CN111536901B - Combined three-dimensional laser scanning measurement method based on field gantry and robot - Google Patents
Combined three-dimensional laser scanning measurement method based on field gantry and robot Download PDFInfo
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- CN111536901B CN111536901B CN202010435831.7A CN202010435831A CN111536901B CN 111536901 B CN111536901 B CN 111536901B CN 202010435831 A CN202010435831 A CN 202010435831A CN 111536901 B CN111536901 B CN 111536901B
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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
Abstract
The invention relates to a combined three-dimensional laser scanning measurement method based on an on-site gantry and a robot, wherein a movable tool is formed by combining the gantry and the robot and is used for measuring a large workpiece; and establishing a high-precision unified measuring field by using an adjustment principle, scanning according to a planned path, and establishing a high-precision three-dimensional model. The invention can measure large workpieces by adopting the combination of the portal frame, the AGV trolley and the mechanical arm, measure initial coordinates of the orientation points by using a multi-path laser tracker, understand and construct a measuring field by using a balancing source, can improve the measuring precision, and generate a high-precision three-dimensional point cloud model by adopting a three-dimensional laser scanner to carry out three-dimensional scanning on the large workpieces to be measured.
Description
Technical Field
The invention relates to the technical field of automatic measurement, in particular to a combined three-dimensional laser scanning measurement method based on an on-site gantry and a robot.
Background
With the continuous improvement of the flying speed and the mission load of the airplane, the manufacturing quantity of various large-sized workpieces is increased, and the precision requirement is also increased. For example, a large-scale aircraft panel is a whole formed by skin, stringers and other skeleton parts, has the characteristics of high specific strength, good overall and local stability, long fatigue life, smooth surface and the like, is a high-efficiency structure commonly adopted by modern aircraft, and can improve the comprehensive performance of the aircraft. The large workpiece has huge size, thin thickness and complex surface structure, which brings great difficulty to measurement. Therefore, it is very important to establish a set of intelligent and efficient measurement equipment and method for large-size workpieces.
Disclosure of Invention
The invention aims to provide a combined three-dimensional laser scanning method based on an on-site gantry and a robot. A gantry, a robot and the like are combined to form a movable basic tool, a multi-path laser tracker is used for measuring initial coordinates of a directional point, and a high-precision measuring field is understood and constructed by using a leveling source.
To solve the above technical problems/to achieve the above object, the present invention provides a technical solution:
a combined three-dimensional laser scanning measurement method based on an on-site gantry and a robot is characterized in that the gantry and the robot are combined to form a movable tool for measuring large workpieces; establishing a high-precision unified measuring field by using an adjustment principle, scanning according to a planned path, and constructing a high-precision three-dimensional model; the measuring method comprises the following steps:
1) installing a portal frame and an AGV (automatic guided vehicle), wherein the portal frame comprises two side support frames and a horizontal bearing part for connecting the upper ends of the two side support frames, and the two side support frames of the portal frame are respectively installed on one AGV;
2) a mechanical arm is arranged on a horizontal bearing part of a portal frame, and a laser scanning device is arranged at the front end of the mechanical arm;
3) a target seat and a target ball are arranged on a laser scanning device on the mechanical arm, and a scanning node and the position of a laser tracker for measuring the coordinate of the target ball are designed according to the size scale of a workpiece to be measured; the setting requirement of the target ball is that the target ball can meet the coordinate system conversion condition, and the number of public orientation points of adjacent stations, namely the positions of adjacent laser trackers, is more than 3;
4) measuring the coordinate value of the target ball by using a laser tracker, and scanning the workpiece to be measured by using a laser scanner according to a planned path;
5) resolving the coordinates of the sphere centers of the target balls under the poses of all the scanning nodes by using a balancing principle;
6) and processing the obtained scanning data, and constructing a three-dimensional model of the workpiece to be detected in a unified coordinate system.
Furthermore, at least two portal frames are needed, and at least four AGV trolleys are arranged.
The scanning node is one of the measurement positions to which the portal frame moves in the planning path of the movement of the portal frame.
The number of the public orientation points is the number of the public target balls which can be seen by the laser tracker when the positions of the two adjacent scanning nodes are met.
The laser scanning device is a three-dimensional laser scanner, and in a planned path, the laser scanning device scans a workpiece to generate a point cloud.
The coordinates of the target ball are measured with a laser tracker to construct a high precision measurement field.
The number of the measuring stations of the laser tracker is more than 4.
Wherein, let the length of the workpiece to be measured be L, the effective distance measurement of the laser scanner be R, and then the number of scanning nodes be
Compared with the prior art, the invention has the beneficial effects that:
according to the combined three-dimensional laser scanning measuring method based on the field gantry and the robot, a large workpiece can be measured by combining the gantry, the AGV and the mechanical arm, the initial coordinates of the orientation points are measured by the multi-path laser tracker, the adjustment source is used for understanding and constructing a measuring field, the measuring precision can be improved, and the three-dimensional laser scanner is used for carrying out three-dimensional scanning on the large workpiece to be measured to generate the high-precision three-dimensional point cloud model.
