CN111023992B - Line structured light-based section curve characteristic detection method and application thereof - Google Patents
Line structured light-based section curve characteristic detection method and application thereof Download PDFInfo
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- CN111023992B CN111023992B CN201911356550.6A CN201911356550A CN111023992B CN 111023992 B CN111023992 B CN 111023992B CN 201911356550 A CN201911356550 A CN 201911356550A CN 111023992 B CN111023992 B CN 111023992B
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Abstract
The invention discloses a method for detecting characteristics of a cross-section curve based on line structure light and application thereof, wherein the detection step of the method comprises the steps of firstly collecting profile data from a cylinder to an object to be detected by moving a line structure light device along the X axis of a bracket, carrying out circle fitting on the profile data of the cylinder, and converting the profile data into a data coordinate system of the profile data of the cylinder; then, rotating the rotary table for 180 degrees, collecting profile data from the cylinder to the linear structure optical device of the object to be measured along the X axis of the support, performing circle fitting on the profile data of the cylinder, and converting the profile data into a data coordinate system of the profile data of the cylinder; and finally, converting the contour data into the same data coordinate system according to the geometric relationship. By the method, data acquisition and splicing are performed, the data acquisition times are few, and the detection time is saved; the motion control is simple, and only the movement of the translation shaft and the one-time rotation of the rotary table are involved; the coordinate conversion processing is convenient; the cross section of most objects to be measured can be measured, and the characteristic detection of the cross section curve is realized.
Description
Technical Field
The invention relates to the field of section curve characteristic detection, in particular to a section curve characteristic detection method based on line structured light and application thereof.
Background
The blade is used as a key part in equipment such as an aircraft engine, a combustion engine, a steam turbine and the like, and bears the important task of converting heat energy into mechanical energy, and the shape and the quality of the blade directly influence the energy conversion efficiency and the service life of the whole machine. The profile of the blade is an irregular curved surface, and the profile of the blade with different section heights increases difficulty for blade detection.
At present, the commonly used detection methods are a standard template method and a three-coordinate measurement method, the standard template method is used for quality control in the blade machining process, the measurement precision is low, and the labor intensity is high. The three-coordinate measurement method is commonly used for final inspection of products, is contact measurement, and obtains required parameters by acquiring coordinates of points on the surface of a blade to be measured and processing the acquired points through software. The three-coordinate measuring method has the advantages of strong universality, high precision, large measuring range and the like, and is not influenced by factors such as roughness, color and the like of the surface quality of an object during measurement; but has the disadvantages of low measuring efficiency, high measuring cost and the like.
Disclosure of Invention
The invention aims to provide a line-structured light-based section curve characteristic detection method which is high in measurement efficiency and capable of acquiring section information, and the method is particularly applied to blade section information detection.
In order to achieve the purpose, the invention adopts the following technical scheme:
the method for detecting the characteristic of the cross section curve based on the line structured light comprises the following steps:
(1) detection device and calibration
The line structured light device is arranged on a bracket which can translate along the X, Y, Z axis of space coordinates, and the pose of the line structured light device is calibrated; a rotary table capable of rotating around a Z axis of the rotary table is arranged along the direction of a laser surface emitted by the line structured light device, and the rotary table surface of the rotary table is calibrated;
(2) object to be measured and cylinder installation
The object to be measured and the cylinder are arranged on a rotary table surface of the rotary table, the cylinder and the object to be measured are not shielded in the direction of the laser surface emitted by the line-along structured light device, and the axis of the object to be measured is calibrated;
(3) feature detection of cross-sectional curve of object to be detected
a. Moving the linear structured light device along the Z axis of the bracket to enable the laser surface to be positioned on the height of the section of the object to be measured;
b. collecting a plurality of groups of profile data from the cylinder to the object to be measured moving line structure optical device along the X axis of the bracket, performing circle fitting on the collected cylinder profile data to obtain a circle center coordinate C1, and converting the plurality of groups of profile data into a data coordinate system M0-xy corresponding to the cylinder profile data to obtain a data set M;
c. collecting a plurality of groups of profile data from the cylinder to the moving line structure optical device of the object to be measured along the X axis of the support after rotating the rotary table for 180 degrees, performing circle fitting on the collected cylinder profile data to obtain a circle center coordinate C2, and converting the plurality of groups of profile data into a data coordinate system N0-xy corresponding to the cylinder profile data to obtain a data set N;
d. and converting the contour data of the data set N into a data coordinate system M0-xy according to circle center coordinates C1 and C2, and splicing the two data sets M and N together, thereby realizing the characteristic detection of the section curve of the object to be detected.
