CN111504223B - Blade profile measuring method, device and system based on line laser sensor - Google Patents
Blade profile measuring method, device and system based on line laser sensor Download PDFInfo
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- CN111504223B CN111504223B CN202010322903.7A CN202010322903A CN111504223B CN 111504223 B CN111504223 B CN 111504223B CN 202010322903 A CN202010322903 A CN 202010322903A CN 111504223 B CN111504223 B CN 111504223B
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a method, a device and a system for measuring blade profile based on a line laser sensor, wherein the method for measuring blade profile based on the line laser sensor comprises the following steps: the method comprises the steps that a blade to be measured is measured in real time based on a line laser sensor, and a large amount of real-time measurement data are collected; matching the large amount of real-time measurement data, and selecting point data corresponding to the standard data; registering the corresponding point data and the standard data one by adopting a least square method; when registration is complete, measurements of the blade are generated. The method is based on a line laser sensor as a blade profile measuring tool, combines blade model data, and adopts a least square method to register the blade profile to realize rapid measurement; compared with three-coordinate measurement, the measurement efficiency is obviously improved under the condition of equivalent measurement precision.
Description
Technical Field
The invention relates to the technical field of laser measurement registration, in particular to a blade profile measuring method, device and system based on a line laser sensor.
Background
The aviation engine blade has the characteristics of complex geometric shape, large size span, high machining precision requirement and the like, and becomes a difficult point for machining and manufacturing in an aviation engine, and simultaneously, higher requirements are provided for the machining quality detection precision and the detection efficiency of the aviation engine blade. The detection technology of the blades of the aero-engine gradually detects quantitative detection from qualitative detection, detects non-contact detection from contact detection, detects automatic digital detection from traditional manual detection, detects multi-degree-of-freedom combined detection from two-dimensional comparison, and detects multi-specification small-batch detection from single specification in large batch.
With the development of the domestic aero-engine technology, the production capacity is continuously increased, and the requirements on the machining precision and the rapid measurement of the blade are increasingly increased. At present, a blade manufacturer mainly adopts three-coordinate multi-blade machining precision and outline to measure, although the precision is high, the measuring speed is low, the blade is required to be in a constant temperature environment during measurement, the sampling efficiency is low, and the requirements of mass production and detection are difficult to meet.
Disclosure of Invention
The invention aims to solve the problem that the efficiency of blade measurement of an aircraft engine is low in the prior art, and provides a method, a device and a system for blade profile measurement based on a line laser sensor.
In a first aspect, an embodiment of the present invention provides a blade profile measurement method based on a line laser sensor, including:
s1, acquiring standard data of the blade to be measured; the standard data are blade model data;
s2, measuring the blade to be measured in real time through the line laser sensor, and collecting a large amount of real-time measurement data;
s3, matching the large amount of real-time measurement data, and selecting point data corresponding to the standard data;
s4, registering the corresponding point data and the standard data one by adopting a least square method;
and S5, when the registration is completed, generating a measurement result of the blade.
In one embodiment, the step S3 includes:
s31, calculating the slope and distance between adjacent points of the standard data to generate a reference data set;
s32, calculating the slope and distance between each point and adjacent points in the large amount of real-time measurement data to generate a test data set;
and S33, matching the test data set with the reference data set, and selecting point data corresponding to the matching with the smallest error in the slope and the distance from the large amount of real-time data.
In one embodiment, the step S4 includes:
setting: the standard data points are a first data set: [ (x)1,y1),(x2,y2)...(xn,yn)]；
Setting: selecting the point data set corresponding to the matching with the slope and the distance both having the minimum error as a second data set: [ (x'1,y′1),(x'2,y'2)...(x'n,y'n)]；
Freezing the mutual position relation between a second contour corresponding to the second data set and a first contour corresponding to the first data set when the square sum of the distances between the second data set and the first data set is the maximum or the square difference is the minimum by calculating the rotation angle and the offset of the X-axis and the Z-axis;
selecting a maximum distance and a minimum distance parameter between the first profile and the second profile; the maximum distance is a maximum error, and the minimum distance parameter is a minimum error.
In a second aspect, an embodiment of the present invention further provides a blade profile measuring apparatus based on a line laser sensor, including:
the acquisition module is used for acquiring standard data of the blade to be measured; the standard data are blade model data;
the acquisition module is used for measuring the blade to be measured in real time through the line laser sensor and acquiring a large amount of real-time measurement data;
the matching selection module is used for matching the large amount of real-time measurement data and selecting point data corresponding to the standard data;
the registration module is used for registering the corresponding point data and the standard data one by adopting a least square method;
and the generation module is used for generating the measurement result of the blade after the registration is finished.
