CN114018155A - Method and system for detection of contour accuracy of chemical milling laser engraving - Google Patents

Method and system for detection of contour accuracy of chemical milling laser engraving Download PDF

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CN114018155A
CN114018155A CN202111392053.9A CN202111392053A CN114018155A CN 114018155 A CN114018155 A CN 114018155A CN 202111392053 A CN202111392053 A CN 202111392053A CN 114018155 A CN114018155 A CN 114018155A
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毕庆贞
徐劲虎
唐新宇
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Shanghai Jiao Tong University
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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

The invention provides a method and a system for detecting the precision of a chemical milling laser engraving profile, which comprises the steps of importing a three-dimensional model of a part to be detected and theoretical contour line point cloud data into laser engraving profile precision detection software; scanning all engraving lines on the part by line laser and importing data into laser engraving profile precision detection software; determining the pose relationship between the line laser and the part through the coordinate transformation of the five-axis machine tool, solving the coordinate of the position x of each frame of the notch groove in a workpiece coordinate system, and storing the coordinate as actual contour line point cloud data; matching the theoretical point cloud and the actual point cloud, calculating the centroid position of each point cloud set, determining a matching relation by applying KDTree neighbor search, and storing the matching relation in a point cloud pair form; and calculating the contour precision evaluation indexes including centroid offset, the average value of the matching point errors, standard deviation and the maximum value. The method has the advantages of high efficiency, high precision and complete evaluation index, and greatly reduces the production cost and the cycle of chemical milling.

Description

Method and system for detecting precision of chemical milling laser engraving profile
Technical Field
The invention relates to the technical field of chemical milling, in particular to a method and a system for detecting the precision of a laser engraving profile of chemical milling.
Background
The large thin-wall parts in the aircraft structural parts have the characteristics of large diameter-thickness ratio and difficult processing, the milling of lightening grooves on the thin-wall parts becomes a difficult point in the processing process, and at present, aircraft manufacturers in China mostly adopt a chemical milling mode for processing. The chemical milling method comprises the steps of firstly coating a layer of glue on the surface of a part, then determining a region needing chemical milling in a carving mode, and then immersing a workpiece into a chemical milling pool to carry out chemical corrosion on the region without the glue film.
The profile accuracy of the laser engraving line is an important evaluation standard for high and low quality of the chemically milled engraving line, and directly determines the profile accuracy of the final weight-reducing groove after chemically milling. The traditional manual engraving has the problems of poor profile precision and low efficiency, in recent years, laser engraving machines are gradually developed, patterns or shapes needing to be milled can be engraved on coatings with glue, with the continuous development of laser engraving technologies, how to evaluate the laser engraving profile precision becomes a problem to be solved, and a method capable of detecting the laser engraving profile precision is lacked in the prior art.
Patent document No. CN109483887A discloses an online detection method for profile accuracy of a shaping layer in a selective laser melting process. The online detection method comprises the following steps: s1, slicing the model of the part to be processed and generating an auxiliary image; s2, spreading powder, and then selectively melting and forming the powder by laser; s3, collecting the image of the basically formed area and extracting the outline of the segmented image; s4, carrying out three-dimensional reconstruction on the image contour to obtain an actual image contour; s5, comparing the actual contour Cr of the image with the contour of the corresponding sliced layer, analyzing the precision, if the requirement is met, entering the step S6, otherwise, ending the processing; s6, detecting whether the part to be processed is processed.
At present, the on-machine vision detection method for chemical milling and laser engraving profile precision is less, and the on-machine vision detection method for chemical milling and adhesive film engraving is proposed by Zhayan and the like. The method can obtain the actual glue film engraving curve but does not obtain the groove width and the groove depth information of the engraving line and does not quantitatively evaluate the direct error of the theoretical engraving line and the actual engraving line. Therefore, a technical solution is needed to improve the above technical problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for detecting the precision of a chemical milling laser engraving profile.