Further, the step of moving the linear structured light device in steps (3) b and c is less than or equal to the minimum measurement range in the width direction of the linear structured light device each time the linear structured light device is moved.
Further, the height of the cylinder is larger than or equal to that of the object to be measured.
According to the invention, other collected contour data are spliced under the same data coordinate system from the center coordinate by using the cylindrical coaxial line (the center coordinate of the cylindrical coaxial line is unchanged under the data coordinate system), so that the data conversion is realized, the data are subjected to contour fitting, and the characteristic detection of the section curve is realized; the motion control is simple, and only the movement of the translation shaft and the one-time rotation of the rotary table are involved; the coordinate conversion processing is convenient, and complex data processing is not needed; the method has wide application range and can measure the cross sections of most of the blades.
Drawings
FIG. 1 is a schematic structural diagram of a detecting device according to the present invention.
FIG. 2 is a schematic diagram showing the relationship between the placement positions of the cylinder and the object to be tested according to the present invention.
Fig. 3 is profile data of the inventive data set M.
Fig. 4 is profile data of the inventive data set N.
FIG. 5 is a relationship diagram of data splicing according to the present invention.
The labels in the figure are: 100. a support; 101. a support X axis; 102. a support Y axis; 103. a bracket Z axis; 110. mounting a plate; 200. a turntable; 201. rotating the table top; 202. a fixing device; 300. a line structured light device; 301. a laser plane; 400. a blade; 401. a section to be measured; 500. an optical platform; 600. a cylinder.
Detailed Description
As shown in fig. 1, the detection device required to be equipped in this embodiment includes a support 100 capable of translating along a spatial coordinate X, Y, Z axis and a turntable 200 capable of rotating around its Z axis, where the translation motion of the X, Y, Z axis of the support 100 and the rotation of the Z axis of the turntable 200 are main motions, which are three translation components (the support 100 drives the linear structured light device 300) and one rotation component (the turntable 200 drives the blade 400 to be tested), respectively, so that four-axis relative motion is generated between the linear structured light device 300 and the blade 400 to be tested. Specifically, the Y axis 102 of the support 100 is installed on the optical platform 500, the X axis 101 is horizontally, vertically and translationally installed on the Y axis 102, the Z axis 103 is vertically, vertically and translationally installed on the X axis 101, the Z axis 103 is movably installed along the vertical direction on the mounting plate 110, the line structured light device 300 is installed on the mounting plate 110, the turntable 200 is also installed on the optical platform 500 and located on one side of the support 100, the turntable 200 is a high-precision turntable, the top of the turntable 200 is provided with a turntable surface 201 capable of rotating around the Z axis, the turntable surface 201 is provided with a fixing device 202 for fixing the blade 400 to be measured, the fixing device 202 is realized by a structure capable of ensuring that the blade 400 to be measured does not generate relative displacement after being installed, and the embodiment is specifically realized by an electromagnet.
The line structured light device 300 adopts a kirschner L J-V7060 contourgraph, the light source is blue semiconductor laser, and the emitted light beam belongs to a direct-emitting type, and has the advantages of high measurement accuracy, wide scanning range and stable performance.
The embodiment takes a blade as an example, and particularly provides a cross-sectional curve characteristic detection method based on combination of a four-axis detection device and line structure light, which comprises the following steps:
(1) detection device and calibration
The line structured light device 300 is mounted on a support 100 which can translate along the spatial coordinate X, Y, Z axis, and the pose of the line structured light device 300 is calibrated; the turntable 200 which can rotate around the Z axis is arranged along the direction of the laser surface 301 emitted by the linear structured light device 300, and the turntable surface 201 of the turntable 200 is calibrated.
