CN112362032B - Part axis extraction method based on photogrammetry technology - Google Patents
Part axis extraction method based on photogrammetry technology Download PDFInfo
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Abstract
The application belongs to the field of machine manufacturing, and particularly relates to a part axis extraction method based on a photogrammetry technology, which comprises the following steps: s1: and a plurality of screw assemblies penetrate through the through holes in the tool, and the shaft to be detected penetrates through the axis to extract the round hole of the tool. S2: the extending lengths of the screw rod components in any two adjacent directions are adjusted through nuts, so that the shaft is in contact with the ball heads on the screw rod components; s3: adjusting nuts to coordinate the extension lengths of the screws in all directions, so that all the springs are in a compressed state and the axis extraction tool can freely rotate around the axis; s4: arranging photographic coding points near a shaft to be measured and placing a photogrammetric reference ruler; s5: and (4) measuring initial parameters. S6: measuring a cylinder surface point set; s7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder. According to the invention, the axis extraction tool is designed, and the axis central line is obtained by adopting a photogrammetry mode, so that compared with a laser tracker, the measurement process is more convenient, the measurement environment requirement is low, and the adaptability is stronger.
Description
Technical Field
The application belongs to the field of machine manufacturing, and particularly relates to a part axis extraction method based on a photogrammetry technology.
Background
With the rapid development of the manufacturing industry towards high precision, flexibility and digitalization, the technical level of modern workers cannot meet the requirement of product assembly precision. In order to improve the product quality and improve the production efficiency, more enterprises gradually explore the application of the automatic assembly system to the product assembly process. Currently, most movable parts in the manufacturing field are assembled by using a shaft hole matching mode, such as airplane vertical tails, canards, landing gear doors and the like. For such movable components that are mounted in a shaft hole fit manner, the center line of the mounting shaft must be obtained first to automate the assembly process.
Currently, most of the extraction of the shaft center line is completed by adopting a laser tracker. However, the environment of modern assembly plants is complex and it is difficult to select a good laser tracker mounting location. Meanwhile, various tools, trusses and the like existing in a production field shield the light path of the laser tracker, so that the measurement accessibility of the laser tracker is greatly reduced. Therefore, the method for conveniently, quickly and accurately extracting the axis can be an important guarantee for improving the efficiency and the quality of automatic assembly.
Disclosure of Invention
In order to solve the problems in the prior art, the part axis extraction method based on the photogrammetry technology is simple and convenient to operate, high in calculation speed, high in precision and low in cost.
In order to achieve the purpose, the specific scheme of the application is as follows:
a part axis extraction method based on a photogrammetry technology is characterized in that: the method comprises the following steps:
s1: a plurality of screw assemblies penetrate through the through holes in the tool, and the shaft to be detected penetrates through the circular hole of the axis extraction tool; a plurality of screw assemblies may be distributed in different orientations, either increased or decreased as required to ensure that the shaft can be clamped.
S2: the extending lengths of the screw rod components in any two adjacent directions are adjusted through nuts, so that the shaft is in contact with the ball heads on the screw rod components;
s3: adjusting nuts to coordinate the extension lengths of the screws in all directions, so that all the springs are in a compressed state and the axis extraction tool can freely rotate around the axis;
s4: arranging photographic coding points near a shaft to be measured and placing a photogrammetric reference ruler;
s5: initial parameter measurement: keeping the axis extraction tool fixed along the axis direction, rotating more than 3 positions around the axis, taking pictures and measuring the pictures by the measuring camera 8 from different positions, filtering the taken pictures, extracting edges and the like to obtain a shooting target center Pl＝{Pl-iI is 1,2,3 … m }. By PlPerforming circle fitting to obtain the center P of the space circle0(x0,y0,z0) Radius r; to PlPoints are subjected to plane fitting, and a plane normal vector is recorded as
S6: measurement of the set of cylindrical surface points: the axis extraction tool is arbitrarily translated and rotated along the axis directionAnd shooting the images from a plurality of angles to obtain a plurality of measurement images at different positions, and obtaining a shooting target point set on the axis extraction tool, wherein the shooting target point set is recorded as P ═ Pi，i＝1,2…n}。
S7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder.
Establishing equation of cylinder (1)
(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2＝r2 (1)
Constructing error equation (2) from equation (1)
f＝(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2-r2 (2)
After the error equation (2) is linearized, an axis equation of the cylinder, namely an axis equation of the part, can be obtained by iterative solution by using the point set P measured in S6. Those skilled in the art will know which formula or calculation method to use for the axis calculation. Wherein a, b, c are initial direction vectors of cylinder iteration, which can be obtained by measurement or estimated according to an established coordinate system, f represents an error equation, r is radius of the cylinder, and detailed calculation process and parameter explanation are shown in the embodiment.
Further, the number of screw assemblies is at least six. The specific number can be adjusted according to actual requirements.
