CN112665523B - Combined measurement method for complex profile - Google Patents
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Abstract
The invention discloses a combined measurement method for a complex profile, belongs to the field of centroid measurement, and solves the problems of low measurement precision and the like of a single measurement technical means. Step S1: arranging target ball transfer station seats on the periphery of the complex molded surface, placing target balls with reflective mark points on each target ball transfer station seat, wherein the centers of the target balls comprise first reflective mark points; selecting test points on the surface of the molded surface, and sticking a second light-reflecting mark point on each test point; step S2: shooting the reflecting mark point by using a shooting type measuring system to obtain a space coordinate value of the reflecting mark point; measuring by using a laser tracker to obtain a spatial coordinate value of the target ball transfer station seat; step S3: optimizing the space coordinate value of the second reflective mark point based on the space coordinate values of the target ball transfer seat and the first reflective mark point; step S4: scanning the surface of the molded surface by using a laser scanner to obtain initial measurement data; and correcting the initial measurement data based on the optimized space coordinate value of the second light reflecting mark point to obtain the combined measurement data of the surface of the molded surface.
Description
Technical Field
The invention belongs to the field of centroid measurement, and particularly relates to a combined measurement method for a complex profile.
Background
At the present stage, the large-space complex-profile product has the characteristics of high speed, complex structure, high assembly precision requirement and the like. Therefore, in the process of measuring the surface of a product with a large space and a complex profile, the selected measuring method needs to be ensured to cover and detect all data and keep low precision loss in a large space range.
At present, the measuring method of the large-space complex profile product generally adopts the measuring technical means such as a laser tracker, a photographing type measuring system or an optical scanner. However, the single measurement technology is adopted to measure the large-space complex-profile product, and the following problems exist: the method has the defects of single measurement mode, incomplete data form coverage, limited measurement range, difficulty in control of measurement precision and the like, and cannot meet the detection requirement of large-space complex profile products. Meanwhile, the prior art lacks a method for combining the measurement technical means to obtain an accurate measurement result of the surface of a large-space complex-profile product.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide a combined measurement method for complex profiles, which solves the problems of single measurement technique in the prior art, including single measurement mode, incomplete data format coverage, limited measurement range or difficulty in controlling measurement accuracy.
The purpose of the invention is mainly realized by the following technical scheme:
the invention provides a combined measuring method of a complex profile, which comprises the following steps:
step S1: arranging a plurality of target ball transfer station seats at the periphery of the tested complex profile, placing a target ball with a reflective mark point on each target ball transfer station seat, wherein the center of each target ball comprises a first reflective mark point; selecting a plurality of test points on the surface of the tested complex profile, and sticking a second light-reflecting mark point on each test point;
step S2: shooting the first light reflecting mark point and the second light reflecting mark point by using a shooting type measuring system to obtain space coordinate values of the first light reflecting mark point and the second light reflecting mark point; measuring and obtaining space coordinate values of all target ball transfer station seats by using a laser tracker;
optimizing the space coordinate value of the second reflective mark point based on the space coordinate values of all the target ball transfer seats and the first reflective mark points;
step S4: scanning the surface of the complex molded surface to be measured by using a laser scanner to obtain initial measurement data; and correcting the initial measurement data based on the optimized space coordinate value of the second light-reflecting mark point to obtain the combined measurement data of the surface of the measured complex profile.
On the basis of the above scheme, the present embodiment is further improved as follows:
further, the step S3 includes:
step S31: converting the space coordinate value of the first reflective marker point based on the position relationship between the target ball of the reflective marker point and the corresponding target ball transfer station seat to obtain the coordinate value to be calibrated of the corresponding target ball transfer station seat;
step S32: fitting the coordinate value to be calibrated and the spatial coordinate value of the target ball transfer station seat to obtain a fitting functional relation;
step S33: and optimizing the space coordinate value of the second light reflecting mark point based on the fitting functional relation.
Further, in the step S32, the coordinate values to be calibrated and the spatial coordinate values of the target ball transfer station are fitted by a least square method.