According to the invention, the method for detecting the precision of the chemically-milled laser-engraved profile comprises the following steps:
step S1: importing a three-dimensional model of a part to be detected and theoretical contour line point cloud data into laser engraving contour precision detection software;
step S2: installing a line laser on a swinging head of a laser etching type machine, and calibrating the installation position;
step S3: controlling the machine tool to move along the laser engraving type track, scanning all engraving lines on the part by line laser and importing data into laser engraving type profile precision detection software;
step S4: reading scanning data in a single frame, storing a cutter shaft data part of each frame, and directly processing line laser data by adopting a section parameter fitting step;
step S5: determining the pose relationship of the line laser and the part through the coordinate transformation of the five-axis machine tool according to the coordinate relationship between the part and the machine tool and the coordinate relationship between the installation position of the line laser and the machine tool, solving the coordinate of the position x of each frame of the notch groove in a workpiece coordinate system, and storing the coordinate as actual contour line point cloud data;
step S6: segmenting theoretical and actual point cloud data by adopting an Euclidean clustering method, randomly selecting an initial point P, searching a nearest neighbor point by using KDTree, putting the nearest neighbor point into a set { Qi } if the distance is less than a set threshold value, finishing primary clustering if elements in the set { Qi } are not increased any more, setting a new set { Qi +1}, and otherwise, updating the initial point P and continuing searching;
step S7: matching the theoretical point cloud and the actual point cloud according to the nearest point matching step, calculating the centroid position of each point cloud set, determining a matching relation by applying KDTree neighbor search, and storing the matching relation in a point cloud pair form;
step S8: performing contour precision evaluation on the matched point cloud pair, wherein the contour precision evaluation is divided into an overall error and a local error, the overall error mainly comprises two types of expansion and deviation, and the local error mainly is an error of an actual reticle near a theoretical contour;
step S9: and calculating the contour precision evaluation indexes including centroid offset, the average value of the matching point errors, standard deviation and the maximum value.
Preferably, the section parameter fitting step in step S4 fits the section of the notch groove by constructing a continuous function, and the fitting parameters are the groove width w, the groove depth d, and the notch groove position x0And solving parameters to be determined by applying a nonlinear least square fitting method based on Gauss-Newton iteration.
Preferably, the contour accuracy evaluation process in step S8 is to calculate centroid positions of the theoretical point cloud and the actual point cloud, compensate for centroid offsets, and perform closest point matching on the compensated point pairs.
Preferably, the section parameter fitting step in step S4 includes the steps of:
step S4.1: the program pointer points to the head of the linear laser scanning data set, data of the groove part is eliminated through linear fitting, the remaining surface segment data are subjected to linear fitting, and the fitted linear is rotated to the horizontal plane to obtain actual surface data;
step S4.2: fitting actual surface data, and constructing by using a hyperbolic tangent function, wherein typically, the following functions are constructed:
Figure BDA0003364847190000031
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriThe vertical coordinate of the ith data point of the line laser is represented;
step S4.3: solving the groove width w, the groove depth d and the notch groove position x of the parameters to be determined by applying a nonlinear least square fitting method based on Gauss-Newton iteration0The optimization objectives are as follows:
Figure BDA0003364847190000032
Figure BDA0003364847190000033
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriRepresents the i-th data point ordinate, f (x) of the line laseri) The deviation of the ith data point is represented, F represents a function to be optimized, and N represents the number of line laser data;
step S4.4: and restoring the actual surface data according to the rotation transformation relation, and programming a pointer + 1.
Preferably, the closest point matching step in step S7 includes the steps of:
step S7.1: the program pointer points to the head of the point cloud pair, the theoretical outline centroid and the actual outline centroid are respectively calculated, and the actual carved line point cloud is compensated according to the deviation value of the theoretical outline centroid and the actual outline centroid;
step S7.2: generating a compensated actual engraving line point set { Pi }, and a theoretical engraving line point set { Ti };
step S7.3: inquiring the closest point from the actual engraving line point set { Pi } to the theoretical engraving line point set { Ti } and recording the point pair matching relation, and inquiring the closest point from the theoretical engraving line point set { Ti } to the actual engraving line point set { Pi } and recording the point pair matching relation;
step S7.4: judging the point pair matching relationship: if the matching relationship of the two point pairs is the same, the two points are matching points, and the distance between the two points is a contour error; if the matching relations of the two types of point pairs are different, the two types of matching relations are corrected, and the point pair with the larger distance is selected as the correct point pair.