And further 1, a calibrated shooting target point and a shooting code point for identifying the information of the reference scale are contained on the reference scale. The reference scale is placed in front of the axis to be measured, and it is guaranteed that each shot image can contain reference scale information as much as possible. The positions of the scale, the camera code points and the axis to be measured are shown in fig. 1. Different photogrammetry equipment uses different types of scale bars, but all are used to obtain measurement field scale information.
The shooting in S5 and S6 specifically means: shooting target point fixationFix on the axis frock, the measurement process rotates and the translation with the frock along the axis to it is shot and is measured and obtain the point set P ═ P { P of photographic target point in different positionsiI ═ 1,2 … n }, the points are distributed on a cylindrical surface with the shaft centerline as the axis, and then the cylindrical equation can be solved from the resulting set of points P.
The specific steps in S5 and S6 are as follows: after the collected photographic coding points, photographic target points and a reference scale are identified by industrial photogrammetric software, images are processed by methods of picture matching, front intersection, rear intersection, light beam adjustment and the like, and three-dimensional coordinates of the photographic target points on the tool at different positions are obtained by axis extraction under the same coordinate system.
The calculation method in S7 includes but is not limited to: and constructing an error function and optimizing a calculation process through a cylindrical basic equation which is fit by a plurality of points distributed on the surface of the cylinder, so that the fitting precision is improved, and the calculation process is accelerated. The specific calculation processes herein are all prior art in the field, and those skilled in the art know which formula or calculation method to use for the calculation of the structure.
The axis extraction tool comprises a tool main body, wherein a photographic target point is arranged at one end of the tool main body, a polygonal fixed end is arranged at the other end of the tool main body, a plurality of through holes for allowing the screw assembly to pass through are formed in the outer surface of the fixed end, and the screw assembly is connected with the fixed end through nuts after passing through the through holes; the middle part of stiff end is provided with the screw rod subassembly round hole that lets screw rod subassembly one end wear out.
The screw rod assembly comprises a shell, a mandrel is arranged in the shell, one end of the mandrel extends out of the shell and is provided with a ball head, and a spring is sleeved on the mandrel extending out of the shell.
The application has the advantages that:
according to the invention, the axis extraction tool is designed, and the axis central line is obtained by adopting a photogrammetry mode, so that compared with a laser tracker, the measurement process is more convenient, the measurement environment requirement is low, and the adaptability is stronger.
Drawings
Fig. 1 is a schematic view of a measurement site.
FIG. 2 is an assembly view of the axis extraction tool.
Fig. 3 is a plan view of the axis extraction tool body.
Fig. 4 is a partial cross-sectional view of the screw assembly.
FIG. 5 is a schematic of a measurement point, an axis direction, and a measurement point-to-axis distance.
In the figure: the device comprises a tool 1, a tool main body, a photographic target point 3, a screw assembly 4, a shell 4-1, a mandrel 4-2, a ball 4-3, a spring 4-4, a nut 5, a screw assembly round hole 6, a screw assembly through hole 7, a photogrammetric camera 8, a photogrammetric coding point 9, a base 10 and a reference ruler 11.
Detailed Description
The present embodiment will be described with reference to fig. 1 to 5, in which the object to be measured is an axis and the photogrammetric equipment used is a single-camera photogrammetric system.
S1: the screw assembly penetrates through a through hole 7 in the tool, and meanwhile, the shaft to be detected penetrates through a circular hole 6 of the axis extraction tool;
s2: the extending length of the bolt assemblies in any two adjacent directions is adjusted through the nuts 5, so that the shaft is in contact with the ball heads 4-3 on the screw assemblies 4;
s3: adjusting nuts to coordinate the extension lengths of the screws in all directions to enable all the springs 4-4 to be in a compressed state and enable the axis extraction tool 1 to freely rotate around the axis;
s4: arranging a photographic coding point 9 near the axis to be measured and placing a photographic measuring reference ruler 11;
s5: initial parameter measurement: keeping the axis extraction tool 1 fixed along the axis direction, rotating more than 3 positions around the axis, taking pictures and measuring the pictures by the measuring camera 8 from different positions, filtering the taken pictures, extracting edges and the like to obtain a shooting target center Pl＝{Pl-iAnd i is 1,2,3 … m. By PlPerforming circle fitting to obtain the center P of the space circle0(x0,y0,z0) Radius r; to PlPoints are subjected to plane fitting, and a plane normal vector is recorded as
S6: measurement of the set of cylindrical surface points: the axis extraction tool is translated and rotated along the axis direction, and is shot from a plurality of angles to obtain a plurality of measurement images at different positions, so that a shooting target point set on the axis extraction tool is obtained and is recorded as P ═ Pi，i＝1,2…n}。
S7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder.