Further, the step S4 includes:
step S41: scanning the surface of the complex molded surface to be measured by using a laser scanner to obtain initial measurement data; the initial measurement data comprises laser scanning data of one or more second light reflecting mark points;
step S42: obtaining a correction function relation based on a space mapping relation between the laser scanning data of the second light reflecting mark point and the optimized space coordinate value of the second light reflecting mark point;
step S43: and correcting the initial measurement data based on the correction function relationship to obtain the combined measurement data of the measured complex profile.
Further, in step S2, two or more images including the first reflective marking point and/or the second reflective marking point are obtained at different positions and directions by using the photographing type measuring system, and the images are processed to obtain the spatial coordinate values of the first reflective marking point and the second reflective marking point.
Further, the spatial coordinate values of the first reflective marker point and the second reflective marker point, the spatial coordinate value of the target ball transfer station seat and the initial measurement data are all data in the same coordinate system.
Furthermore, the target ball transfer station seat, the reflective marker point target ball, the first reflective marker point and the second reflective marker point are all suitable for the laser tracker.
Furthermore, the target ball with the reflective mark points is the target ball with the reflective mark points with the same specification as the target ball with the radius of 19.05mm of the laser tracker.
Further, the distance between two adjacent test points is between 100mm and 200 mm.
Further, the photographing type measuring system adopts a camera special for high-resolution photogrammetry to collect the image.
Compared with the prior art, the invention can at least realize the following beneficial effects:
(1) the method for jointly measuring the complex profile adopts three digital measurement modes, namely a laser tracker, a photographing type measurement system and a laser scanner to respectively measure the complex profile, and then combines measurement results of different measurement modes to obtain a final joint measurement result. The method provides a brand-new scanning mode of the large-space complex profile (such as a large-space-size aircraft), and the scanning process can be used for guiding technicians in the field to carry out comprehensive and high-precision surface measurement on the complex profile;
(2) the combined measurement method for the complex profile provided by the invention can fully utilize the respective advantages and the mutual association relationship of three digital measurement modes, namely the laser tracker, the photographing type measurement system and the laser scanner, and improve the precision of data acquired by the laser scanner to the precision of the space measurement of the laser tracker, thereby forming a high-precision mark point measurement field frame;
(3) the combined measurement method for the complex profile provided by the invention can break through the limitation to the space size in the traditional complex profile detection process, greatly improve the overall precision of the complex profile scanning measurement data in a large space range, the measurement range can reach more than 40m, and the measurement uncertainty can be reduced to one tenth or even more of that of a single scanning measurement device.
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 drawings.
Drawings
The drawings are only for purposes of illustrating the particular invention and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the figures.
FIG. 1 is a schematic view of a linear structured light range in an embodiment of the present invention;
FIG. 2 is a schematic measurement diagram of a photo-taking measurement system according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for joint measurement of complex profiles in an embodiment of the present invention;
fig. 4 is a schematic diagram of a joint measurement structure of a complex profile in an embodiment of the present invention.
Detailed Description
The preferred invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the description serve to explain the principles of the invention.
The measuring method of the large-space complex profile generally adopts measuring technical means such as a laser tracker, a photographing type measuring system or an optical scanner, and the working principle and the advantages and the disadvantages of the measuring technical means are introduced as follows:
laser scanner:
the measuring process of the laser scanner is essentially a structured light distance measuring technology, and the working principle is as follows: emitting a single laser beam or a plurality of laser beams to the surface of an object, processing the laser beams to obtain the distance between the laser beams and each position on the surface of the object by receiving the laser beams returned from the surface of the object, and moving the position of the laser scanner to obtain the surface shapes of the laser scanner at different positions; the scanning data of a plurality of positions of the laser scanner are spliced through a common reference, and then the three-dimensional data of the surface of the object can be obtained. Fig. 1 shows a schematic view of a linear structured light range of a laser scanner. It should be noted that, since the process of using the laser scanner to perform distance measurement is the prior art, in this embodiment, the detailed description of the specific operation process of the laser scanner is not repeated.