In one embodiment, the matching selection module includes:
the first calculation submodule is used for calculating the slope and the distance between adjacent points of the standard data and generating a reference data set;
the second calculation submodule is used for calculating the slope and the distance between each point and an adjacent point in the large amount of real-time measurement data and generating a test data set;
and the matching selection submodule is used for matching the test data set with the reference data set, and selecting point data corresponding to matching with the smallest error in the slope and the distance from the large amount of real-time data.
In one embodiment, the registration module is specifically configured to:
setting: the standard data points are a first set of data: [ (x)1,y1),(x2,y2)...(xn,yn)]；
Setting: selecting the point data set corresponding to the matching with the minimum error in both slope and distance as a second data set: [ (x'1,y′1),(x'2,y'2)...(x'n,y'n)]；
Freezing the mutual position relation between a second contour corresponding to the second data set and a first contour corresponding to the first data set when the square sum of the distances between the second data set and the first data set is the maximum or the square difference is the minimum by calculating the rotation angle and the offset of the X-axis and the Z-axis;
selecting a maximum distance and a minimum distance parameter between the first profile and the second profile; the maximum distance is a maximum error, and the minimum distance parameter is a minimum error.
In a third aspect, an embodiment of the present invention further provides a blade profile measuring system based on a line laser sensor, including: two line laser devices, two line laser measuring head controllers, a router and a line laser sensor-based blade profile measuring device as described in the above embodiments;
each line laser device is connected with a corresponding line laser measuring head controller through a data transmission line; the two line laser measuring head controllers are connected with the router through network cables; the router is connected with the measuring device.
The embodiment of the invention obtains the standard data of the blade to be measured; the method comprises the steps that a blade to be measured is measured in real time based on a line laser sensor, and a large amount of real-time measurement data are collected; matching the large amount of real-time measurement data, and selecting point data corresponding to the standard data; registering the corresponding point data and the standard data one by adopting a least square method; when registration is complete, measurements of the blade are generated. The method is based on a line laser sensor as a blade profile measuring tool, combines blade model data, and adopts a least square method to register the blade profile to realize rapid measurement; compared with three-coordinate measurement, the measurement efficiency is obviously improved under the condition of equivalent measurement precision.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a line laser sensor-based blade profile measurement method according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of standard blade data provided by an embodiment of the present invention.
Fig. 3 is a fast measurement process provided by the embodiment of the present invention.
Fig. 4 is a flowchart of step S3 according to an embodiment of the present invention.
Fig. 5 is a flowchart of registration point selection according to an embodiment of the present invention.
Fig. 6 is a flowchart of a registration algorithm provided in an embodiment of the present invention.
Fig. 7 is a schematic outline view of alignment provided by an embodiment of the invention.
FIG. 8 is a block diagram of a line laser sensor based blade profile measuring device according to an embodiment of the present invention.
FIG. 9 is a block diagram of a line laser sensor based blade profile measurement system provided by an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, a method for measuring a blade profile based on a line laser sensor according to an embodiment of the present invention includes:
s1, acquiring standard data of the blade to be measured; the standard data are blade model data;
s2, measuring the blade to be measured in real time through the line laser sensor, and collecting a large amount of real-time measurement data;
s3, matching the large amount of real-time measurement data, and selecting point data corresponding to the standard data;
s4, registering the corresponding point data and the standard data one by adopting a least square method;
and S5, when the registration is completed, generating a measurement result of the blade.
In step S1, the standard data of the blade to be measured is imported as blade model data, that is: the design data of the blade is shown with reference to fig. 2. The standard data comprises contour point data of the specified chord height of the air inlet and outlet edges of the specified section of the blade; such as distinct features at the root, at the junction, and at the projection; the number of the plants is about 50-400 points.
In the step S2, the blade to be measured is measured in real time through the line laser sensor, and a large amount of real-time measurement data is collected; the section data has 800-3200 points, and is dense. The steps S1 and S2 are not consecutive in execution order, and the sequence numbers of the steps in the method are for clarity and convenience of description, and do not limit the execution order of the steps.
In this embodiment, in steps S3 to S5, by matching a large amount of real-time measurement data, point data corresponding to standard data is selected; registering the corresponding point data and the standard data one by adopting a least square method; when registration is complete, blade measurements are generated. The method is based on a line laser sensor as a blade profile measuring tool, combines blade model data, and adopts a least square method to register the blade profile to realize rapid measurement; compared with three-coordinate measurement, the method has the advantages that the measurement efficiency is obviously improved and the economic cost is greatly reduced under the condition of equivalent measurement precision.