(2) Blade and cylinder installation to be tested
The blade 400 to be measured and the cylinder 600 are mounted on the turntable surface 201 of the turntable 200 and fixed by the electromagnet, and the blade 400 to be measured and the cylinder 600 to be measured are not shielded from each other in the direction in which the laser surface 301 is emitted by the linear structured light device 300, as shown in fig. 2, the height of the cylinder 600 is greater than or equal to that of the blade 400 to be measured, so that the section information of any height of the blade 400 to be measured can be detected, and the axis of the blade 400 to be measured is calibrated.
The specific calibration method in step (1) and step (2) has already applied for "a method for calibrating a line-structured light detector", which describes the specific calibration steps in detail, and this embodiment is not repeated herein. It should be noted that the method provided by this embodiment does not require calibration of the axis of the turntable.
(3) Feature detection of cross-sectional curve of object to be detected
a. Moving the linear structured light device 300 along the Z axis 103 of the bracket to position the laser plane 301 at the height of the section 401 of the blade 400 to be measured;
b. the linear structured light device 300 is moved from the cylinder 600 to the blade 400 to be detected along the X axis 101 of the bracket to acquire a plurality of groups of profile data, wherein the moving step length l is less than or equal to the minimum measuring range of the linear structured light device 300 each time, the minimum measuring range of the linear structured light device 300 of the embodiment is 13.5mm, and the moving step length l is set to be slightly less than 13.5mm, so that the moving times are few, and the integral detection efficiency can be improved; moving for i times, collecting i groups of contour data (M0, M1, … and Mi), wherein invalid points exist in the collection, and deleting the invalid points; performing circle fitting on the first group of profile data (acquired cylinder profile data) M0 to obtain circle center coordinates C1 (x)C1,yC1) And converting the plurality of sets of profile data into a data coordinate system M0-xy corresponding to the first set of profile data to obtain a data set M, where the data coordinate system M0-xy is a data coordinate system of the first set of profile data of the on-line structured light device 300.
As shown in fig. 3, the data is specifically converted as follows:
where k is 1 to i, ek is the number of effective points in the k-th measurement, and Δ y is the distance moved by the linear structured light device in the positive direction of the y-axis in the data coordinate system M0-xy when the blade exceeds the measurement range of the linear structured light device 300 in the k-th measurement process.
Converting the data M1-Mi into a coordinate system M0-xy, and converting the data into a coordinate system M0-xy
Then splicing M0, M1, ·, Mi under an M0-xy coordinate system to obtain a data set M,
M＝(M0 M1 … Mi)(3)
m is the total profile data of the laser illuminated surface under the coordinate system M0-xy.
c. Rotating the rotary table for 180 degrees, acquiring profile data of the other surface again according to the step (b), acquiring a plurality of groups of profile data (N0, N1, … and Nj) from the cylinder 600 to the moving line structure optical device 300 of the blade 400 to be measured along the X axis 101 of the support, and performing circle fitting on the first group of profile data (acquired cylinder profile data) N0 to obtain a circle center coordinate C2 (X2)C2,yC2) And converting the plurality of sets of profile data into a data coordinate system N0-xy corresponding to the first set of profile data to obtain a data set N, wherein the data conversion in the step (b) is the same, only the moving direction of the line structured light device 300 is changed to be opposite, and in the data conversion (formula 2), the moving step length l (-kl) is subtracted from the x-axis data, and the total profile data of the laser irradiation surface of the N in the coordinate system N0-xy is shown in FIG. 4.
d. And converting the contour data of the data set N into a data coordinate system M0-xy according to circle center coordinates C1 and C2 to realize the characteristic detection of the section curve of the object to be detected.
Specifically, after data reduction, the distance between the y axis of the coordinate system M0-xy and the y axis of N0-xy is as follows:
D1＝xc1+xc2(4)
the distance between the x axis of the coordinate system M0-xy and the x axis of the coordinate system N0-xy is as follows:
D2＝yc1+yc2(5)
unifying coordinate system N0-xy to coordinate system M0-xy:
wherein (x)n,yn) Is an arbitrary point under a data coordinate system N0-xy, (x)m,ym) As a coordinate point (x)n,yn) Coordinates under M0-xy after conversion is complete. The data set N can be converted into a coordinate system M0-xy by formula 6, and contour stitching of the data set M, N is realized to obtain a complete contour of the current section, as shown in FIG. 5.
