cloud comprises the following steps: 1) acquiring a displacement value of the inner surface of the solid rocket engine by using a linear laser displacement sensor, and converting the acquired data into three-dimensional point cloud data of the inner surface of the solid rocket engine by using a D-H matrix; 2) setting the design radius of a solid rocket engine to be detected as R, and simplifying the internal surface three-dimensional point cloud data by adopting a mean filtering method based on the radius R; 3) and reconstructing a triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm. The invention uses the linear laser displacement sensor to carry out comprehensive scanning, and realizes high-precision and high-efficiency measurement on the inner surface of the solid rocket engine by utilizing the advantages of strong laser anti-interference performance, high stability and high propagation speed.
Description
Technical Field
The invention belongs to the technical field of inner molded surface reconstruction, and particularly relates to a method and a device for reconstructing an inner molded surface of a solid rocket engine based on laser point cloud.
Background
The solid rocket engine is a propelling device taking a solid chemical propellant as a power source, and is widely applied to the fields of national defense, military industry, aerospace and aviation and the like. For this situation, it is necessary to rebuild the internal profile of the solid rocket engine to observe the quality of the internal profile. The size detection items of the inner molded surface of the solid rocket engine are very complicated, and a contact type measurement method is not suitable for the measurement aiming at the rigid requirements of non-contact and non-pollution in the measurement process of the inner cavity of the solid rocket engine, because the contact type measurement method is used for measuring by directly contacting or indirectly contacting a sensor and a measured object, the method has the defect that the surface of the object is possibly abraded when the sensor is contacted with the measured object, so that the measurement is not accurate; the non-contact ultrasonic measurement method needs a detection mode by means of a transmission medium, namely, ultrasonic waves can better enter a workpiece to be measured by means of a coupling agent during detection, the gap between a probe and the surface of the measured object needs to be filled with the coupling agent so as to ensure sufficient acoustic coupling, and impurities such as dirt can seriously affect the measurement accuracy, so that the method is not suitable for data acquisition.
Disclosure of Invention
The invention provides a method and a device for reconstructing an inner molded surface of a solid rocket engine based on laser point cloud.
In order to achieve the purpose, the invention adopts the following technical scheme:
a solid rocket engine inner molded surface reconstruction method based on laser point cloud comprises the following steps:
1) acquiring a displacement value of the inner surface of the solid rocket engine by using a linear laser displacement sensor, and converting data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner surface of the solid rocket engine by using a D-H matrix;
2) setting the design radius of the solid rocket engine to be detected as R, and simplifying the three-dimensional point cloud data of the inner molded surface of the solid rocket engine by adopting a mean value filtering method based on the radius R;
3) and reconstructing a triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm.
Further, the step 1) of acquiring the displacement value of the inner surface of the solid rocket engine by using the line laser displacement sensor, and converting the data acquired by the line laser displacement sensor into the three-dimensional point cloud data of the inner surface of the solid rocket engine by using the D-H matrix, comprises the following specific steps: the displacement value of the inner surface of the solid rocket engine is collected at equal intervals by combining the movement of the line laser displacement sensor along the axis of the solid rocket engine and the rotation movement of the solid rocket engine, and D-H modeling is carried out on the data collected by the line laser displacement sensor to obtain a D-H matrix:
and multiplying the data acquired by the linear laser displacement sensor by the D-H matrix respectively, converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud coordinates, and finally converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner molded surface of the solid rocket engine.
Further, the step 2) sets the design radius of the solid rocket engine to be detected as R, and simplifies the three-dimensional point cloud data of the solid rocket engine by adopting a mean filtering method based on the radius R, and the specific steps are as follows: matrix partitioning is carried out on three-dimensional point cloud data of the inner molded surface of the solid rocket engine, and the partitioning method is that when the y axis is partitioned at equal intervals, the coordinate of the x axis is unchanged; when the x axis is divided at equal intervals, the coordinate of the y axis is unchanged; simplifying each divided data small block by setting the three-dimensional coordinate of the initial acquisition point of each data small block as (x)i，yi，zi) Wherein i is 1,2i+Δy、xiWithin the data small block range of + delta x, judging the z value of the data point, deleting the data with the z value exceeding R +/-10 mm, and averaging the data with the z value between R +/-10 mm
Using a point (x) in combinationi，yi，
) All data in the data small block are replaced, so that data simplification is realized;
further, the step 3) of reconstructing the triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm comprises the following specific steps: selecting any point in the simplified point set as a first point, selecting a point closest to the point as a second point, and connecting the points to serve as a first search edge of the triangulation algorithm; then according to the null circle criterion of the Delaunay triangle, searching a third point of the search edge from the residual point set so as to form the Delaunay triangle, adding two new edges of the generated triangle into the search edge, and repeating the previous operation until all the points are connected into the Delaunay triangle network, thereby reconstructing the three-dimensional shape of the inner profile of the fixed rocket engine; if the reconstructed curved surface Ri is located at R +/-0.2 mm, marking the curved surface Ri to be green, namely meeting the design index; if Ri is within R-0.2mm, the color is set to light blue, which indicates that the curved surface part has abrasion, and the color depth is increased by 1 every time when the Ri exceeds 0.1mm, and the color depth is used for indicating the severity of the abrasion; if Ri is more than R +0.2mm, the color is set to be light yellow, which indicates that the curved surface part needs to be polished, and the color depth is increased by 1 for every 0.1mm, and the degree of polishing is indicated by the color depth.