Referring to fig. 3, first pass through a calibrated line laser device, such as a line laser sensor; meanwhile, importing blade standard data; selecting a blade section to acquire blade real-time data; then, registering the acquired real-time data of the blade with the standard data, and exporting a measurement report after the registration is finished; and when the alignment is not finished, the step of selecting the blade section is continuously executed, and the next iteration cycle is carried out.
In one embodiment, referring to fig. 4, the step S3 includes:
s31, calculating the slope and distance between adjacent points of the standard data to generate a reference data set;
s32, calculating the slope and distance between each point and adjacent points in the large amount of real-time measurement data to generate a test data set;
and S33, matching the test data set with the reference data set, and selecting point data corresponding to the matching with the smallest error in the slope and the distance from the large amount of real-time data.
In this embodiment, before comparing the actually acquired data with the standard data, the actually acquired data is filtered to obtain point data corresponding to the standard model data. Because the blade to be measured is rigid, the mutual relation of points on the contour of the blade cannot be changed when the blade rotates by any angle and translates to any position. Therefore, referring to fig. 5, the slope and distance between adjacent points of the standard data are calculated as a reference data set, and then the slope and distance between each point of the actual measurement data and the adjacent points are calculated to generate a test data set. And performing registration selection on the test data set and the reference data set, and selecting point data corresponding to matching with the smallest error in both the slope and the distance from a large amount of real-time data to finish accurate selection of registration points.
In one embodiment, the step S4 registers the actual measurement data and the standard model data based on a least square method; namely: and registering the registration points selected in the measurement data in the embodiment with the standard data.
The points of the standard data are called a first data set, and the data points of the measured data, which are selected by the registration points in the step S3, are called a second data set; and registering the second data set and the first data set one by one through a least square method, and freezing the mutual position relation between the actually-measured profile and the reference profile when the distance square sum of the corresponding points of the second data set and the first data set is maximum or the square difference is minimum by calculating the rotation angle and the offset of the X-axis Z-axis.
Finally, calculating the maximum distance and the minimum distance after registration, namely the maximum error and the minimum error; the flow and registration is shown in fig. 6.
The specific calculation process is as follows:
let the first data set be: [ (x)1,y1),(x2,y2)...(xn,yn)]；
Let the second data set be: [ (x'1,y′1),(x'2,y'2)...(x'n,y'n)]；
Actually measured data (selected registration points) and standard data need to be rotated and translated to coincide, (delta x, delta y, theta), wherein delta x is the translation amount in the x direction, delta y is the translation amount in the y direction, and theta is the rotation angle.
Let the coordinates [ (x "") of the actual measurement data after rotation and translation1,y″1),(x″2,y″2)...(x″n,y″n)]：
x”m＝x'mcosθ+y'msinθ
y”m＝y'mcosθ-x'msinθ (1)
And (3) converting the second data set into the same coordinate system as the first data set by the formula (1).
Based on the standard least square method, calculating the angle and the deviation value, and ensuring the e value to be minimum:
in the formula, xiX-coordinate, y, representing any point in the first data setiA y-coordinate representing the any point in the first set of data; x is the number ofi' represents an x-coordinate, y, of a point in the second data set corresponding to said any one pointi' represents a y-coordinate of a point in the second data set corresponding to said any point; n represents the number of sampling points;
after registration, the maximum distance and the minimum distance are calculated, i.e. the maximum error and the minimum error, as shown in fig. 7.
In the embodiment, the actual measurement data and the standard model data are registered based on the least square method, and the stability of the measurement data registration is good. The blade accuracy of the measurement can be realized to be not more than 10 microns, and when 10 sections of one blade are measured, the accuracy is about 1.5 minutes. The same blade needs about 15 minutes for measurement by adopting a Zeiss three-coordinate measuring system; in comparison, the measuring efficiency of the measuring method provided by the embodiment of the invention is improved by about 10 times compared with that of Zeiss three-coordinate measurement.
Based on the same inventive concept, the embodiment of the invention also provides a blade profile measuring device based on the line laser sensor, and as the principle of the problem solved by the device is similar to the blade profile measuring method based on the line laser sensor, the implementation of the device can refer to the implementation of the method, and repeated details are omitted.
