CN111879253A - Cabin body measuring workstation, cabin body non-contact measuring method and system - Google Patents
Cabin body measuring workstation, cabin body non-contact measuring method and system Download PDFInfo
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- CN111879253A CN111879253A CN202010574299.7A CN202010574299A CN111879253A CN 111879253 A CN111879253 A CN 111879253A CN 202010574299 A CN202010574299 A CN 202010574299A CN 111879253 A CN111879253 A CN 111879253A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention provides a cabin body measuring workstation, a cabin body non-contact measuring method and a cabin body non-contact measuring system. The method specifically comprises the steps of 1) orienting a multi-camera system, 2) unifying a camera measurement coordinate system and a scanner measurement coordinate system, 3) completing data acquisition, 4) carrying out data analysis, 5) ending measurement work, and resetting the system. The invention is automatic non-contact measurement, avoids the influence of personnel quality factors on the measurement result, obviously improves the measurement accuracy and the measurement efficiency, and has higher popularization and use values.
Description
Technical Field
The invention relates to the technical field of large cylindrical cabin body measurement in the aerospace field, in particular to a cabin body measurement workstation, a cabin body non-contact measurement method and a cabin body non-contact measurement system.
Background
Aerospace products are developing towards flexible and intelligent manufacturing and digital and non-contact measurement, however, at present, geometric measurement of large cylindrical structure products in the aerospace field in China still remains in the stage of mainly manually measuring by using simple tools such as tape measures, rulers, feelers and plumb lines and assisting laser trackers and three-coordinate measurement. For large-scale structural products, the backward measurement mode has the defects that the measurement result is greatly influenced by factors such as experience, habit, emotion and the like of personnel, the consistency and stability of the measurement result are poor, the working efficiency is low, the labor intensity is high, and certain potential safety hazards exist in the measurement process.
Patent document CN109978791A (application number: 201910240340.4) discloses a bridge detection method based on oblique photography and three-dimensional laser scanning fusion, which comprises the following specific steps: 1) arranging and measuring reference points, and arranging and measuring image control points; 2) establishing a scanning scheme in three-dimensional laser scanning measurement; 3) performing field scanning in three-dimensional laser scanning measurement; 4) denoising the point cloud in three-dimensional laser scanning measurement; 5) three-dimensional laser scanning measurement midpoint cloud data registration; 6) designing and flying a central flight line in oblique photogrammetry; 7) removing image noise in oblique photography measurement; 8) hollow triple encryption is carried out on oblique photogrammetry; 9) dense matching in oblique photogrammetry; 10) point cloud fusion; 11) building a three-dimensional model; 12) and (5) extracting monitoring information. The method for photography and scanning provided by the invention has the advantages that the method is a non-contact measurement mode, the labor intensity of data acquisition is low, the requirement on the service capability of technical personnel is reduced, and automatic data acquisition is realized; the defects that an unmanned aerial vehicle is needed to be used for shooting in the air, the defect that a three-dimensional laser top scanning blind area and an image acquisition visual angle are not wide enough is overcome, the unmanned aerial vehicle is greatly influenced by environmental conditions (such as high wind and no operation in rainstorm weather), and a specially-assigned person is needed for operation.
Patent document CN106338245A (application number: 201610670966.5) discloses a non-contact movement measuring method for workpieces, which comprises the following specific steps: 1) shooting a workpiece and determining the placing angle of the workpiece; 2) converting the image space coordinate system into an object space coordinate system; 3) adopting a corresponding scanning strategy according to the comparison result; 4) and scanning the area to be measured by the three-dimensional laser scanner to obtain measurement data. The method for obtaining the measurement data by photographing first to determine the position and then scanning has the advantages that the method is a non-contact measurement mode, can utilize the original AGV production line of a factory and is low in cost; the disadvantage is that large size products cannot be measured.
In conclusion, a non-contact measurement method based on industrial photography and laser scanning combination is developed, and the requirements of digitization, automation, high efficiency and high quality geometric measurement of large cylindrical structural part products in the aerospace field are met.
