CN113959352B - Flexible point location direction identification system and method - Google Patents
Flexible point location direction identification system and method Download PDFInfo
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- CN113959352B CN113959352B CN202111216043.XA CN202111216043A CN113959352B CN 113959352 B CN113959352 B CN 113959352B CN 202111216043 A CN202111216043 A CN 202111216043A CN 113959352 B CN113959352 B CN 113959352B
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- 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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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Abstract
The invention discloses a flexible point location direction identification system and method, and relates to the technical field of strain measurement point location marking systems and methods. The system comprises a non-contact laser scanning measurement system, a robot point position direction identification system, a flexible point position direction identification control system and a part clamping platform. The method comprises the following steps: step 1, obtaining a surface point cloud set of a target point position direction identification area; step 2, automatically aligning a part coordinate system before point location direction identification; and 3, realizing self-adaptive point location direction identification. By using the system and the method, the flexible point position direction identification of the strain measurement of the complex curved surface is realized automatically, and the working efficiency, the marking accuracy and the consistency are improved.
Description
Technical Field
The invention relates to the technical field of strain measurement point location marking systems and methods, in particular to a flexible point location direction identification system and a control method thereof.
Background
The stress-strain test is a key link for bearing part detection, and is widely applied to complex bearing curved surface tests of parts such as complex curved blades, wherein point position direction identification of measurement point positions on the complex curved surfaces of the blades is a key link for measurement. The basic principle is that the position and the angle of a strain gauge mounting point are identified on the surface profile of a part through manual operation through measuring point position information in a digital-analog model, and point position information is provided for stress-strain measurement at different point positions so as to obtain a stress-strain field of the whole bearing curved surface.
The strain measurement point position marking of the current complex curved surfaces such as complex curved blades mainly adopts a manual operation mode, the labor intensity is high, the working efficiency is low, meanwhile, the marking precision and consistency are poor, and the quality stability is difficult to control. With the rapid iteration of the product research and development models, the manual marking operation is difficult to meet the personalized test requirement of the rapid modification of the complex curved surface, and the application prospect of the flexible test of multiple varieties in small batches cannot be adapted.
Accordingly, those skilled in the art have endeavored to develop a flexible point location direction identification system and method to improve reticle accuracy and work efficiency.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to realize the automatic strain measurement point position marking of complex curved surfaces such as complex curved blades.
In order to achieve the purpose, the invention provides a flexible point position direction identification system which comprises a non-contact laser scanning measurement system, a robot point position direction identification system, a flexible point position direction identification control system and a part clamping platform.
Furthermore, the non-contact laser scanning measurement system comprises a laser scanning measuring head, a measurement bracket and a measuring head driving platform.
Further, the robot point location direction identification system comprises a six-degree-of-freedom point location direction identification robot and a terminal point location direction identification actuator.
Furthermore, the flexible point position direction identification control system comprises a central processing unit, a measurement system controller and a robot pose control unit.
The invention also provides a flexible point position direction identification method, which comprises the following steps:
and 3, realizing self-adaptive point location direction identification.
Further, the step 1 comprises:
step 1.1, placing a part to be subjected to point location direction identification on a part clamping platform, and performing non-positioning simple clamping;
step 1.2, a central processing unit imports the three-dimensional model of the part to be point location direction marked from a point location direction marking part database into the central processing unit according to a digital analog reading command, and the central processing unit generates a measurement strategy according to the surface characteristics of a point location direction marking area of the three-dimensional model of the part to be point location direction marking;
and step 1.3, the central processing unit transmits the measurement strategy to a measurement system controller, and the measurement system controller controls a laser scanning head on a measuring head driving platform to translate so as to obtain a surface point cloud set of the target point position direction identification area.
Further, the step 2 comprises:
and 2.1, gridding the surface of the three-dimensional model of the part to be marked with the point location direction in the central processing unit, extracting point clouds on the surface of the point location direction marking area, and generating an original point location direction marking surface point cloud set.
Further, the step 2 further comprises:
and 2.2, matching and analyzing the original point location direction identification surface point cloud set extracted by the digital-analog in the central processing unit and the target point location direction identification surface point cloud set obtained by measurement, aligning point location direction identification surface features on the original point location direction identification surface point cloud set and the target point location direction identification surface point cloud set with each other, thereby obtaining a translation matrix and a rotation matrix of a digital-analog coordinate system relative to a current point location direction identification part coordinate system, realizing the automatic alignment of the coordinate system of the point location direction identification part based on the measurement point cloud set, realizing the consistency of a scanning measurement target coordinate and a model original coordinate, and further providing a reference basis of point location direction identification for subsequent self-adaptive point location direction identification.