The invention also provides a system for detecting the precision of the chemically milled laser engraving profile, which comprises the following modules:
module M1: importing a three-dimensional model of a part to be detected and theoretical contour line point cloud data into laser engraving contour precision detection software;
module M2: installing a line laser on a swinging head of a laser etching type machine, and calibrating the installation position;
module M3: controlling the machine tool to move along the laser engraving type track, scanning all engraving lines on the part by line laser and importing data into laser engraving type profile precision detection software;
module M4: reading scanning data in a single frame, storing a cutter shaft data part of each frame, and directly processing line laser data by adopting a section parameter fitting module;
module M5: determining the pose relationship of the line laser and the part through the coordinate transformation of the five-axis machine tool according to the coordinate relationship between the part and the machine tool and the coordinate relationship between the installation position of the line laser and the machine tool, solving the coordinate of the position x of each frame of the notch groove in a workpiece coordinate system, and storing the coordinate as actual contour line point cloud data;
module M6: adopting an Euclidean clustering system to segment theoretical and actual point cloud data, randomly selecting an initial point P, searching a nearest neighbor point by using KDTree, putting the nearest neighbor point into a set { Qi } if the distance is less than a set threshold value, finishing primary clustering if elements in the set { Qi } are not increased any more, setting a new set { Qi +1}, and otherwise, updating the initial point P to continue searching;
module M7: matching the theoretical point cloud and the actual point cloud according to a nearest point matching module, calculating the centroid position of each point cloud set, determining a matching relation by applying KDTree neighbor search, and storing the matching relation in a point cloud pair form;
module M8: performing contour precision evaluation on the matched point cloud pair, wherein the contour precision evaluation is divided into an overall error and a local error, the overall error mainly comprises two types of expansion and deviation, and the local error mainly is an error of an actual reticle near a theoretical contour;
module M9: and calculating the contour precision evaluation indexes including centroid offset, the average value of the matching point errors, standard deviation and the maximum value.
Preferably, the section parameter fitting module in the module M4 fits the section of the notch groove by constructing a continuous function, and the fitting parameter is the groove widthw, groove depth d and notch position x0And solving parameters to be determined by using a system based on nonlinear least square fitting of Gaussian Newton iteration.
Preferably, the contour accuracy evaluation process in the module M8 is to calculate centroid positions of the theoretical point cloud and the actual point cloud, compensate the centroid offset, and perform closest point matching on the compensated point pair.
Preferably, the section parameter fitting module in the module M4 includes the following modules:
module M4.1: the program pointer points to the head of the linear laser scanning data set, data of the groove part is eliminated through linear fitting, the remaining surface segment data are subjected to linear fitting, and the fitted linear is rotated to the horizontal plane to obtain actual surface data;
module M4.2: fitting actual surface data, and constructing by using a hyperbolic tangent function, wherein typically, the following functions are constructed:
Figure BDA0003364847190000051
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriThe vertical coordinate of the ith data point of the line laser is represented;
module M4.3: solving the parameters to be determined, namely the groove width w, the groove depth d and the notch groove position x by using a nonlinear least square fitting system based on Gauss-Newton iteration0The optimization objectives are as follows:
Figure BDA0003364847190000052
Figure BDA0003364847190000053
wherein tanh represents a hyperbolic tangent function，z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriRepresents the i-th data point ordinate, f (x) of the line laseri) The deviation of the ith data point is represented, F represents a function to be optimized, and N represents the number of line laser data;
module M4.4: and restoring the actual surface data according to the rotation transformation relation, and programming a pointer + 1.
Preferably, the closest point matching module in the module M7 includes the following modules:
module M7.1: the program pointer points to the head of the point cloud pair, the theoretical outline centroid and the actual outline centroid are respectively calculated, and the actual carved line point cloud is compensated according to the deviation value of the theoretical outline centroid and the actual outline centroid;
module M7.2: generating a compensated actual engraving line point set { Pi }, and a theoretical engraving line point set { Ti };
module M7.3: inquiring the closest point from the actual engraving line point set { Pi } to the theoretical engraving line point set { Ti } and recording the point pair matching relation, and inquiring the closest point from the theoretical engraving line point set { Ti } to the actual engraving line point set { Pi } and recording the point pair matching relation;
module M7.4: judging the point pair matching relationship: if the matching relationship of the two point pairs is the same, the two points are matching points, and the distance between the two points is a contour error; if the matching relations of the two types of point pairs are different, the two types of matching relations are corrected, and the point pair with the larger distance is selected as the correct point pair.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention combines line laser scanning and a laser engraving machine, controls line laser to scan the surface characteristics of the part through a machine tool, and can quickly acquire engraving line point cloud data on the surface of the part;
2. the method comprises the steps of obtaining actual point cloud of a scale line through single-frame section parameter fitting and coordinate transformation, and comparing and analyzing the actual point cloud with theoretical point cloud so as to quantitatively evaluate the contour accuracy of the scale line;
3. compared with the traditional method of manually engraving and manually comparing templates, the method for detecting the engraving profile precision of the chemical milling laser can evaluate the engraving profile precision more objectively and efficiently, and gives specific evaluation index results such as groove width, groove depth, errors and the like;
4. the method has the advantages of high efficiency, high precision and complete evaluation index, and greatly improves the production cost and the cycle of chemical milling.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the detection steps of the present invention;
FIG. 2 is a flow chart of the cross-sectional parameter fitting step of the present invention;
FIG. 3 is a flowchart of the closest point matching procedure of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The invention provides a method and a system for detecting profile precision of chemical milling laser engraving, which are used for detecting the profile precision of a chemical milling laser engraving type line based on a line laser and detecting the groove width and the groove depth of the engraving type line and the deviation of the engraving type line from a theoretical engraving type line.