SUMMARY OF THE PATENT FOR INVENTION
The invention provides a cabin non-contact measurement method for realizing high-efficiency and high-quality digital measurement of a large cabin in the aerospace field. The technical problem of digital rapid measurement of the cabin is solved by using a composite measurement mode combining industrial photography and laser scanning
According to the invention, a cabin body measuring workstation is provided, which comprises: the system comprises a ground rail 3, an O-shaped ring 4, a laser scanner 6, an L-shaped support 7, a control console 8, a plurality of stand columns 1 and a plurality of industrial measuring cameras 2;
the industrial measuring cameras 2 are respectively arranged on the upright posts 1;
the laser scanner 6 is arranged on the O-shaped ring 4 and can rotate 360 degrees along the O-shaped ring 4;
the O-ring 4 is arranged on the ground rail 3 and can move along the ground rail 3;
the cabin body 5 is placed on the L-shaped support 7, and the L-shaped support 7 is installed on the ground rail 3 and can move along the ground rail 3, so that the measurement requirements of the cabin bodies 5 with different lengths are met;
the console 8 controls the movement of the laser scanner 6, the O-ring 4 and the L-shaped support 7;
and point cloud data analysis software is installed in the computer of the console 8.
Preferably, the method comprises the following steps: 6 upright posts 1 and 6 industrial measuring cameras 2;
6 industrial measuring cameras 2 are respectively arranged on 6 upright posts 1.
A non-contact cabin measurement method based on the cabin measurement workstation in any one of the preceding claims comprises the following steps:
orientation step of the measuring system: before the measurement starts, orienting a multi-camera measurement system consisting of a plurality of industrial measurement cameras 2;
unifying the coordinate system: unifying a multi-camera measurement coordinate system and a scanner measurement coordinate system;
a data acquisition step: acquiring point cloud data of the laser scanner 6 at different positions;
a system resetting step: after all the measurement operations are finished, the control console 8 controls the measurement system to reset.
Preferably, the measurement system orienting step:
orienting a multi-camera measuring system, orienting the multi-camera measuring system consisting of 6 industrial measuring cameras 2 before measurement starts, and determining the relative positions and postures of the 6 cameras;
the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule;
after the photos are collected, the measurement system calculates the photos to complete the directional work of the multi-camera measurement system consisting of 6 cameras;
after the system orientation work is completed, the coordinate system of the multi-camera measuring system is determined, and the coordinate system of the multi-camera measuring system is established on a selected one of the 6 cameras.
Preferably, the coordinate system comprises the steps of:
pasting coding points on the side surface of the laser scanner 6, and calibrating the conversion relation between the coding points and the measuring coordinate system of the laser scanner 6 in advance to obtain the coding points;
during each measurement, the multi-camera measurement system can obtain the conversion relation between the coding point and the camera measurement coordinate system by measuring the coding point adhered to the side surface of the laser scanner 6, so that the conversion relation between the laser scanner 6 measurement coordinate system and the multi-camera measurement coordinate system is obtained, and finally the coordinate systems generated by the laser scanner 6 in all the measurement processes are unified under the multi-camera measurement coordinate system.
Preferably, the data acquisition step:
the laser scanner 6 moves along the O-shaped ring 4, the O-shaped ring 4 moves along the ground rail 3, and the laser scanner 6 scans and measures the outer wall, the front end face and the rear end face of the cabin 5 in the movement process of the laser scanner 6 and the O-shaped ring 4 to obtain point cloud data;
the multi-camera measurement system positions the position and the posture of the laser scanner 6 in real time, and the point cloud data collected by the laser scanner 6 at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin 5 in the multi-camera measurement coordinate system can be formed.
According to the invention, the non-contact cabin body measuring system based on the cabin body measuring workstation comprises:
a measurement orientation module: before the measurement starts, orienting a multi-camera measurement system consisting of a plurality of industrial measurement cameras 2;
coordinate system one module: unifying a multi-camera measurement coordinate system and a scanner measurement coordinate system;
a data acquisition module: acquiring point cloud data of the laser scanner 6 at different positions;
a system reset module: after all the measurement operations are finished, the control console 8 controls the multi-camera measurement system to reset.
Preferably, the measurement system orientation module:
orienting a multi-camera measuring system, orienting the multi-camera measuring system consisting of 6 industrial measuring cameras 2 before measurement starts, and determining the relative positions and postures of the 6 cameras;
the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule;
after the photos are collected, resolving the photos to finish the directional work of the multi-camera measuring system consisting of 6 cameras;
after the system orientation work is completed, the coordinate system of the multi-camera measuring system is determined, and the coordinate system of the multi-camera measuring system is established on a selected one of the 6 cameras.