Drawings
FIG. 1 is a flow chart of a combined three-dimensional laser scanning measurement method based on an on-site gantry and a robot.
Fig. 2 is a schematic structural diagram of a gantry and robot combined three-dimensional laser scanning device.
Fig. 3 is a schematic diagram of multi-path laser networking measurement.
Fig. 4 is a schematic diagram of site-adaptive scan path planning.
In the figure: 1-portal frame, 2-AGV dolly, 3-arm, 4-laser tracker.
Detailed Description
The present invention will be described in further detail with reference to specific examples. The following examples are intended to illustrate the invention only and are not intended to limit the scope of the invention.
A combined three-dimensional laser scanning measurement method based on an on-site gantry and a robot is characterized in that the gantry and the robot are combined to form a movable tool for measuring large workpieces; establishing a high-precision unified measuring field by using an adjustment principle, scanning according to a planned path, and constructing a high-precision three-dimensional model; the measuring method comprises the following steps:
1) installing a portal frame and an AGV, wherein the portal frame comprises two side support frames and a horizontal bearing part connected with the upper ends of the two side support frames, and the two side support frames of the portal frame are respectively installed on one AGV, as shown in FIG. 2;
2) a mechanical arm is arranged on a horizontal bearing part of a portal frame, and a laser scanning device is arranged at the front end of the mechanical arm;
3) a target seat and a target ball are arranged on a laser scanning device on the mechanical arm, and a scanning node and the position of a laser tracker for measuring the coordinate of the target ball are designed according to the size scale of a workpiece to be measured; the setting requirement of the target ball is that the target ball can meet the coordinate system conversion condition, and the number of public orientation points of adjacent stations, namely the positions of adjacent laser trackers, is more than 3;
4) measuring the initial coordinate value (x) of the target ball by a laser trackeri，y，zi) Planning a scanning path on the basis of geometric characteristics of the workpiece at the scanning node and collision avoidance, scanning the workpiece according to the planned path by using a laser scanner (figure 4), turning to the next scanning node, and repeating the steps 5) and 6) until the scanning is finished;
5) resolving the coordinates of the sphere centers of the target balls under the poses of all the scanning nodes by using the adjustment principle, and setting the observed value of the ith laser tracker measuring station to the point P as SiThen, the error equation of the observation edge can be obtained as follows:
the above equation is a nonlinear equation, which is linearized and fully differentiated:
Vi＝ciδX+diδY+eiδZ-li
wherein:
in the above formula, (x)0，y0，z0) (ii) a As an approximation of the coordinates of the unknown point P, (x)i0，yi0，zi0) The coordinates of the central point of the ith laser tracker station. Further, the error equation is written in matrix form as:
in the above formula:
6) and processing the obtained scanning data, and constructing a three-dimensional model of the workpiece to be detected in a unified coordinate system.
Furthermore, at least two portal frames are needed, and at least four AGV trolleys are arranged.
The scanning node is one of the measurement positions to which the portal frame moves in the planning path of the movement of the portal frame.
The number of the public orientation points is the number of the public target balls which can be seen by the laser tracker when the positions of the two adjacent scanning nodes are met.
The laser scanning device is a three-dimensional laser scanner, and in a planned path, the laser scanning device scans a workpiece to generate a point cloud.
The coordinates of the target ball are measured with a laser tracker to construct a high precision measurement field.
Wherein the scan node (with the first node as the initiation point) and the laser tracker position are designed according to the workpiece size scale. Let the length of the workpiece be L and the effective distance measurement of the scanner be R, then the number of scanning nodes is
If m measuring stations observe n directional points, the unknown parameters of the whole control network only comprise the central three-dimensional coordinates (X) of the measuring stationsi，Yi，Zi) And the three-dimensional coordinate value (x) of the orientation pointi，yi，zi) At this time, the unknown parameter t of the entire control network is t ═ 3(m + n). In order to make the whole control network understandable, the number of stations is at least 4, the number of directional points is at least 12, and the number of required directional points is reduced along with the increase of the number of stations, but no matter how many stations are increased, the number of directional points can be at least less than 4.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention in any way, and any person skilled in the art can make any simple modification, equivalent replacement, and improvement on the above embodiment without departing from the technical spirit of the present invention, and still fall within the protection scope of the technical solution of the present invention.