The technical scheme includes that the surface of a part is scanned through a line laser, frame-by-frame processing is conducted on obtained data to obtain groove width, groove depth and position information of an engraving line, point clouds of actual engraving lines are obtained according to coordinate transformation and are segmented, and finally contour matching is conducted on theoretical point clouds and actual point clouds to obtain contour precision evaluation indexes; the method comprises a detection step, a section parameter fitting step and a closest point matching step; the detection step comprises the following steps:
step S1: importing a three-dimensional model of a part to be detected and theoretical contour line point cloud data into laser engraving contour precision detection software; step S2: installing a line laser on a swinging head of a laser etching type machine, and calibrating the installation position; step S3: controlling the machine tool to move along the laser engraving type track, scanning all engraving lines on the part by line laser and importing data into laser engraving type profile precision detection software; step S4: reading scanning data in a single frame, storing a cutter shaft data part of each frame, and directly processing line laser data by adopting a section parameter fitting method; step S5: the section parameter fitting method is used for fitting the section of the notch groove by constructing a continuous function, and the fitting parameters are the groove width w, the groove depth d and the notch groove position x0The parameters to be determined can be solved by applying a nonlinear least square fitting method based on Gauss-Newton iteration; step S6: determining the pose relationship of the line laser and the part through the coordinate transformation of the five-axis machine tool according to the coordinate relationship between the part and the machine tool and the coordinate relationship between the installation position of the line laser and the machine tool, so as to solve the coordinate of the position x of each frame of the notch groove in a workpiece coordinate system, wherein the coordinate is stored as actual contour line point cloud data; step S7: segmenting theoretical and actual point cloud data by adopting an Euclidean clustering method, randomly selecting an initial point P, searching a nearest neighbor point by using KDTree, putting the nearest neighbor point into a set { Qi } if the distance is less than a set threshold value, finishing primary clustering if elements in the set { Qi } are not increased any more, setting a new set { Qi +1}, and otherwise, updating the initial point P and continuing searching; step S8: matching the theoretical point cloud and the actual point cloud, calculating the centroid position of each point cloud set, determining a matching relation by applying KDTree neighbor search, and storing the matching relation in a point cloud pair form; step S9: performing contour precision evaluation on the matched point cloud pair, wherein the contour precision evaluation is divided into an overall error and a local error, the overall error mainly comprises two types of expansion and deviation, and the local error mainly is an error of an actual reticle near a theoretical contour; step S10: the outline precision evaluation process comprises the steps of firstly calculating centroid positions of theoretical point cloud and actual point cloud, compensating centroid offset, and performing closest point matching on compensated point pairs; step S11: calculating an outline precision evaluation index, comprising: the amount of the shift of the centroid,mean, standard deviation, maximum of match point errors.
The step of fitting the section parameters comprises the following steps:
step 1: the program pointer points to the head of the linear laser scanning data set, data of the groove part is eliminated through linear fitting, the remaining surface segment data are subjected to linear fitting, and the fitted linear is rotated to the horizontal plane to obtain actual surface data; step 2: fitting actual surface data, and constructing by using a hyperbolic tangent function, wherein typically, the following functions are constructed:
Figure BDA0003364847190000071
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriThe vertical coordinate of the ith data point of the line laser is represented;
and step 3: the parameters to be determined, namely the groove width w, the groove depth d and the notch groove position x, can be obtained by applying a nonlinear least square fitting method based on Gauss-Newton iteration0. The optimization objectives are as follows:
Figure BDA0003364847190000072
Figure BDA0003364847190000073
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriRepresents the i-th data point ordinate, f (x) of the line laseri) The deviation of the ith data point is represented, F represents a function to be optimized, and N represents the number of line laser data;
and 4, step 4: and restoring the actual surface data according to the rotation transformation relation, and programming a pointer + 1.