A solid rocket engine inner molded surface reconstruction device based on laser point cloud comprises an engine base, a fixed rocket engine and a simply supported beam base, wherein at least two pairs of supporting wheels are symmetrically arranged in front of and behind the upper surface of the engine base, the solid rocket engine is horizontally arranged on the supporting wheels, the supporting points of the supporting wheels are coincided with the centering part of the solid rocket engine, an encoder is arranged on one of the supporting wheels to measure the rotation angle of the solid rocket engine, a fixed seat is arranged on the upper surface of the engine base, a first motor and a clamping device are arranged on the fixed seat, the clamping device is a manual three-jaw chuck and is used for clamping one side of the solid rocket engine, the first motor drives the clamping device to rotate through belt transmission, the simply supported beam base is arranged adjacent to the engine base, and a guide rail is arranged on the simply supported beam base along the axial direction of the solid rocket engine, the movable trolley is arranged in the guide rail, a second motor is mounted on the movable trolley and drives the movable trolley to move through belt transmission, a simply supported beam fixing seat is arranged on the upper surface of the movable trolley, a simply supported beam is mounted on the simply supported beam fixing seat and coincides with the axis of the solid rocket engine, and a wired laser displacement sensor is arranged at the other end of the simply supported beam.
And furthermore, a support rod is arranged on the left side of the simply supported beam base, and rollers are arranged on the support rod and used for supporting the simply supported beam.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts the line laser displacement sensor to carry out non-contact comprehensive scanning on the inner surface of the solid rocket engine, utilizes the advantages of strong anti-interference performance, high stability and high propagation speed of laser to realize the high-precision and high-efficiency measurement on the inner surface of the solid rocket engine, then utilizes the D-H model to fixedly connect a coordinate system for each connecting rod in the model, strictly defines the coordinate axis of each coordinate system, gives four parameters for describing the connecting rod and the joint, can represent the transformation of any coordinate, has high flexibility, converts the data measured by the line laser displacement sensor into the three-dimensional point cloud data of the inner surface of the solid rocket engine through the D-H matrix modeling, then simplifies the three-dimensional point cloud data of the inner surface of the solid rocket engine through the simplified algorithm based on mean value filtering, reduces the time cost and the storage cost for carrying out the post-processing on the three-dimensional point cloud data of the inner surface of the solid rocket, meanwhile, compared with a curvature simplification method in the prior art, the simplification algorithm based on the mean filtering reduces the calculation difficulty and the calculation time, removes redundant points and improves the uniformity of simplified data; and then, in order to more clearly display the three-dimensional information of the inner molded surface of the solid rocket engine, triangular mesh surface reconstruction is carried out on the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by utilizing a triangular mesh growth algorithm, and compared with the wave front algorithm and the Voronoi graph algorithm, the method has the advantages of low operation speed, cavities and surface patch overlapping in front edge splitting and subdivision, simplicity and easiness in implementation, high operation speed, simplicity in storage and wide application range, and finally the state of the inner molded surface of the solid rocket engine is represented by different colors and color depth changes.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a coordinate calibration chart of each joint of the D-H model of the invention;
FIG. 3 is a block diagram of three-dimensional point cloud data of the inner surface of the solid rocket engine according to the present invention;
the device comprises an engine base-1, a fixed base-2, a first motor-3, a clamping device-4, a solid rocket engine-5, a supporting wheel-6, a simply supported beam base-7, a guide rail-8, a moving trolley-9, a second motor-10, a simply supported beam fixed base-11, a simply supported beam-12, a roller-13, a linear laser displacement sensor-14 and a supporting rod-15.
Detailed Description
In order to further illustrate the technical solution of the present invention, the present invention is further illustrated by the following examples.