In a second aspect, the present invention further provides a blade profile measuring device based on a line laser sensor, which is shown in fig. 8, and includes:
an obtaining module 81, configured to obtain standard data of a blade to be measured; the standard data are blade model data;
the acquisition module 82 is used for measuring the blade to be measured in real time through the line laser sensor and acquiring a large amount of real-time measurement data;
a matching selection module 83, configured to match the large amount of real-time measurement data, and select point data corresponding to the standard data;
a registration module 84, configured to register the corresponding point data and the standard data one by using a least square method;
a generating module 85 for generating a measurement of the blade when the registration is completed.
In one embodiment, the matching and selecting module 83 includes:
the first calculating submodule 831 is configured to calculate a slope and a distance between adjacent points of the standard data, and generate a reference data set;
the second calculating submodule 832 is used for calculating the slope and the distance between each point and the adjacent point in the large amount of real-time measurement data to generate a test data set;
and a matching selection sub-module 833 for matching the test data set with the reference data set, and selecting the point data corresponding to the matching with the smallest error in both the slope and the distance from the large amount of real-time data.
In one embodiment, the registration module 84 is specifically configured to:
setting: the standard data points are a first data set: [ (x)1,y1),(x2,y2)...(xn,yn)]；
Setting: selecting the point data set corresponding to the matching with the minimum error in both slope and distance as a second data set: [ (x'1,y′1),(x'2,y'2)...(x'n,y'n)]；
When the distance square sum of the second data set and the first data set is the maximum or the square difference is the minimum by calculating the rotating angle and the offset of the X-axis and the Z-axis, freezing the mutual position relation between a second contour corresponding to the second data set and a first contour corresponding to the first data set;
selecting a maximum distance and a minimum distance parameter between the first profile and the second profile; the maximum distance is a maximum error, and the minimum distance parameter is a minimum error.
In a third aspect, an embodiment of the present invention further provides a blade profile measuring system based on a line laser sensor, which is shown in fig. 9, and includes: two line laser devices 1 and 2, two line laser measurement head controllers 3 and 4, a router 5 and a line laser sensor based blade profile measuring device 6 as described in the above embodiments;
each line laser device is connected with a corresponding line laser measuring head controller through a data transmission line; the two line laser measuring head controllers are connected with the router through network cables; the router is connected with the measuring device.
The measuring device is used for executing the following steps:
s1, acquiring standard data of the blade to be measured; the standard data are blade model data;
s2, measuring the blade to be measured in real time through the line laser sensor, and collecting a large amount of real-time measurement data;
s3, matching the large amount of real-time measurement data, and selecting point data corresponding to the standard data;
s4, registering the corresponding point data and the standard data one by adopting a least square method;
and S5, when the registration is completed, generating a measurement result of the blade.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (3)
1. A blade profile measuring method based on a line laser sensor is characterized by comprising the following steps:
s1, acquiring standard data of the blade to be measured; the standard data are blade model data; the standard data comprises contour point data of the specified chord height of the air inlet and outlet edges of the specified section of the blade; the designated cross-section includes: the blade root, the connection part and the bulge are obviously characterized; the number of the contour point data is 50-400 points;
s2, measuring the blade to be measured in real time through the line laser sensor, and collecting a large amount of real-time measurement data;
s3, matching the large amount of real-time measurement data, and selecting point data corresponding to the standard data;
s4, calculating an angle and a deviation value based on a standard least square method, and ensuring the e value to be minimum; registering the corresponding point data and the standard data one by one;
s5, when the registration is completed, generating a measurement result of the blade;
the step S3 includes:
s31, calculating the slope and distance between adjacent points of the standard data to generate a reference data set;
s32, calculating the slope and distance between each point and adjacent points in the large amount of real-time measurement data to generate a test data set;
s33, matching the test data set with the reference data set, and selecting point data corresponding to the matching with the smallest error in the slope and the distance from the large amount of real-time data;
the step S4 includes:
setting: the standard data points are a first data set: [ (x)1,y1),(x2,y2)...(xn,yn)]；
Setting: selecting the point data set corresponding to the matching with the minimum error in both slope and distance as a second data set: [ (x'1,y′1),(x'2,y'2)...(x'n,y'n)]；
The registration point selected by actually measured data is coincided with the standard data through rotation and translation, (delta x, delta y and theta), wherein the delta x is the translation amount in the x direction, the delta y is the translation amount in the y direction, and the theta is the rotation angle;
let the coordinates [ (x "") of the first data set after rotation and translation1,y″1),(x″2,y″2)...(x″n,y″n)]：
x”m＝x'mcosθ+y'msinθ
y”m＝y'mcosθ-x'msinθ (1)
Converting the second data set into a coordinate system which is the same as the first data set through the formula (1);
based on the standard least square method, calculating the angle and the deviation value, and ensuring the e value to be minimum:
in the formula, xiX-coordinate, y, representing any point in the first data setiA y-coordinate representing the any point in the first set of data; x is the number ofi' represents an x-coordinate, y, of a point in the second data set corresponding to said any one pointi' represents a y-coordinate of a point in the second data set corresponding to said any point; n represents the number of sampling points;
freezing the mutual position relation between a second contour corresponding to the second data set and a first contour corresponding to the first data set when the square sum of the distances between the second data set and the first data set is the maximum or the square difference is the minimum by calculating the rotation angle and the offset of the X-axis and the Z-axis;
selecting a maximum distance and a minimum distance parameter between the first profile and the second profile; the maximum distance is a maximum error, and the minimum distance parameter is a minimum error.