The closest point matching step comprises the following steps:
step a: the program pointer points to the head of the point cloud pair, the theoretical outline centroid and the actual outline centroid are respectively calculated, and the actual carved line point cloud is compensated according to the deviation value of the theoretical outline centroid and the actual outline centroid; step b: generating a compensated actual engraving line point set { Pi }, and a theoretical engraving line point set { Ti }; step c: inquiring the closest point from the actual engraving line point set { Pi } to the theoretical engraving line point set { Ti } and recording the point pair matching relation, and inquiring the closest point from the theoretical engraving line point set { Ti } to the actual engraving line point set { Pi } and recording the point pair matching relation; step d: judging the point pair matching relationship: if the matching relationship of the two point pairs is the same, the two points are matching points, and the distance between the two points is a contour error; if the matching relations of the two types of point pairs are different, the two types of matching relations are corrected, and the point pair with the larger distance is selected as the correct point pair.
The invention also provides a system for detecting the precision of the chemically milled laser engraving profile, which comprises the following modules: module M1: importing a three-dimensional model of a part to be detected and theoretical contour line point cloud data into laser engraving contour precision detection software; module M2: installing a line laser on a swinging head of a laser etching type machine, and calibrating the installation position; module M3: and controlling the machine tool to move along the laser engraving type track, scanning all engraving lines on the part by line laser and introducing data into laser engraving type profile precision detection software.
Module M4: reading scanning data in a single frame, storing a cutter shaft data part of each frame, and directly processing line laser data by adopting a section parameter fitting module; the section parameter fitting module fits the section of the notch groove by constructing a continuous function, and the fitting parameters are the groove width w, the groove depth d and the notch groove position x0And solving parameters to be determined by using a system based on nonlinear least square fitting of Gaussian Newton iteration. Module M4.1: the program pointer points to the head of the linear laser scanning data set, data of the groove part is eliminated through linear fitting, the remaining surface segment data is subjected to linear fitting, and the fitted linear is rotated to waterObtaining actual surface data by the plane; module M4.2: fitting actual surface data, and constructing by using a hyperbolic tangent function, wherein typically, the following functions are constructed:
Figure BDA0003364847190000081
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriThe vertical coordinate of the ith data point of the line laser is represented;
module M4.3: and (3) solving parameters to be determined, namely the groove width w, the groove depth d and the notch groove position x0 by using a nonlinear least square fitting system based on Gauss-Newton iteration, wherein the optimization target is as follows:
Figure BDA0003364847190000091
Figure BDA0003364847190000092
wherein tanh represents a hyperbolic tangent function, z0Denotes the baseline ordinate, k denotes the similarity coefficient, w denotes the groove width, d denotes the groove depth, x0Indicating the location of the notch, xiRepresents the i-th data point abscissa, z of the line laseriRepresents the i-th data point ordinate, f (x) of the line laseri) The deviation of the ith data point is represented, F represents a function to be optimized, and N represents the number of line laser data;
module M4.4: and restoring the actual surface data according to the rotation transformation relation, and programming a pointer + 1.
Module M5: determining the pose relationship of the line laser and the part through the coordinate transformation of the five-axis machine tool according to the coordinate relationship between the part and the machine tool and the coordinate relationship between the installation position of the line laser and the machine tool, solving the coordinate of the position x of each frame of the notch groove in a workpiece coordinate system, and storing the coordinate as actual contour line point cloud data; module M6: adopting an Euclidean clustering system to segment theoretical and actual point cloud data, randomly selecting an initial point P, searching a nearest neighbor point by using KDTree, putting the nearest neighbor point into a set { Qi } if the distance is less than a set threshold value, finishing primary clustering if elements in the set { Qi } are not increased any more, setting a new set { Qi +1}, and otherwise, updating the initial point P to continue searching;
module M7: matching the theoretical point cloud and the actual point cloud according to a nearest point matching module, calculating the centroid position of each point cloud set, determining a matching relation by applying KDTree neighbor search, and storing the matching relation in a point cloud pair form; module M7.1: the program pointer points to the head of the point cloud pair, the theoretical outline centroid and the actual outline centroid are respectively calculated, and the actual carved line point cloud is compensated according to the deviation value of the theoretical outline centroid and the actual outline centroid; module M7.2: generating a compensated actual engraving line point set { Pi }, and a theoretical engraving line point set { Ti }; module M7.3: inquiring the closest point from the actual engraving line point set { Pi } to the theoretical engraving line point set { Ti } and recording the point pair matching relation, and inquiring the closest point from the theoretical engraving line point set { Ti } to the actual engraving line point set { Pi } and recording the point pair matching relation; module M7.4: judging the point pair matching relationship: if the matching relationship of the two point pairs is the same, the two points are matching points, and the distance between the two points is a contour error; if the matching relations of the two types of point pairs are different, the two types of matching relations are corrected, and the point pair with the larger distance is selected as the correct point pair.