It should be noted that the shapes of the object surfaces obtained by the laser scanners at different positions can be spliced because they have a common reference, i.e. the reflective marker points that are commonly used during scanning by the laser scanners. Therefore, in the process of measuring by using the laser scanner, when the laser scanner is at a certain position, the positions of a plurality of light reflecting mark points at the current position are recorded by a camera of the laser scanner; when the laser scanner moves to the next position, the same reflecting mark point position is recorded during measurement, and a continuous and three-dimensional data body can be spliced by continuously recording the common reflecting mark points in the adjacent pictures. Therefore, in the process of measuring by using the laser scanner, as the measuring range is increased, the splicing error of the reflective mark points is gradually accumulated, thereby causing the sharp reduction of the measuring precision of the laser scanner.
Therefore, in the process of measuring the large-space complex profile, if only the laser scanner is used for obtaining the measurement data, the splicing error of the reflective mark points is gradually accumulated along with the gradual increase of the measurement range. According to practical experience, generally, when the distance between the laser scanner and the surface of the measured complex profile exceeds a range of three meters, the splicing error of the measured data is greatly increased, and the accuracy of the measurement result is seriously affected by the increase of the splicing error. Therefore, how to control the splicing precision of the reflective mark points is a problem which needs to be considered in the process of realizing the surface measurement of the large-space complex molded surface by adopting the laser scanner.
(II) a photographing type measuring system:
the photographing type measuring system generally adopts a camera special for high-resolution photogrammetry, and the working principle is as follows: and moving the photographing type measuring system to different positions and directions, acquiring two or more digital images of the large-space complex profile to be measured at different positions and directions, and performing image preprocessing, mark identification and positioning, image matching, space triangular intersection and light beam adjustment on the acquired images so as to obtain the three-dimensional coordinates of the reflecting mark point to be measured. It should be noted that, the above image processing processes are all implemented in a manner, and therefore, the detailed description of the specific image processing process is not described in detail in this embodiment. After the three-dimensional coordinates of the reflective mark points to be detected are obtained in the above manner, the geometric dimension detection, the deformation measurement, the reverse engineering analysis and the like can be performed on the large-space complex molded surface to be detected according to the three-dimensional coordinates of the reflective mark points. The basic process of making measurements using a photographical measurement system is shown in fig. 2.
In the actual measurement process, the photographing type measurement system obtains the three-dimensional coordinates of the reflective mark points through an image processing technical means, namely the three-dimensional coordinates of the reflective mark points needed in the measurement process of the laser scanner. Considering that the camera image is used by the photo-taking type measuring system, and the laser of the laser scanner is not used to represent the distance information in the measuring process, a calibrated reference length scale is required to represent the distance information in the measuring process of the photo-taking type measuring system, and a standard scale of about 1 m-2 m can be selected. Since the image capture format of the image capture type measuring system is much larger than the format of the laser scanner, the measuring range of the image capture type measuring system is also much larger than the measuring range of the laser scanner. In the same measuring range, the splicing error cumulant of the image obtained by the photographing type measuring system is far smaller than that of the laser scanner, so that the photographing type measuring system can be introduced in the measuring process by adopting the laser scanner so as to improve the space splicing precision of the light reflecting mark points of the laser scanner. According to practical experience, generally, when the distance between a laser scanner and the surface of the measured complex profile is in the range of 10m to 15m, the combination of the photographing type measuring system and the laser scanner can obtain a measuring result which is obviously superior to that of a single laser scanner. However, when the spatial range of the measured complex profile surface is significantly increased, the length error of the reference scale and the splicing error in combination with multiple frames will appear, and therefore, a reference scale with a larger spatial range is required to improve the spatial positioning accuracy of the feature points of the photogrammetric system.
(III) laser tracker
The single-point positioning accuracy of the laser tracker is the highest technology of the positioning accuracy in the large-range space in the prior art. In consideration of the strong positioning accuracy of the laser tracker, the spatial length reference of the laser tracker can be used as the length reference of the camera-type measuring system (i.e. the standard ruler of the camera-type measuring system) in the process of measuring by using the camera-type measuring system, and the spatial positioning accuracy of the characteristic point of the camera-type measuring system can be improved to the spatial positioning accuracy of the same level as that of the laser tracker by combining the laser tracker and the camera-type measuring system to measure the measured complex surface, so that the accuracy of the spatial position of the reflective marker point can be controlled.