Preferably, the coordinate system comprises:
pasting coding points on the side surface of the laser scanner 6, and calibrating the conversion relation between the coding points and the measuring coordinate system of the laser scanner 6 in advance to obtain the coding points;
the multi-camera measuring system can obtain the conversion relation between the coding points and the camera measuring coordinate system by measuring the coding points adhered to the side surface of the laser scanner 6 during each measurement, thereby obtaining the conversion relation between the laser scanner 6 measuring coordinate system and the multi-camera measuring coordinate system, and finally unifying the coordinate systems generated by the laser scanner 6 in all the measuring processes to the multi-camera measuring coordinate system;
the data acquisition module:
the laser scanner 6 moves along the O-shaped ring 4, the O-shaped ring 4 moves along the ground rail 3, and the laser scanner 6 scans and measures the outer wall, the front end face and the rear end face of the cabin 5 in the movement process of the laser scanner 6 and the O-shaped ring 4 to obtain point cloud data;
the multi-camera measurement system positions the position and the posture of the laser scanner 6 in real time, and the point cloud data collected by the laser scanner 6 at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin 5 in the multi-camera measurement coordinate system can be formed.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention adopts a non-contact measurement mode to replace a mode of manually using simple tools such as a tape measure, a ruler, a filler gauge, a plumb line and the like to carry out measurement, thereby avoiding artificial influence factors, reducing the technical capability requirement on technical personnel, and simultaneously, obviously improving the measurement consistency and accuracy;
2. the invention realizes automatic measurement, obviously improves the measurement efficiency and reduces the labor intensity of workers;
3. the invention is a digital measurement technology, plays a good role in digital manufacturing demonstration and has higher popularization and use values.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of the non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic perspective view of a cabin measurement workstation for non-contact measurement of a cabin provided by the invention.
The figures show that:
1-upright post 3-ground rail 5-cabin 7-L type support
2-Industrial survey camera 4-O-ring 6-laser scanner column 8-console
Detailed Description
The invention is described in detail below with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention patent, but are not intended to limit the present invention in any way. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present patent.
According to the invention, a cabin body measuring workstation is provided, which comprises: the system comprises a ground rail 3, an O-shaped ring 4, a laser scanner 6, an L-shaped support 7, a control console 8, a plurality of stand columns 1 and a plurality of industrial measuring cameras 2;
the industrial measuring cameras 2 are respectively arranged on the upright posts 1;
the laser scanner 6 is arranged on the O-shaped ring 4 and can rotate 360 degrees along the O-shaped ring 4;
the O-ring 4 is arranged on the ground rail 3 and can move along the ground rail 3;
the cabin body 5 is placed on the L-shaped support 7, and the L-shaped support 7 is installed on the ground rail 3 and can move along the ground rail 3, so that the measurement requirements of the cabin bodies 5 with different lengths are met;
the console 8 controls the movement of the laser scanner 6, the O-ring 4 and the L-shaped support 7;
and point cloud data analysis software is installed in the computer of the console 8.
Preferably, the method comprises the following steps: 6 upright posts 1 and 6 industrial measuring cameras 2;
6 industrial measuring cameras 2 are respectively arranged on 6 upright posts 1.
A non-contact cabin measurement method based on the cabin measurement workstation in any one of the preceding claims comprises the following steps:
orientation step of the measuring system: before the measurement starts, orienting a multi-camera measurement system consisting of a plurality of industrial measurement cameras 2;
unifying the coordinate system: unifying a multi-camera measurement coordinate system and a scanner measurement coordinate system;
a data acquisition step: acquiring point cloud data of the laser scanner 6 at different positions;
a system resetting step: after all the measurement operations are finished, the control console 8 controls the measurement system to reset.
Specifically, the measuring system orienting step:
orienting a multi-camera measuring system, orienting the multi-camera measuring system consisting of 6 industrial measuring cameras 2 before measurement starts, and determining the relative positions and postures of the 6 cameras;
the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule;
after the photos are collected, the measurement system calculates the photos to complete the directional work of the multi-camera measurement system consisting of 6 cameras;
after the system orientation work is completed, the coordinate system of the multi-camera measuring system is determined, and the coordinate system of the multi-camera measuring system is established on a selected one of the 6 cameras.