Solving the parameters of the cylinder, specifically solving the method as follows:
establishing equation of cylinder (1)
(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2＝r2 (1)
Constructing error equation (2) from equation (1)
f＝(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2-r2 (2)
For the nonlinear multi-element function shown in the formula (2), the equation f is linearized to obtain the formula (3)
A certain point P on the cylindrical surfacei(xi,yi,zi) The error of (d) can be expressed as:
substituting the cylindrical surface point P measured in step S6 into equation (4) to obtain n error equations, and rewriting the error equation set into a matrix form as follows:
Vn×1＝Bn×7X7×1-Ln×1 (5)
according to the least square principle, when VTWhen V is minimum, the sum of squared errors of all the points is minimum, and the correction value X can be obtained7×1Iteratively solving equations (6) and (7) until X7×1Exits the iteration when the parameters of (1) satisfy equation (8):
X0＝X0+X7×1 (7)
| Δ a | + | Δ b | + | Δ c | < 0.001 or | Δ r | < 0.01 (8)
Wherein:
Vn×1＝[V1 V2 V3 ... Vn]T (9)
X7×1＝[Δx0 Δy0 Δz0 Δa Δb Δc Δr]T (11)
Ln×1＝[-f1 -f2 -f3 ... -fn]T (12)
fi＝(xi-x0)2+(yi-y0)2+(zi-z0)2-[a(xi-x0)+b(yi-y0)+c(zi-z0)]2-(r)2 (13)
Claims (9)
1. a part axis extraction method based on a photogrammetry technology is characterized in that: the method comprises the following steps:
s1: a plurality of screw components penetrate through holes in the axis extraction tool, and a shaft to be detected penetrates through a round hole of the axis extraction tool;
s2: adjusting the extending lengths of any two adjacent screw assemblies through nuts to enable the shaft to be measured to be in contact with the ball heads on the screw assemblies;
s3: adjusting nuts to coordinate the extension lengths of the screws in all directions, so that all the springs are in a compressed state and the axis extraction tool can freely rotate around the shaft to be measured;
s4: arranging photographic coding points near a shaft to be measured and placing a photogrammetric reference ruler;
s5: initial parameter measurement: keep axis to draw frock 1 fixed along the axis direction, rotate more than 3 positions around the axis, measure camera 8 and shoot it from different positions and measure, to shooingFiltering and edge extracting the photographed image to obtain the center P of the photographing target pointl＝{Pl-iI ═ 1,2,3 … m }; by PlPerforming circle fitting to obtain the center P of the space circle0(x0,y0,z0) And a radius r; point set PlPerforming plane fitting to obtain a plane normal vector, and recording the plane normal vector as
S6: measurement of the set of cylindrical surface points: carrying out arbitrary translation and rotation on the axis extraction tool along the axis direction, shooting the axis extraction tool from a plurality of angles to obtain a plurality of measurement images of n different positions, and obtaining a shooting target point set on the axis extraction tool, wherein the shooting target point set is marked as P ═ Pi，i＝1,2…n}；
S7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder.
2. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the number of screw assemblies is at least six.
3. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the reference scale comprises a shooting target point with calibrated distance and a shooting code point for identifying the information of the reference scale.
4. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the shooting in S5 and S6 specifically means: the shooting target point is fixed on the axis tool, the tool is rotated and translated along the axis in the measuring process, and the shooting target point is shot and measured to obtain a point set P (P) of the shooting target point at different positionsiI is 1,2 … n, the points are distributed on a cylindrical surface with the central line of the shaft to be measured as the axis, and then the cylindrical equation can be solved according to the obtained point set P.
5. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the specific steps in S5 and S6 are as follows: after the collected photographic coding points, photographic target points and a reference scale are identified by industrial photogrammetric software, images are processed by methods of picture matching, front intersection, rear intersection, light beam adjustment and the like, and three-dimensional coordinates of the photographic target points on the tool at different positions are obtained by axis extraction under the same coordinate system.
6. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the calculation method in S7 includes but is not limited to: and constructing an error function and optimizing a calculation process through a cylindrical basic equation which is fit by a plurality of points distributed on the surface of the cylinder, so that the fitting precision is improved, and the calculation process is accelerated.
7. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the method is realized by adopting an axis extraction tool, the axis extraction tool comprises a tool main body, one end of the tool main body is provided with a photographic target point, the other end of the tool main body is provided with a polygonal fixed end, the outer surface of the fixed end is provided with a plurality of through holes for penetrating through a screw rod assembly, and the screw rod assembly is connected with the fixed end through a nut after penetrating through the through holes; the middle part of stiff end is provided with the screw rod subassembly round hole that lets screw rod subassembly one end wear out.
8. The method of claim 7, wherein the method comprises the following steps: the screw rod assembly comprises a shell, a mandrel is arranged in the shell, one end of the mandrel extends out of the shell and is provided with a ball head, and a spring is sleeved on the mandrel extending out of the shell.
9. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein:
s7 specifically includes: establishing equation of cylinder (1)
(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2＝r2 (1)
Constructing error equation (2) from equation (1)
f＝(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2-r2 (2)
After the error equation (2) is linearized, the axis of the part is obtained by iterative solution of gradient descent, Gauss Newton or LM algorithm by using a point set P measured by S6;
where a, b, c are the initial direction vectors of the cylinder iterations, estimated either by measurement or from an established coordinate system, f represents the error equation, r the radius of the cylinder.
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