Therefore, by introducing the above measurement modes and their relationships, it can be seen that if the above three measurement modes are reasonably combined, the laser scanning positioning accuracy can reach the spatial position accuracy of laser tracking in a large-scale space, and therefore, the measurement error of the surface of the large-space complex profile can be greatly reduced.
In summary, in order to solve the problems of the above-mentioned several measurement techniques and obtain a measurement result of a surface of a complex profile with higher precision, the present embodiment provides a method for jointly measuring a complex profile, and a flowchart is shown in fig. 3, and includes the following steps:
step S1: arranging a plurality of target ball transfer station seats at the periphery of the tested complex profile, placing a target ball with a reflective marker point on each target ball transfer station seat, wherein the center of each target ball comprises a first reflective marker point (namely a transfer point in figure 4); selecting a plurality of test points on the surface of the tested complex profile, and sticking a second light-reflecting mark point on each test point;
the schematic diagram of the measurement process is shown in fig. 4.
It should be noted that the first reflective mark point and the second reflective mark point described above are designed to distinguish different positions of the mark point. In the actual test process, the first reflective mark points and the second reflective mark points can be made of the same reflective mark point material. Meanwhile, it should be noted that, in consideration of the technical scheme provided in this embodiment, a laser ranging mode is adopted to measure the physical surface, and therefore, the target ball rotating station seat, the reflective marker point target ball, the first reflective marker point and the second reflective marker point are all suitable for the laser tracker, so that the laser tracker and the laser scanner can acquire related measurement data in the subsequent process.
Preferably, in order to ensure that the measurement process in this embodiment can cover all the measured data, therefore, in the actual measurement process, the affixed target ball transfer station base is required to cover the whole measurement space to form a laser tracker measurement field covering the complex profile to be measured, and a high-precision complex profile measurement field frame is provided by utilizing the advantage of high measurement precision of the laser tracker in a large range; meanwhile, the selected test points are required to cover all measured positions of the tested complex profile so as to obtain a more comprehensive measurement result of the surface of the complex profile; in addition, considering that the processing speed in the measuring process can be obviously reduced by arranging the test points which are too densely, and the precision of the measuring result can be influenced by arranging the test points which are too sparsely, multiple times of actual tests show that when the distance between two adjacent test points is between 100mm and 200mm, the balance between the measuring speed and the measuring precision can be achieved, and the actual engineering requirements can be well met.
Preferably, in the actual measurement process, the target ball with the same specification of the target ball with the radius of 19.05mm of the laser tracker can be selected, namely, the target ball with the same specification of the reflective marker point is placed in each target ball transfer station seat; meanwhile, in the actual measurement process, the selected reflective marker points of the target ball of the reflective marker points are required to be clearly visible, so that the laser scanner can realize the accurate measurement of the reflective marker points.
Step S2: shooting the first light reflecting mark point and the second light reflecting mark point by using a shooting type measuring system to obtain space coordinate values of the first light reflecting mark point and the second light reflecting mark point; measuring and obtaining space coordinate values of all target ball transfer station seats by using a laser tracker;
preferably, in step S2, two or more images including the first reflective marking point and/or the second reflective marking point are obtained by the photographical measuring system at different positions and directions, and the images are processed to obtain the spatial coordinate values of the first reflective marking point and the second reflective marking point.
It should be noted that the process of processing the image to obtain the spatial coordinate values can be implemented in the existing manner, and details of the specific implementation process are not repeated in this embodiment.