Specifically, the coordinate system includes:
pasting coding points on the side surface of the laser scanner 6, and calibrating the conversion relation between the coding points and the measuring coordinate system of the laser scanner 6 in advance to obtain the coding points;
during each measurement, the multi-camera measurement system can obtain the conversion relation between the coding point and the camera measurement coordinate system by measuring the coding point adhered to the side surface of the laser scanner 6, so that the conversion relation between the laser scanner 6 measurement coordinate system and the multi-camera measurement coordinate system is obtained, and finally the coordinate systems generated by the laser scanner 6 in all the measurement processes are unified under the multi-camera measurement coordinate system.
Specifically, the data acquisition step:
the laser scanner 6 moves along the O-shaped ring 4, the O-shaped ring 4 moves along the ground rail 3, and the laser scanner 6 scans and measures the outer wall, the front end face and the rear end face of the cabin 5 in the movement process of the laser scanner 6 and the O-shaped ring 4 to obtain point cloud data;
the multi-camera measurement system positions the position and the posture of the laser scanner 6 in real time, and the point cloud data collected by the laser scanner 6 at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin 5 in the multi-camera measurement coordinate system can be formed.
According to the invention, the non-contact cabin body measuring system based on the cabin body measuring workstation comprises:
a measurement orientation module: before the measurement starts, orienting a multi-camera measurement system consisting of a plurality of industrial measurement cameras 2;
coordinate system one module: unifying a multi-camera measurement coordinate system and a scanner measurement coordinate system;
a data acquisition module: acquiring point cloud data of the laser scanner 6 at different positions;
a system reset module: after all the measurement operations are finished, the control console 8 controls the multi-camera measurement system to reset.
Specifically, the measurement system orientation module:
orienting a multi-camera measuring system, orienting the multi-camera measuring system consisting of 6 industrial measuring cameras 2 before measurement starts, and determining the relative positions and postures of the 6 cameras;
the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule;
after the photos are collected, resolving the photos to finish the directional work of the multi-camera measuring system consisting of 6 cameras;
after the system orientation work is completed, the coordinate system of the multi-camera measuring system is determined, and the coordinate system of the multi-camera measuring system is established on a selected one of the 6 cameras.
Specifically, the coordinate system unifying module:
pasting coding points on the side surface of the laser scanner 6, and calibrating the conversion relation between the coding points and the measuring coordinate system of the laser scanner 6 in advance to obtain the coding points;
the multi-camera measuring system can obtain the conversion relation between the coding points and the camera measuring coordinate system by measuring the coding points adhered to the side surface of the laser scanner 6 during each measurement, thereby obtaining the conversion relation between the laser scanner 6 measuring coordinate system and the multi-camera measuring coordinate system, and finally unifying the coordinate systems generated by the laser scanner 6 in all the measuring processes to the multi-camera measuring coordinate system;
the data acquisition module:
the laser scanner 6 moves along the O-shaped ring 4, the O-shaped ring 4 moves along the ground rail 3, and the laser scanner 6 scans and measures the outer wall, the front end face and the rear end face of the cabin 5 in the movement process of the laser scanner 6 and the O-shaped ring 4 to obtain point cloud data;
the multi-camera measurement system positions the position and the posture of the laser scanner 6 in real time, and the point cloud data collected by the laser scanner 6 at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin 5 in the multi-camera measurement coordinate system can be formed.
The present invention will be described more specifically below with reference to preferred examples.
Preferred example 1:
as shown in fig. 1, the patent embodiment of the present invention provides a method for non-contact measurement of a cabin, which includes a vertical column 1, an industrial measurement camera 2, a ground rail 3, an O-ring 4, a laser scanner 6, an L-shaped support 7, and a console 8; wherein, 6 industrial measuring cameras 2 are arranged on 6 upright posts 1; the laser scanner 6 is arranged on the O-shaped ring 4 and can rotate 360 degrees along the O-shaped ring 4; the O-ring 4 is arranged on the ground rail 3 and can move along the ground rail 3; the cabin body 5 is arranged on the L-shaped support 7, and the L-shaped support 7 is arranged on the ground rail 3 and can move along the ground rail 3, so that the measurement requirements of the cabin bodies 5 with different lengths are met; the console 8 controls the movement of the laser scanner 6, the O-ring 4, and the L-shaped support 7, and at the same time, point cloud data analysis software is installed in the computer of the console 8.