A solid rocket engine inner molded surface reconstruction method based on laser point cloud comprises the following steps:
1) acquiring a displacement value of the inner surface of the solid rocket engine by using the linear laser displacement sensor, converting data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner surface of the solid rocket engine by using a D-H matrix, and specifically comprising the following steps: the method comprises the following steps of combining the movement of a linear laser displacement sensor along the axis of a solid rocket engine and the rotation movement of the solid rocket engine, collecting displacement values of the inner surface of the solid rocket engine at equal intervals, specifically, the linear laser displacement sensor moves a certain distance on a Y axis, the solid rocket engine rotates for one circle, and data collection at equal intervals is carried out according to the circle, or the solid rocket engine rotates for a certain angle, the linear laser displacement sensor moves for one stroke on the Y axis, and the data collection at equal intervals is carried out according to the line, and the data collected by the linear laser displacement sensor is subjected to D-H modeling as shown in figure 2, so that a D-H matrix can be obtained:
and multiplying the data acquired by the linear laser displacement sensor by the D-H matrix respectively, converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud coordinates, and finally converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner molded surface of the solid rocket engine.
2) Setting the design radius of the solid rocket engine to be detected as R, and simplifying three-dimensional point cloud data of the solid rocket engine by adopting a mean filtering method based on the radius R, wherein the method comprises the following specific steps: matrix partitioning is carried out on three-dimensional point cloud data of the inner molded surface of the solid rocket engine, and the partitioning method is that when the y axis is partitioned at equal intervals, the coordinate of the x axis is unchanged; when the x axis is divided at equal intervals, the coordinate of the y axis is unchanged; simplifying each divided data small block by setting the three-dimensional coordinate of the initial acquisition point of each data small block as (x)i，yi，zi) Wherein i is 1,2i+Δy、xiWithin a rectangular range of + Δ x, judging the z value of the data points in the range, deleting the data with the z value exceeding R + -10 mm, and averaging the data with the z value between R + -10 mm
Using a point (x) in combinationi，yi，
) All data in the data small block are replaced, so that data simplification is realized;
3) carrying out triangular mesh surface reconstruction on the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm, and specifically comprising the following steps: selecting any point in the simplified point set as a first point, selecting a point closest to the point as a second point, and connecting the points to serve as a first search edge of the triangulation algorithm; then according to the null circle criterion of the Delaunay triangle, searching a third point of the search edge from the residual point set so as to form the Delaunay triangle, adding two new edges of the generated triangle into the search edge, and repeating the previous operation until all the points are connected into the Delaunay triangle network, thereby reconstructing the three-dimensional shape of the inner profile of the fixed rocket engine; if the reconstructed curved surface Ri is located at R +/-0.2 mm, marking the curved surface Ri to be green, namely meeting the design index; if Ri is within R-0.2mm, the color is set to light blue, which indicates that the curved surface part has abrasion, and the color depth is increased by 1 every time when the Ri exceeds 0.1mm, and the color depth is used for indicating the severity of the abrasion; if Ri is more than R +0.2mm, the color is set to be light yellow, which indicates that the curved surface part needs to be polished, and the color depth is increased by 1 for every 0.1mm, and the degree of polishing is indicated by the color depth.
A solid rocket engine inner molded surface reconstruction device based on laser point cloud comprises an engine base 1, a fixed rocket engine 5 and a simply supported beam base 7, wherein at least two pairs of supporting wheels 6 are symmetrically arranged in front of and behind the upper surface of the engine base 1, the solid rocket engine 5 is horizontally arranged on the supporting wheels 6, the supporting points of the supporting wheels 6 are overlapped with the centering part of the solid rocket engine 5, an encoder is arranged on one of the supporting wheels 6 to measure the rotation angle of the solid rocket engine 5, a fixed seat 2 is arranged on the upper surface of the engine base 1, a first motor 3 and a clamping device 4 are arranged on the fixed seat 2, the clamping device 4 is a manual three-jaw chuck and is used for clamping one side of the solid rocket engine 5, the first motor 3 drives the clamping device 4 to rotate through belt transmission, the simple beam base 7 is adjacent to the engine base 1, a guide rail 8 is arranged on the simple beam base 7 along the axis direction of the solid rocket engine 5, a moving trolley 9 is arranged in the guide rail 8, a second motor 10 is mounted on the moving trolley 9, the second motor 10 drives the moving trolley 9 to move through belt transmission, a simple beam fixing seat 11 is arranged on the upper surface of the moving trolley 9, a simple beam 12 is mounted on the simple beam fixing seat 11, the simple beam 12 coincides with the axis of the solid rocket engine 5, and a wired laser displacement sensor 14 is arranged at the other end of the simple beam 12. A support rod 15 is arranged on the left side of the simply supported beam base 7, and a roller 13 is arranged on the support rod 15 and used for supporting the simply supported beam 12.