Further, the step 2 further comprises:
and 2.3, converting the point location direction identification point location characteristics marked in the digifax into actual point location direction identification characteristic point locations on the surface of the part to be subjected to point location direction identification based on the translation matrix and the rotation matrix obtained by matching the digifax with the measurement point cloud, and further generating a robot point location direction identification strategy of the target point location direction identification characteristics.
Further, the step 3 comprises:
step 3.1, the robot position control unit generates a position control signal of the machine position direction identifier robot according to the self-adaptive position direction identification strategy sent by the central processing unit, so that an end position direction identification actuator at the tail end of the position direction identifier robot reaches a position direction identification starting position, the central processing unit controls the position direction identification actuator to be started, and the position direction identifier robot controls the position direction identification actuator to move along the position direction identification characteristic according to the generated self-adaptive position direction identification strategy until the current position direction identification characteristic is finished;
and 3.2, the position and orientation control unit of the point location direction identification robot controls the end point location direction identification actuator to reach the next point location direction identification characteristic, and the point location direction identification process is repeated until the last point location direction identification is achieved.
Compared with the prior art, the invention has the beneficial technical effects that:
1. according to the invention, a flexible laser scanning measurement function is integrated on the basis of execution of point location direction identification of a robot, point cloud information reflecting the shape and the position of the surface of a workpiece is obtained through full-size measurement of the surface of the part, and the position and pose information of the part to be measured can be obtained in a self-adaptive manner by combining matching calculation of the point cloud and a digital analog, so that the position and pose acquisition of a free-form surface in a non-accurate positioning state and the automatic positioning of the part are realized; meanwhile, the system is not dependent on a zero point positioning system, so that the system can be suitable for flexible measurement and positioning calibration of various parts.
2. The flexible point position direction identification system based on the online measurement and alignment of the surface of the workpiece does not depend on a complex special positioning tool, so that the cost can be saved, and the applicability of the system can be improved; the system can intelligently align the pose of the current part on line by combining with the point cloud of measurement according to the shape and the placement position of the part, automatically generate the point location direction identification track of the current part through the mapping of the point location direction identification point location of the theoretical robot, realize the interaction between a product and a point location direction identification device, realize the self-adaptive response of the point location direction identification system along with the change of a workpiece, and is suitable for various small-batch individualized detection point location identifications.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a system block diagram of a preferred embodiment of the present invention;
FIG. 2 is a flow chart of a method of a preferred embodiment of the present invention;
the system comprises a non-contact laser scanning measurement system, a robot point location direction identification system, a flexible point location direction identification control system, a part clamping platform, a laser scanning probe, a measurement support, a probe driving platform, a point location direction identification robot, a flexible point location direction identification control system, a part clamping platform, a part 5, a laser scanning probe, a measurement support 6, a probe driving platform 7, a point location direction identification robot 8, an end point location direction identification actuator 9, a central processing unit 10, a measurement system controller 11, a robot pose control unit 12, a robot pose control unit 13, a point location direction identification part database, a point location direction identification part to be detected 14, a measurement strategy 15, a point location direction identification strategy 16, a robot pose control signal 17, a three-dimensional model of the point location direction identification part to be detected 18, a surface point cloud set of a point location direction identification area 19, an original point location direction identification surface point cloud set, a digital-analog reading command 21 and a pose control signal 22.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, elements that are structurally identical are represented by like reference numerals, and elements that are structurally or functionally similar in each instance are represented by like reference numerals. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1, a flexible point location direction identification system suitable for strain measurement of a complex curved surface includes a non-contact laser scanning measurement system 1, a robot point location direction identification system 2, a flexible point location direction identification control system 3, and a part clamping platform 4. The non-contact laser scanning measurement system 1 comprises a laser scanning measuring head 5, a measurement support 6 and a measuring head driving platform 7. The robot point location direction marking system 2 comprises a six-degree-of-freedom point location direction marking robot 8 and a tail end point location direction marking actuator 9. The flexible point location direction identification control system 3 comprises a central processing unit 10, a measurement system controller 11 and a robot position and posture control unit 12. The part holding platform 4 is configured to clamp the part 14 to be located.