Module M8: performing contour precision evaluation on the matched point cloud pair, wherein the contour precision evaluation is divided into an overall error and a local error, the overall error mainly comprises two types of expansion and deviation, and the local error mainly is an error of an actual reticle near a theoretical contour; preferably, the contour accuracy evaluation process includes the steps of firstly calculating centroid positions of the theoretical point cloud and the actual point cloud, compensating centroid offset, and performing closest point matching on compensated point pairs.
Module M9: and calculating the profile precision evaluation indexes including centroid offset, the average value of the errors of the matching points, standard deviation, the minimum value and the maximum value.
The invention combines line laser scanning and a laser engraving machine, controls line laser to scan the surface characteristics of the part through a machine tool, and can quickly acquire engraving line point cloud data on the surface of the part; obtaining actual point cloud of the scale line through single-frame section parameter fitting and coordinate transformation, and comparing and analyzing the actual point cloud with theoretical point cloud so as to quantitatively evaluate the profile accuracy of the scale line; compared with the traditional method of manually engraving and manually comparing templates, the method for detecting the engraving profile precision of the chemical milling laser can evaluate the engraving profile precision more objectively and efficiently, and gives specific evaluation index results such as groove width, groove depth, errors and the like; the method has the advantages of high efficiency, high precision and complete evaluation index, and greatly improves the production cost and the cycle of chemical milling.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
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 (10)

1.一种化铣激光刻型轮廓精度检测方法，其特征在于，所述方法包括如下步骤：1. a chemical milling laser engraving profile accuracy detection method, is characterized in that, described method comprises the steps: 步骤S1：导入待测零件的三维模型和理论轮廓线点云数据到激光刻型轮廓精度检测软件中；Step S1: import the three-dimensional model of the part to be tested and the point cloud data of the theoretical contour line into the laser engraving contour accuracy detection software; 步骤S2：将线激光器安装在激光刻型机摆头上，并对安装位置进行标定；Step S2: install the line laser on the swing head of the laser engraving machine, and calibrate the installation position; 步骤S3：控制机床沿着激光刻型的轨迹运动，线激光扫描零件上所有刻型线并将数据导入激光刻型轮廓精度检测软件中；Step S3: control the machine tool to move along the trajectory of the laser engraving, scan all the engraved lines on the part with the line laser and import the data into the laser engraving contour accuracy detection software; 步骤S4：单帧读取扫描数据，保存每一帧刀轴数据部分，对线激光数据直接采用截面参数拟合步骤处理；Step S4: Read the scan data in a single frame, save the data part of each frame of the knife axis, and directly use the section parameter fitting step to process the line laser data; 步骤S5：根据零件与机床的坐标关系以及线激光器安装位置与机床的坐标关系，通过五轴机床坐标变换确定线激光器与零件的位姿关系，求解出每一帧刻型槽位置x在工件坐标系下坐标，该坐标存储为实际轮廓线点云数据；Step S5: According to the coordinate relationship between the part and the machine tool and the coordinate relationship between the line laser installation position and the machine tool, determine the pose relationship between the line laser and the part through the five-axis machine tool coordinate transformation, and solve the position x of the engraving groove in each frame in the workpiece coordinates. The coordinates under the system are stored as the actual contour point cloud data; 步骤S6：采用欧式聚类的方法对理论和实际点云数据进行分割，随机选取初始点P，运用KDTree搜索最近邻点，距离小于设定阈值则放入集合{Qi}中，若集合{Qi}中元素不再增加则完成一次聚类，设置新的集合{Qi+1}，反之更新初始点P继续搜索；Step S6: Use the Euclidean clustering method to divide the theoretical and actual point cloud data, randomly select the initial point P, use KDTree to search for the nearest neighbor point, and put it into the set {Qi} if the distance is less than the set threshold. If the elements in } no longer increase, a clustering is completed, and a new set {Qi+1} is set, otherwise the initial point P is updated to continue the search; 步骤S7：根据最近点匹配步骤对理论点云和实际点云进行匹配，计算每个点云集合的形心位置，运用KDTree近邻搜索确定匹配关系，存储为点云对形式；Step