The method comprises the following specific steps:
step one, multi-camera measurement system orientation: before the measurement is started, a multi-camera measurement system consisting of 6 industrial measurement cameras 2 is oriented, namely the relative positions and postures of the 6 cameras are determined; the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule; after the photo is collected, the measurement system calculates the photo, and then the directional work of the multi-camera measurement system consisting of 6 cameras can be completed. After the system orientation work is finished, a multi-camera measuring system coordinate system is determined, and the multi-camera measuring system coordinate system is established on a selected one of the 6 cameras.
Step two, unifying the multi-camera measurement coordinate system and the scanner measurement coordinate system: the side surface of the laser scanner 6 is pasted with coding points, and the conversion relation between the coding points and the measuring coordinate system of the laser scanner 6 is obtained by calibration in advance. During each measurement, the multi-camera measurement system can obtain the conversion relation between the coding point and the camera measurement coordinate system by measuring the coding point adhered to the side surface of the laser scanner 6, so that the conversion relation between the laser scanner 6 measurement coordinate system and the multi-camera measurement coordinate system is obtained, and finally the coordinate systems generated by the laser scanner 6 in all the measurement processes are unified under the multi-camera measurement coordinate system.
Step three, data acquisition: the laser scanner 6 moves along the O-shaped ring 4, the O-shaped ring 4 moves along the ground rail 3, and the laser scanner 6 scans and measures the outer wall, the front end face and the rear end face of the cabin 5 in the movement process of the laser scanner 6 and the O-shaped ring 4 to obtain point cloud data; the multi-camera measurement system positions the position and the posture of the laser scanner 6 in real time, and the point cloud data collected by the laser scanner 6 at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin 5 in the multi-camera measurement coordinate system can be formed.
Step four, data analysis: after the acquisition of the point cloud data of the cabin 5 is finished, the analysis software automatically optimizes the point cloud data to remove noise points and noisy points, then the analysis software automatically processes and analyzes the geometric quantity of the cabin 5 according to the optimized point cloud data, and the measured result is automatically output in a report form.
Step five, resetting the system: after all the measurement operations are finished, the control console 8 controls the measurement system to reset.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (9)
1. A cabin measurement workstation, comprising: the system comprises a ground rail (3), an O-shaped ring (4), a laser scanner (6), an L-shaped support (7), a control console (8), a plurality of stand columns (1) and a plurality of industrial measuring cameras (2);
the industrial measuring cameras (2) are respectively arranged on the upright posts (1);
the laser scanner (6) is arranged on the O-shaped ring (4) and can rotate 360 degrees along the O-shaped ring (4);
the O-shaped ring (4) is arranged on the ground rail (3) and can move along the ground rail (3);
the cabin body (5) is arranged on the L-shaped support (7), and the L-shaped support (7) is arranged on the ground rail (3) and can move along the ground rail (3) to meet the measurement requirements of the cabin bodies (5) with different lengths;
the control console (8) controls the movement of the laser scanner (6), the O-ring (4) and the L-shaped support (7);
and point cloud data analysis software is installed in the computer of the console (8).
2. The cabin measurement workstation of claim 1, comprising: 6 upright posts (1) and 6 industrial measuring cameras (2);
6 industrial measuring cameras (2) are respectively arranged on 6 upright posts (1).
3. A method for non-contact measurement of a cabin on the basis of the cabin measurement workstation of any one of claims 1 to 2, comprising:
orientation step of the measuring system: before the measurement starts, orienting a multi-camera measurement system consisting of a plurality of industrial measurement cameras (2);
unifying the coordinate system: unifying a multi-camera measurement coordinate system and a scanner measurement coordinate system;
a data acquisition step: acquiring point cloud data of the laser scanner (6) at different positions;
a system resetting step: after all the measurement work is finished, the control console (8) controls the measurement system to reset.
4. The cabin non-contact measurement method according to claim 3, wherein the measurement system orientation step:
orienting a multi-camera measuring system, orienting the multi-camera measuring system consisting of 6 industrial measuring cameras (2) before measurement starts, and determining the relative positions and postures of the 6 cameras;
the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule;
after the photos are collected, the measurement system calculates the photos to complete the directional work of the multi-camera measurement system consisting of 6 cameras;
after the system orientation work is completed, the coordinate system of the multi-camera measuring system is determined, and the coordinate system of the multi-camera measuring system is established on a selected one of the 6 cameras.