Other cross-sections of the blade to be measured can be measured by moving the line structured light device 300 up and down along the Z axis 103 of the gantry. The data acquisition and splicing are carried out through the embodiment, the data acquisition times are few, when the maximum width of the blade profile is 40mm, the acquisition of a complete single section only needs 10-12 times, and the measurement time is greatly saved; the motion control is simple, and only the movement of the translation shaft and the one-time rotation of the rotary table are involved; the coordinate conversion processing is convenient, and complex data processing is not needed; the method has wide application range and can measure the cross sections of most of the blades.
The method for detecting the characteristic of the cross section curve of other objects to be detected is the same, if the objects to be detected cannot be stably placed on the turntable surface 201, such as a spherical shape, an ellipsoidal shape and the like, the objects to be detected can be stabilized by designing a clamping tool corresponding to the objects to be detected, and then the cross section curve characteristic detection is further performed on the objects to be detected.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any modification and replacement based on the technical solution and inventive concept provided by the present invention should be covered within the scope of the present invention.
Claims (4)
1. The method for detecting the characteristic of the cross section curve based on the line structured light is characterized by comprising the following steps of:
(1) detection device and calibration
The line structured light device is arranged on a bracket which can translate along the X, Y, Z axis of space coordinates, and the pose of the line structured light device is calibrated; a rotary table capable of rotating around a Z axis of the rotary table is arranged along the direction of a laser surface emitted by the line structured light device, and the rotary table surface of the rotary table is calibrated;
(2) object to be measured and cylinder installation
The object to be measured and the cylinder are arranged on a rotary table surface of the rotary table, the cylinder and the object to be measured are not shielded in the direction of the laser surface emitted by the line-along structured light device, and the axis of the object to be measured is calibrated;
(3) feature detection of cross-sectional curve of object to be detected
a. Moving the linear structured light device along the Z axis of the bracket to enable the laser surface to be positioned on the height of the section of the object to be measured;
b. collecting a plurality of groups of profile data from the cylinder to the object to be measured moving line structure optical device along the X axis of the bracket, performing circle fitting on the collected cylinder profile data to obtain a circle center coordinate C1, and converting the plurality of groups of profile data into a data coordinate system M0-xy corresponding to the cylinder profile data to obtain a data set M;
c. collecting a plurality of groups of profile data from the cylinder to the moving line structure optical device of the object to be measured along the X axis of the support after rotating the rotary table for 180 degrees, performing circle fitting on the collected cylinder profile data to obtain a circle center coordinate C2, and converting the plurality of groups of profile data into a data coordinate system N0-xy corresponding to the cylinder profile data to obtain a data set N;
d. and converting the contour data of the data set N into a data coordinate system M0-xy according to circle center coordinates C1 and C2, and splicing the two data sets M and N together, thereby realizing the characteristic detection of the section curve of the object to be detected.
2. The method of claim 1, wherein the method comprises: and (3) b and c, moving the linear structure light device each time, wherein the moving step length is less than or equal to the minimum measuring range of the linear structure light device in the width direction.
3. The method of claim 1, wherein the method comprises: the height of the cylinder is more than or equal to that of the object to be detected.
4. The method for detecting the characteristic of the cross-sectional curve based on the line structured light as claimed in any one of claims 1 to 3 is applied to the field of blade detection.
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| CN111982019B (en) * | 2020-10-21 | 2021-01-05 | 四川大学 | High-precision blade section contour detection method based on line-structured light sensor |
| CN112013787B (en) * | 2020-10-21 | 2021-01-26 | 四川大学 | Blade three-dimensional contour reconstruction method based on blade self-characteristics |
| CN114046758B (en) * | 2021-11-18 | 2024-05-14 | 天津津航技术物理研究所 | Precision measuring device for special-shaped shell part |
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