S7: Match the theoretical point cloud and the actual point cloud according to the closest point matching step, calculate the centroid position of each point cloud set, use the KDTree nearest neighbor search to determine the matching relationship, and store it in the form of a point cloud pair; 步骤S8：对匹配好的点云对进行轮廓精度评价，分为整体误差和局部误差，整体误差主要有伸缩和偏移两种类型，局部误差主要是实际刻线在理论轮廓附近的误差；Step S8: Evaluate the contour accuracy of the matched point cloud pair, which is divided into overall error and local error. The overall error mainly includes two types of expansion and offset, and the local error is mainly the error of the actual scribed line near the theoretical contour; 步骤S9：计算轮廓精度评价指标，包括形心偏移量、匹配点误差的平均值、标准差、最大值。Step S9: Calculate the contour accuracy evaluation index, including the centroid offset, the average value, standard deviation, and maximum value of matching point errors. 2.根据权利要求1所述的化铣激光刻型轮廓精度检测方法，其特征在于，所述步骤S4中的截面参数拟合步骤通过构造连续函数对刻型槽的截面进行拟合，拟合的参数为槽宽w，槽深d以及刻型槽位置x0，运用基于高斯牛顿迭代的非线性最小二乘拟合的方法求出待确定参数。2. The method for detecting the profile accuracy of chemical milling laser engraving according to claim 1, wherein the section parameter fitting step in the step S4 fits the section of the engraved groove by constructing a continuous function, and the fitting The parameters are the groove width w, the groove depth d and the groove position x 0 . The parameters to be determined are obtained by the method of nonlinear least squares fitting based on Gauss-Newton iteration. 3.根据权利要求1所述的化铣激光刻型轮廓精度检测方法，其特征在于，步骤S8中的轮廓精度评价过程为首先计算理论点云和实际点云的形心位置，并补偿形心偏移量，对补偿后的点对进行最近点匹配。3. The method for detecting contour accuracy of chemical milling laser engraving according to claim 1, wherein the contour accuracy evaluation process in step S8 is to first calculate the centroid position of the theoretical point cloud and the actual point cloud, and compensate the centroid Offset, the closest point matching is performed on the compensated point pair. 4.根据权利要求1所述的化铣激光刻型轮廓精度检测方法，其特征在于，所述步骤S4中的截面参数拟合步骤包括如下步骤：4. The method for detecting contour accuracy of chemical milling laser engraving according to claim 1, wherein the step of fitting the section parameters in the step S4 comprises the following steps: 步骤S4.1：程序指针指向线激光扫描数据集头部，通过直线拟合清除凹槽部分的数据，对剩余的表面段数据进行直线拟合，将拟合直线旋转至水平面得到实际表面数据；Step S4.1: the program pointer points to the head of the line laser scanning data set, clears the data of the groove part by straight line fitting, performs straight line fitting on the remaining surface segment data, and rotates the fitted straight line to the horizontal plane to obtain the actual surface data; 步骤S4.2：对实际表面数据进行拟合，采用双曲正切函数进行构造，典型的，构造以下函数：Step S4.2: Fitting the actual surface data, using the hyperbolic tangent function to construct, typically, constructing the following functions:
Figure FDA0003364847180000021
Figure FDA0003364847180000021
 其中，tanh表示双曲正切函数，z0表示基线纵坐标，k表示相似系数，w表示槽宽，d表示槽深，x0表示刻型槽位置，xi表示线激光第i个数据点横坐标，zi表示线激光第i个数据点纵坐标；Among them, tanh represents the hyperbolic tangent function, z 0 represents the ordinate of the baseline, k represents the similarity coefficient, w represents the width of the groove, d represents the depth of the groove, x 0 represents the position of the engraved groove, and xi represents the horizontal line of the ith data point of the line laser Coordinates, zi represents the ordinate of the i-th data point of the line laser; 步骤S4.3：运用基于高斯牛顿迭代的非线性最小二乘拟合方法求出待确定参数槽宽w，槽深d以及刻型槽位置x0，优化目标如下：Step S4.3: Use the nonlinear least squares fitting method based on Gauss-Newton iteration to obtain the groove width w, the groove depth d and the groove position x 0 to be determined. The optimization objectives are as follows:
Figure FDA0003364847180000022
Figure FDA0003364847180000022
Figure FDA0003364847180000023
Figure FDA0003364847180000023