While there have been shown and described what are at present considered to be the essential features and advantages of the invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A solid rocket engine inner molded surface reconstruction method based on laser point cloud is characterized in that: the method comprises the following steps:
1) acquiring a displacement value of the inner surface of the solid rocket engine by using the linear laser displacement sensor, converting data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner surface of the solid rocket engine by using a D-H matrix, and specifically comprising the following steps: the displacement value of the inner surface of the solid rocket engine is collected at equal intervals by combining the movement of the line laser displacement sensor along the axis of the solid rocket engine and the rotation movement of the solid rocket engine, and D-H modeling is carried out on the data collected by the line laser displacement sensor to obtain a D-H matrix:
multiplying the data acquired by the linear laser displacement sensor by a D-H matrix respectively, converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud coordinates, and finally converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner molded surface of the solid rocket engine;
2) setting the design radius of the solid rocket engine to be detected as R, and simplifying the three-dimensional point cloud data of the inner molded surface of the solid rocket engine by adopting a mean value filtering method based on the radius R;
3) and reconstructing a triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm.
2. The method for reconstructing the inner profile of the solid rocket engine based on the laser point cloud as claimed in claim 1, wherein: the step 2) sets the design radius of the solid rocket engine to be detected as R, and simplifies the three-dimensional point cloud data of the solid rocket engine by adopting a mean filtering method based on the radius R, and the specific steps are as follows: matrix partitioning is carried out on three-dimensional point cloud data of the inner molded surface of the solid rocket engine, and the partitioning method is that when the y axis is partitioned at equal intervals, the coordinate of the x axis is unchanged; when the x axis is divided at equal intervals, the coordinate of the y axis is unchanged; simplifying each divided data small block by setting the three-dimensional coordinate of the initial acquisition point of each data small block as (x)i，yi，zi) Wherein i is 1,2i+Δy、xiWithin the data small block range of + delta x, judging the z value of the data point in the range, deleting the data with the z value exceeding R +/-10 mm, dividing the data with the z value between R +/-10 mm into positive and negative values, and averaging
Finally using three-dimensional coordinate points
All data in the data tile is replaced, thereby achieving data compaction.
3. The method for reconstructing the inner profile of the solid rocket engine based on the laser point cloud as claimed in claim 1, wherein: the step 3) of reconstructing the triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm comprises the following specific steps: selecting any point in the simplified point set as a first point, selecting a point closest to the point as a second point, and connecting the points to serve as a first search edge of the triangulation algorithm; then according to the null circle criterion of the Delaunay triangle, searching a third point of the search edge from the residual point set so as to form the Delaunay triangle, adding two new edges for generating the triangle into the search edge, and repeating the previous operation until all the points are connected to the Delaunay triangle network, thereby reconstructing the three-dimensional shape of the inner profile of the solid rocket engine; if the reconstructed curved surface Ri is located at R +/-0.2 mm, marking the curved surface Ri to be green, namely meeting the design index; if Ri is within R-0.2mm, the color is set to light blue, which indicates that the curved surface part has abrasion, and the color depth is increased by 1 every time when the Ri exceeds 0.1mm, and the color depth is used for indicating the severity of the abrasion; if Ri is more than R +0.2mm, the color is set to be light yellow, which indicates that the curved surface part needs to be polished, and the color depth is increased by 1 for every 0.1mm, and the degree of polishing is indicated by the color depth.
4. The utility model provides a solid rocket engine inner profile rebuilding device based on laser point cloud which characterized in that: the device comprises an engine base (1), a solid rocket engine (5) and a simply supported beam base (7), wherein at least two pairs of supporting wheels (6) are symmetrically arranged in front of and behind the upper surface of the engine base (1), the solid rocket engine (5) is horizontally arranged on the supporting wheels (6), the supporting points of the supporting wheels (6) are overlapped with the centering part of the solid rocket engine (5), an encoder is arranged on one of the supporting wheels (6) to measure the rotation angle of the solid rocket engine (5), a fixed seat (2) is arranged on the upper surface of the engine base (1), a motor (3) and a clamping device (4) are arranged on the fixed seat (2), the clamping device (4) is used for clamping one side of the solid rocket engine (5), the motor (3) drives the clamping device (4) to rotate through belt transmission, the simple beam type solid rocket engine is characterized in that the simple beam base (7) is adjacent to the engine base (1), a guide rail (8) is arranged on the simple beam base (7) along the axis direction of the solid rocket engine (5), a movable trolley (9) is arranged in the guide rail (8), a second motor (10) is installed on the movable trolley (9), the second motor (10) drives the movable trolley (9) to move through belt transmission, a simple beam fixing seat (11) is arranged on the upper surface of the movable trolley (9), a simple beam (12) is installed on the simple beam fixing seat (11), the simple beam (12) coincides with the axis of the solid rocket engine (5), and a wired laser displacement sensor (14) is arranged at the other end of the simple beam (12).
5. The device for reconstructing the inner profile of the solid rocket engine based on the laser point cloud as claimed in claim 4, wherein: a supporting rod (15) is arranged on the left side of the simply supported beam base (7), and rollers (13) are arranged on the supporting rod (15).
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