2. A blade profile measuring device based on a line laser sensor is characterized by comprising:
the acquisition module is used for acquiring standard data of the blade to be measured; the standard data are blade model data; the standard data comprises contour point data of the specified chord height of the air inlet and outlet edges of the specified section of the blade; the designated cross-section includes: the blade root, the connection part and the bulge are obviously characterized; the number of the contour point data is 50-400 points;
the acquisition module is used for measuring the blade to be measured in real time through the line laser sensor and acquiring a large amount of real-time measurement data;
the matching selection module is used for matching the large amount of real-time measurement data and selecting point data corresponding to the standard data;
the registration module is used for calculating an angle and a deviation value based on a standard least square method and ensuring the minimum e value; registering the corresponding point data and the standard data one by one;
a generation module for generating a measurement result of the blade after the registration is completed;
the matching selection module comprises:
the first calculation submodule is used for calculating the slope and the distance between adjacent points of the standard data and generating a reference data set;
the second calculation submodule is used for calculating the slope and the distance between each point and an adjacent point in the large amount of real-time measurement data and generating a test data set;
the matching selection submodule is used for matching the test data set with the reference data set, and selecting point data corresponding to matching with the smallest error in both slope and distance from the large amount of real-time data;
the registration module is specifically configured to:
setting: the standard data points are a first set of data: [ (x)1,y1),(x2,y2)...(xn,yn)]；
Setting: selecting the point data set corresponding to the matching with the slope and the distance both having the minimum error as a second data set: [ (x'1,y′1),(x'2,y'2)...(x'n,y'n)]；
The registration point selected by actually measured data is coincided with the standard data through rotation and translation, (delta x, delta y and theta), wherein the delta x is the translation amount in the x direction, the delta y is the translation amount in the y direction, and the theta is the rotation angle;
let the coordinates [ (x "") of the first data set after rotation and translation1,y″1),(x″2,y″2)...(x″n,y″n)]：
x”m＝x'mcosθ+y'msinθ
y”m＝y'mcosθ-x'msinθ (1)
Converting the second data set into a coordinate system which is the same as the first data set through the formula (1);
based on the standard least square method, calculating the angle and the deviation value, and ensuring the e value to be minimum:
in the formula, xiX-coordinate, y, representing any point in the first data setiA y-coordinate representing the any point in the first set of data; x is the number ofi' represents an x-coordinate, y, of a point in the second data set corresponding to said any one pointi' represents a y-coordinate of a point in the second data set corresponding to said any point; n represents the number of sampling points;
freezing the mutual position relation between a second contour corresponding to the second data set and a first contour corresponding to the first data set when the square sum of the distances between the second data set and the first data set is the maximum or the square difference is the minimum by calculating the rotation angle and the offset of the X-axis and the Z-axis;
selecting a maximum distance and a minimum distance parameter between the first profile and the second profile; the maximum distance is a maximum error, and the minimum distance parameter is a minimum error.
3. A line laser sensor based blade profile measurement system comprising: two line laser devices, two line laser measurement head controllers, a router and a line laser sensor based blade profile measuring device as claimed in claim 2;
each line laser device is connected with a corresponding line laser measuring head controller through a data transmission line; the two line laser measuring head controllers are connected with the router through network cables; the router is connected with the measuring device.
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| CN112484660B (en) * | 2020-11-12 | 2022-08-26 | 中国航发南方工业有限公司 | Non-contact type engine blade profile detection method |
| CN114882095B (en) * | 2022-05-06 | 2022-12-20 | 山东省科学院海洋仪器仪表研究所 | Object height online measurement method based on contour matching |
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