The laser scanning head 5 is positioned on a movable driving slide block on the measuring head driving platform 7, the driving slide block is driven by a driving motor positioned in the measuring head driving platform 7 through screw transmission, and the measuring head driving platform 7 is supported and fixed by a measuring support 6 positioned below. The end point location direction marking actuator 9 is positioned at the rotatable end of the six-degree-of-freedom point location direction marking robot 8, and can realize the surface point location direction marking of the complex workpiece.
As shown in fig. 2, a self-adaptive point location direction identification control method of a flexible point location direction identification system suitable for complex curved surface strain measurement includes the following steps:
and 3, realizing self-adaptive point location direction identification.
The step 1 specifically comprises the following steps: firstly, placing a part 14 to be marked with the point position direction on a part clamping platform 4, and carrying out non-positioning simple clamping; then, the central processing unit 10 imports the three-dimensional model of the part 14 to be point location direction marked from the point location direction marking part database 13 into the central processing unit 10 according to the digital analog reading command 21, the central processing unit 10 generates a measurement strategy 15 according to the surface characteristics of the point location direction marking region of the three-dimensional model of the part 14 to be point location direction marking, the central processing unit 10 transmits the measurement strategy 15 to the measurement system controller 11, and the measurement system controller 11 controls the laser scanning head 5 on the measuring head driving platform 7 to translate, so that a surface point cloud set 19 of the target point location direction marking region is obtained.
The step 2 specifically comprises the following steps: firstly, gridding the surface of a three-dimensional model 18 of a part 14 to be marked in a point location direction in a central processing unit 10, extracting point clouds on the surface of a point location direction marking area, and generating an original point location direction marking surface point cloud set 20; then, matching analysis is carried out on an original point location direction identification surface point cloud set 20 extracted by a digital analog and a target point location direction identification surface point cloud set 19 obtained by measurement in a central processing unit 10, point location direction identification surface point surface features on the original point location direction identification surface point cloud set 20 and the target point location direction identification surface point cloud set 19 are mutually aligned, so that a translation and rotation matrix of a digital analog coordinate system relative to a current point location direction identification part coordinate system is obtained, automatic alignment of a point location direction identification part 14 coordinate system based on the measurement point cloud set is realized, a scanning measurement target coordinate is consistent with a model original coordinate, and a reference datum of a point location direction identification is provided for subsequent self-adaptive point location direction identification; converting the point location direction identification point location characteristics marked in the digifax into point location direction identification characteristic point locations on the surface of the actual to-be-detected point location direction identification part 14 based on a translation and rotation matrix obtained by matching the digifax with the measurement point cloud, and further generating a robot point location direction identification strategy 16 of the target point location direction identification characteristics;
the step 3 specifically comprises the following steps: the robot pose control unit 12 generates a machine point location direction identifier robot 8 pose control signal 22 according to a self-adaptive point location direction identification strategy 16 sent by the central processing unit 10, so that the end point location direction identification actuator 9 at the end of the point location direction identification robot 8 reaches the point location direction identification starting position, the central processing unit 10 controls the point location direction identification actuator 9 to be started, and the point location direction identification robot 8 controls the point location direction identification actuator 9 to move along the point location direction identification characteristic according to the generated point location direction identification strategy 16 until the current point location direction identification characteristic is finished; then, the point location direction marking robot pose control unit 12 controls the end point location direction marking actuator 9 to reach the next point location direction marking feature, and repeats the point location direction marking process until the last point location direction marking feature is reached.
The flexible point location direction identification control system is combined with target point location direction identification area surface measurement, part autonomous alignment based on measurement and a self-adaptive point location direction identification strategy, 8 point location direction identification actions of the point location direction identification robot can be adjusted in real time, interaction between the point location direction identification robot 8 and products is achieved, and point location direction identification tasks with various uncertainties are completed in a self-adaptive mode.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concept. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A flexible point position direction marking method is characterized by comprising the following steps:
step 1, obtaining a surface point cloud set of a target point position direction identification area: according to a three-dimensional model of a part to be marked in the point position direction marking part database, translating a laser scanning measuring head to obtain a surface point cloud set of the target point position direction marking region;
step 2, automatically aligning a part coordinate system before point position direction identification: aligning point location direction identification surface features on the original point location direction identification surface point cloud set and the target point location direction identification surface point cloud set to realize the autonomous alignment of the coordinate system of the point location direction identification part based on the measurement point cloud set;
step 3, realizing self-adaptive point location direction identification: the robot position and posture control unit controls the end point position direction identification actuator to reach the point position direction identification starting position, and the point position direction identification robot controls the end point position direction identification actuator to move along the point position direction identification characteristic until the current point position direction identification characteristic is finished.