Claims (4)
1. A combined three-dimensional laser scanning measurement method based on an on-site gantry and a robot is characterized in that: the gantry and the robot are combined to form a movable tool for measuring large workpieces; establishing a high-precision unified measuring field by using an adjustment principle, scanning according to a planned path, and constructing a high-precision three-dimensional model; the measuring method comprises the following steps:
1) installing a portal frame and an AGV (automatic guided vehicle), wherein the portal frame comprises two side support frames and a horizontal bearing part for connecting the upper ends of the two side support frames, and the two side support frames of the portal frame are respectively installed on one AGV;
2) a mechanical arm is arranged on a horizontal bearing part of a portal frame, and a laser scanning device is arranged at the front end of the mechanical arm;
3) a target seat and a target ball are arranged on a laser scanning device on the mechanical arm, and a scanning node and the position of a laser tracker for measuring the coordinate of the target ball are designed according to the size scale of a workpiece to be measured; the setting requirement of the target ball is that the target ball can meet the coordinate system conversion condition, and the number of public orientation points of adjacent stations, namely the positions of adjacent laser trackers, is more than 3;
4) measuring the coordinate value of the target ball by using a laser tracker, and scanning the workpiece to be measured by using a laser scanner according to a planned path;
5) resolving the coordinates of the sphere centers of the target balls under the poses of all the scanning nodes by using a balancing principle;
6) processing the obtained scanning data, and constructing a three-dimensional model of the workpiece to be detected in a unified coordinate system;
the scanning node is one of the measurement positions moved by the gantry in the planning path of the movement of the gantry(ii) a The laser scanning device is a three-dimensional laser scanner, and in a planned path, the laser scanning device scans a workpiece to generate a point cloud; the number of the stations of the laser tracker is more than 4; let the length of the workpiece to be measured be L and the effective distance measurement of the laser scanner be R, then the number of scanning nodes is
2. The on-site gantry and robot based combined three-dimensional laser scanning measurement method according to claim 1, characterized in that: at least two portal frames are needed, and at least four AGV trolleys are arranged.
3. The on-site gantry and robot based combined three-dimensional laser scanning measurement method according to claim 1, characterized in that: the number of the public orientation points is the number of the public target balls which can be seen by the laser tracker when the positions of the two adjacent scanning nodes are met.
4. The on-site gantry and robot based combined three-dimensional laser scanning measurement method according to claim 1, characterized in that: the coordinates of the target ball are measured with a laser tracker to construct a high precision measurement field.
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| CN112325796A (en) * | 2020-10-26 | 2021-02-05 | 上海交通大学 | Large-scale workpiece profile measuring method based on auxiliary positioning multi-view point cloud splicing |
| CN112362037B (en) * | 2020-11-10 | 2021-08-13 | 南京航空航天大学 | Laser tracker station planning method based on combined measurement |
| CN113673782B (en) * | 2021-09-06 | 2024-02-23 | 中导光电设备股份有限公司 | Multi-microscope scanning photographing path optimization method and device |
| CN114111627A (en) * | 2021-12-07 | 2022-03-01 | 深圳市中图仪器股份有限公司 | Scanning system and scanning method based on laser tracker |
| CN114396870B (en) * | 2021-12-10 | 2023-07-04 | 上海精密计量测试研究所 | Test verification method for laser image scanning system |
| CN114518078A (en) * | 2022-03-18 | 2022-05-20 | 南京航空航天大学 | Gantry type structure optical scanning robot and method for measuring surface topography of large equipment |
| CN114719792B (en) * | 2022-03-25 | 2022-12-13 | 北京城建设计发展集团股份有限公司 | Intelligent scanning and automatic error identification system and method for prefabricated part assembling surface |
| CN114646263B (en) * | 2022-03-25 | 2023-03-24 | 北京城建设计发展集团股份有限公司 | Intelligent scanning and automatic error identification system for manufacturing precision of prefabricated part assembling surface |
| CN116437016B (en) * | 2023-06-13 | 2023-10-10 | 武汉中观自动化科技有限公司 | Object scanning method, device, electronic equipment and storage medium |
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| CN102609940A (en) * | 2012-01-17 | 2012-07-25 | 安徽建筑工业学院 | Method for processing errors generated by point cloud registration in process of surface reconstruction of measuring object by using ground laser scanning technique |
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Inventor after: Wang Jun Inventor after: Ding Chao Inventor after: Yang Jianping Inventor after: Xu Xu Inventor after: Yi Cheng Inventor before: Wang Jun Inventor before: Ding Chao Inventor before: Yang Jianping Inventor before: Xu Xu |
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Effective date of registration: 20220419 Address after: 211106 room 1003-1005, No. 1698, Shuanglong Avenue, Jiangning District, Nanjing, Jiangsu Province (Jiangning Development Zone) Patentee after: Nanjing Yuntong Technology Co.,Ltd. Address before: No. 29, Qinhuai District, Qinhuai District, Nanjing, Jiangsu Patentee before: Nanjing University of Aeronautics and Astronautics |