Step S3: optimizing the space coordinate value of the second reflective mark point based on the space coordinate values of all the target ball transfer seats and the first reflective mark points;
preferably, the step S3 includes:
step S31: converting the space coordinate value of the first reflective marker point based on the position relationship between the target ball of the reflective marker point and the corresponding target ball transfer station seat to obtain the coordinate value to be calibrated of the corresponding target ball transfer station seat;
it should be noted that the "corresponding" relationship described herein refers to the ball transfer station and the reflective marker ball placed thereon. Because the position relation of the target ball transfer station seat and the target ball transfer station seat is relatively fixed, the coordinate value to be calibrated of the corresponding target ball transfer station seat can be obtained through the mode. Since the spatial coordinate value of the first reflective mark point obtained in the above process is obtained by using the photographing type measuring system, the reference scale of the coordinate value to be calibrated of the corresponding target ball transfer station base obtained by the spatial coordinate value conversion is the reference scale of the photographing type measuring system, and the precision of the coordinate value to be calibrated is also the precision of the photographing type measuring system, so that the precision of the coordinate value to be calibrated needs to be calibrated to the measuring precision of the laser tracker. Namely, the specific process of step S32.
Step S32: fitting the coordinate value to be calibrated and the spatial coordinate value of the target ball transfer station seat to obtain a fitting functional relation;
in the process, the fitting process can be realized by adopting the existing mode, for example, the least square method, and the fitting mode does not belong to the protection range of the application, so the specific fitting mode is not repeated in the embodiment. And after the fitting relation is obtained, the measurement precision under the laser tracker can be obtained according to the fitting relation.
Step S33: and optimizing the space coordinate value of the second light reflecting mark point based on the fitting functional relation.
Based on the fitting function relationship, the space coordinate value of the second reflective mark point acquired by the photographing type measuring system can be optimized, and the space coordinate value of the second reflective mark point based on the measuring precision of the laser tracker can be obtained.
Step S4: scanning the surface of the complex molded surface to be measured by using a laser scanner to obtain initial measurement data; and correcting the initial measurement data based on the optimized space coordinate values of the first reflective mark point and the second reflective mark point to obtain the combined measurement data of the surface of the measured complex profile.
Through the step, the measurement data acquired by the laser scanner can be improved to the measurement precision of the laser tracker, so that high-precision joint measurement data can be obtained.
Preferably, in the step S4, the method includes:
step S41: scanning the surface of the complex molded surface to be measured by using a laser scanner to obtain initial measurement data; the initial measurement data comprises laser scanning data of one or more second light reflecting mark points;
it should be noted that the second reflective mark point is a typical test point selected in the measurement process, and in the process of actually measuring the surface of the measured complex profile, the surface of the measured complex profile needs to be comprehensively measured to obtain comprehensive measurement data of the surface of the complex profile.
Step S42: obtaining a correction function relation based on a space mapping relation between the laser scanning data of the second light reflecting mark point and the optimized space coordinate value of the second light reflecting mark point;
through the step S42, an association relationship between the laser scanner and the laser tracker can be established, so that the initial measurement data can be corrected according to the function correction relationship in the subsequent step S43, and the joint measurement data of the measured complex profile can be obtained.
Step S43: and correcting the initial measurement data based on the correction function relationship to obtain the combined measurement data of the measured complex profile.
The combined measurement data of the measured complex profile obtained by the processing in the mode can reach the ranging precision of the laser tracker, and can better meet the actual measurement requirement.
In this embodiment, the complex profile is measured by three digital measurement methods, i.e., a laser tracker, a photographing measurement system, and a laser scanner, and the three sets of measured data are unified in the same coordinate system. Namely, the spatial coordinate values of the first reflective marker point and the second reflective marker point, the spatial coordinate value of the target ball transfer station seat and the initial measurement data are all data in the same coordinate system.