2. The method for identifying the direction of the flexible point position according to claim 1, wherein the step 1 comprises the following steps:
step 1.1, placing the part to be subjected to point location direction identification on a part clamping platform, and performing non-positioning simple clamping;
step 1.2, a central processing unit imports a three-dimensional model of the part to be point location direction marked from the point location direction marking part database into the central processing unit according to a digital analog reading command, and the central processing unit generates a measurement strategy according to surface characteristics of a point location direction marking area of the three-dimensional model of the part to be point location direction marking;
and step 1.3, the central processing unit transmits the measurement strategy to a measurement system controller, and the measurement system controller controls the laser scanning measuring head on the measuring head driving platform to translate so as to obtain a surface point cloud set of the target point position direction identification area.
3. The method for identifying the direction of the flexible point position according to claim 2, wherein the step 2 comprises the following steps:
and 2.1, gridding the surface of the three-dimensional model of the part to be subjected to point location direction identification in the central processing unit, extracting point clouds on the surface of a point location direction identification area, and generating an original point location direction identification surface point cloud set.
4. The method for identifying the direction of the flexible point position according to claim 3, wherein the step 2 further comprises:
and 2.2, matching and analyzing the original point location direction identification surface point cloud set extracted by the digital analogy and the target point location direction identification surface point cloud set obtained by measurement in the central processing unit, aligning point location direction identification surface features on the original point location direction identification surface point cloud set and the target point location direction identification surface point cloud set with each other, thereby obtaining a translation matrix and a rotation matrix of a digital analogy coordinate system relative to a current point location direction identification part coordinate system, realizing the automatic alignment of the coordinate system of the point location direction identification part based on the measurement point cloud set, realizing the consistency of a scanning measurement target coordinate and a model original coordinate, and further providing a reference basis of point location direction identification for subsequent self-adaptive point location direction identification.
5. The method for identifying the direction of the flexible point location according to claim 4, wherein the step 2 further comprises:
and 2.3, converting the point location direction identification point location characteristics marked in the digifax into actual point location direction identification characteristic point locations on the surface of the part to be subjected to point location direction identification based on the translation matrix and the rotation matrix obtained by matching the digifax with the measurement point cloud, and further generating a robot point location direction identification strategy of the target point location direction identification characteristics.
6. The method for identifying the direction of the flexible point position according to claim 5, wherein the step 3 comprises the following steps:
step 3.1, the robot position control unit generates a position control signal of the robot position direction identifier according to the self-adaptive position direction identifier strategy sent by the central processing unit, so that the tail end position direction identifier actuator at the tail end of the robot position direction identifier reaches the position direction identifier starting position, the central processing unit controls the position direction identifier actuator to be started, and the robot position direction identifier controls the position direction identifier actuator to move along the position direction identifier characteristic according to the generated self-adaptive position direction identifier strategy until the current position direction identifier characteristic is finished;
and 3.2, the position and orientation control unit of the point location direction identification robot controls the end point location direction identification actuator to reach the next point location direction identification characteristic, and the point location direction identification process is repeated until the last point location direction identification is achieved.
7. A flexible point location direction identification system is characterized in that the flexible point location direction identification method according to any one of claims 1 to 6 is applied, and the system comprises a non-contact laser scanning measurement system, a robot point location direction identification system, a flexible point location direction identification control system and a part clamping platform.
8. The flexible point location direction marking system of claim 7, wherein the non-contact laser scanning measurement system comprises the laser scanning probe, a measurement support, and a probe drive platform.
9. The system of claim 7, wherein the robotic point location direction marker system comprises a six degree of freedom point location direction marker robot and the end point location direction marker actuator.
10. The system of claim 7, wherein the system comprises a central processing unit, a measurement system controller, and a robot pose control unit.
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| CN106323167B (en) * | 2016-08-22 | 2019-06-07 | 上海交通大学 | A kind of intelligent scanning on-line measurement system and measurement method based on image recognition |
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