5. The cabin non-contact measurement method according to claim 3, wherein the coordinate system comprises the steps of:
pasting coding points on the side surface of the laser scanner (6), and calibrating the conversion relation between the coding points and the measurement coordinate system of the laser scanner (6) in advance to obtain the coding points;
during each measurement, the multi-camera measurement system can obtain the conversion relation between the coding points and the camera measurement coordinate system by measuring the coding points adhered to the side face of the laser scanner (6), so that the conversion relation between the laser scanner (6) measurement coordinate system and the multi-camera measurement coordinate system is obtained, and finally the coordinate systems generated by the laser scanner (6) in all measurement processes are unified under the multi-camera measurement coordinate system.
6. The cabin non-contact measurement method according to claim 3, wherein the data acquisition step comprises:
the laser scanner (6) moves along the O-shaped ring (4), the O-shaped ring (4) moves along the ground rail (3), and the laser scanner (6) scans and measures the outer wall and the front and rear end faces of the cabin body (5) in the movement process of the laser scanner (6) and the O-shaped ring (4) to acquire point cloud data;
the multi-camera measurement system positions the position and the posture of the laser scanner (6) in real time, and the point cloud data collected by the laser scanner (6) at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin (5) in the multi-camera measurement coordinate system can be formed.
7. A non-contact cabin measurement system based on the cabin measurement workstation of any one of claims 1 to 2, comprising:
a measurement orientation module: before the measurement starts, orienting a multi-camera measurement system consisting of a plurality of industrial measurement cameras (2);
coordinate system one module: unifying a multi-camera measurement coordinate system and a scanner measurement coordinate system;
a data acquisition module: acquiring point cloud data of the laser scanner (6) at different positions;
a system reset module: after all the measurement work is finished, the control console (8) controls the multi-camera measurement system to reset.
8. The non-contact measurement system of a cabin of claim 7, wherein the measurement system orientation module:
orienting a multi-camera measuring system, orienting the multi-camera measuring system consisting of 6 industrial measuring cameras (2) before measurement starts, and determining the relative positions and postures of the 6 cameras;
the method comprises the following steps of (1) orienting 6 cameras by adopting an orientation rule orientation mode, placing the orientation rule at a plurality of positions within a field range of the 6 cameras, wherein 6 cameras are required to be used for shooting and measuring the orientation rule when each position is placed, and at least 6 positions are required to be placed on the orientation rule;
after the photos are collected, resolving the photos to finish the directional work of the multi-camera measuring system consisting of 6 cameras;
after the system orientation work is completed, the coordinate system of the multi-camera measuring system is determined, and the coordinate system of the multi-camera measuring system is established on a selected one of the 6 cameras.
9. The system of claim 7, wherein the coordinate system comprises:
pasting coding points on the side surface of the laser scanner (6), and calibrating the conversion relation between the coding points and the measurement coordinate system of the laser scanner (6) in advance to obtain the coding points;
during each measurement, the multi-camera measurement system can obtain the conversion relation between the coding points and the camera measurement coordinate system by measuring the coding points adhered to the side surface of the laser scanner (6), so that the conversion relation between the laser scanner (6) measurement coordinate system and the multi-camera measurement coordinate system is obtained, and finally the coordinate systems generated by the laser scanner (6) in all the measurement processes are unified under the multi-camera measurement coordinate system;
the data acquisition module:
the laser scanner (6) moves along the O-shaped ring (4), the O-shaped ring (4) moves along the ground rail (3), and the laser scanner (6) scans and measures the outer wall and the front and rear end faces of the cabin body (5) in the movement process of the laser scanner (6) and the O-shaped ring (4) to acquire point cloud data;
the multi-camera measurement system positions the position and the posture of the laser scanner (6) in real time, and the point cloud data collected by the laser scanner (6) at different positions are unified under the multi-camera measurement coordinate system, so that the point cloud data unified on the outer wall and the front and rear end faces of the cabin (5) in the multi-camera measurement coordinate system can be formed.
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| CN202010574299.7A Pending CN111879253A (en) | 2020-05-20 | 2020-06-22 | Cabin body measuring workstation, cabin body non-contact measuring method and system |
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| EP4047304A1 (en) * | 2021-02-19 | 2022-08-24 | Inrema, S.L. | Machine and method for three-dimensional measurement of graphite electrodes |
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