Compared with the prior art, the combined measuring method for the complex profile provided by the invention at least has the following beneficial effects:
(1) the complex profiles are measured by adopting three digital measurement modes, namely a laser tracker, a photographing type measurement system and a laser scanner, and then measurement results of different measurement modes are combined to obtain a final combined measurement result. The method provides a brand-new scanning mode of the large-space complex profile (such as a large-space-size aircraft), and the scanning process can be used for guiding technicians in the field to carry out comprehensive and high-precision surface measurement on the complex profile;
(2) the advantages and the correlation relationship of three digital measurement modes, namely a laser tracker, a photographing type measurement system and a laser scanner, can be fully utilized, and the precision of data acquired by the laser scanner is improved to the precision of the space measurement of the laser tracker, so that a high-precision mark point measurement field frame is formed;
(3) the limit to the space size in the traditional complex profile detection process can be broken through, the overall precision of complex profile scanning measurement data in a large space range is greatly improved, the measurement range can reach more than 40m, and the measurement uncertainty can be reduced to one tenth of a single scanning measurement device or even more.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A method for joint measurement of complex profiles, comprising the steps of:
step S1: arranging a plurality of target ball transfer station seats at the periphery of the tested complex profile, placing a target ball with a reflective mark point on each target ball transfer station seat, wherein the center of each target ball comprises a first reflective mark point; selecting a plurality of test points on the surface of the tested complex profile, and sticking a second light-reflecting mark point on each test point;
step S2: shooting the first light reflecting mark point and the second light reflecting mark point by using a shooting type measuring system to obtain space coordinate values of the first light reflecting mark point and the second light reflecting mark point; measuring and obtaining space coordinate values of all target ball transfer station seats by using a laser tracker;
step S3: optimizing the space coordinate value of the second reflective mark point based on the space coordinate values of all the target ball transfer seats and the first reflective mark points;
step S4: scanning the surface of the complex molded surface to be measured by using a laser scanner to obtain initial measurement data; and correcting the initial measurement data based on the optimized space coordinate value of the second light-reflecting mark point to obtain the combined measurement data of the surface of the measured complex profile.
2. The method for jointly measuring a complex profile according to claim 1, wherein in the step S3, the optimizing the spatial coordinate values of the first reflective marker point and the second reflective marker point based on the reference scale comprises:
step S31: converting the space coordinate value of the first reflective marker point based on the position relationship between the target ball of the reflective marker point and the corresponding target ball transfer station seat to obtain the coordinate value to be calibrated of the corresponding target ball transfer station seat;
step S32: fitting the coordinate value to be calibrated and the spatial coordinate value of the target ball transfer station seat to obtain a fitting functional relation;
step S33: and optimizing the space coordinate value of the second light reflecting mark point based on the fitting functional relation.
3. The method of claim 2, wherein in step S32, the coordinate values to be calibrated and the spatial coordinate values of the target ball turret seat are fitted by a least square method.
4. Joint measurement method of complex profiles according to claim 1,
in the step S4, the method includes:
step S41: scanning the surface of the complex molded surface to be measured by using a laser scanner to obtain initial measurement data; the initial measurement data comprises laser scanning data of one or more second light reflecting mark points;
step S42: obtaining a correction function relation based on a space mapping relation between the laser scanning data of the second light reflecting mark point and the optimized space coordinate value of the second light reflecting mark point;
step S43: and correcting the initial measurement data based on the correction function relationship to obtain the combined measurement data of the measured complex profile.
5. Joint measurement method of complex profiles according to claim 1,
in step S2, two or more images including the first reflective marking point and/or the second reflective marking point are obtained at different positions and directions by using the photographing type measuring system, and the images are processed to obtain spatial coordinate values of the first reflective marking point and the second reflective marking point.
6. Joint measurement method of complex profiles according to claim 1,
and the space coordinate values of the first reflective marker point and the second reflective marker point, the space coordinate value of the target ball transfer station seat and the initial measurement data are all data in the same coordinate system.
7. The method of claim 1, wherein the ball target stand, the retro-reflective marker target ball, the first retro-reflective marker point, and the second retro-reflective marker point are all adapted to the laser tracker.
8. The method of claim 7, wherein the retro-reflective marker target sphere is a retro-reflective marker target sphere of the same size as a laser tracker 19.05mm radius target sphere.
9. The method for jointly measuring the complex profiles according to claim 1, wherein the distance between two adjacent test points is between 100mm and 200 mm.
10. The method of claim 5, wherein the photogrammetric system uses a high resolution photogrammetric dedicated camera to capture the images.
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