 其中，tanh表示双曲正切函数，z0表示基线纵坐标，k表示相似系数，w表示槽宽，d表示槽深，x0表示刻型槽位置，xi表示线激光第i个数据点横坐标，zi表示线激光第i个数据点纵坐标，f(xi)表示第i个数据点的偏差，F表示待优化的函数，N表示线激光数据的数量；Among them, tanh represents the hyperbolic tangent function, z 0 represents the ordinate of the baseline, k represents the similarity coefficient, w represents the width of the groove, d represents the depth of the groove, x 0 represents the position of the engraved groove, and xi represents the horizontal line of the ith data point of the line laser Coordinates, zi represents the ordinate of the ith data point of the line laser, f(x i ) represents the deviation of the ith data point, F represents the function to be optimized, and N represents the number of line laser data; 步骤S4.4：将实际表面数据根据旋转变换关系还原，程序指针+1。Step S4.4: The actual surface data is restored according to the rotation transformation relationship, and the program pointer is +1. 5.根据权利要求1所述的化铣激光刻型轮廓精度检测方法，其特征在于，所述步骤S7中的最近点匹配步骤包括如下步骤：5. The method for detecting contour accuracy of chemical milling laser engraving according to claim 1, wherein the closest point matching step in the step S7 comprises the following steps: 步骤S7.1：程序指针指向点云对的头部，分别计算理论和实际轮廓形心，根据理论和实际轮廓形心偏差值对实际刻型线点云进行补偿；Step S7.1: the program pointer points to the head of the point cloud pair, calculates the theoretical and actual contour centroids respectively, and compensates the actual notch line point cloud according to the deviation value of the theoretical and actual contour centroids; 步骤S7.2：生成补偿后的实际刻型线点集{Pi}，理论刻型线点集{Ti}；Step S7.2: Generate the actual notch line point set {Pi} after compensation, and the theoretical notch line point set {Ti}; 步骤S7.3：实际刻型线点集{Pi}向理论刻型线点集{Ti}查询最近点并记录点对匹配关系，理论刻型线点集{Ti}向实际刻型线点集{Pi}查询最近点并记录点对匹配关系；Step S7.3: Query the closest point from the actual scribed line point set {Pi} to the theoretical scribed line point set {Ti} and record the matching relationship between the points. {Pi} Query the nearest point and record the point-to-point matching relationship; 步骤S7.4：判断点对匹配关系：如果两种点对匹配关系相同，这两个点为配对点，它们之间的距离为轮廓误差；如果两种点对匹配关系不同，对这两种配对关系进行修正，选取其中距离较大者为正确点对。Step S7.4: Judging the matching relationship between point pairs: if the matching relationship between the two point pairs is the same, the two points are paired points, and the distance between them is the contour error; if the matching relationship between the two point pairs is different, The pairing relationship is corrected, and the one with the larger distance is selected as the correct point pair. 6.一种化铣激光刻型轮廓精度检测系统，其特征在于，所述系统包括如下模块：6. A chemical milling laser engraving profile accuracy detection system, characterized in that the system comprises the following modules: 模块M1：导入待测零件的三维模型和理论轮廓线点云数据到激光刻型轮廓精度检测软件中；Module M1: Import the 3D model of the part to be tested and the point cloud data of the theoretical contour line into the laser engraving contour accuracy detection software; 模块M2：将线激光器安装在激光刻型机摆头上，并对安装位置进行标定；Module M2: Install the line laser on the swing head of the laser engraving machine, and calibrate the installation position; 模块M3：控制机床沿着激光刻型的轨迹运动，线激光扫描零件上所有刻型线并将数据导入激光刻型轮廓精度检测软件中；Module M3: Control the machine tool to move along the trajectory of laser engraving, line laser scans all engraved lines on the part and import the data into the laser engraving contour accuracy detection software; 模块M4：单帧读取扫描数据，保存每一帧刀轴数据部分，对线激光数据直接采用截面参数拟合模块处理；Module M4: Read the scan data in a single frame, save the data part of each frame of the knife axis, and directly use the section parameter fitting module to process the line laser data; 模块M5：根据零件与机床的坐标关系以及线激光器安装位置与机床的坐标关系，通过五轴机床坐标变换确定线激光器与零件的位姿关系，求解出每一帧刻型槽位置x在工件坐标系下坐标，该坐标存储为实际轮廓线点云数据；Module M5: According to the coordinate relationship between the part and the machine tool and the coordinate relationship between the installation position of the line laser and the machine tool, the pose relationship between the line laser and the part is determined through the five-axis machine tool coordinate transformation, and the position x of the engraving groove in each frame is solved in the workpiece coordinate. The coordinates under the system are stored as the actual contour point cloud data; 模块M6：采用欧式聚类的系统对理论和实际点云数据进行分割，随机选取初始点P，运用KDTree搜索最近邻点，距离小于设定阈值则放入集合{Qi}中，若集合{Qi}中元素不再增加则完成一次聚类，设置新的集合{Qi+1}，反之更新初始点P继续搜索；Module M6: Use the Euclidean clustering system to divide the theoretical and actual point cloud data, randomly select the initial point P, use KDTree to search for the nearest neighbors, and put them into the set {Qi} if the distance is less than the set threshold, if the set {Qi If the elements in } no longer increase, a clustering is completed, and a new set {Qi+1} is set, otherwise the initial point P is updated to continue the search; 模块M7：根据最近点匹配模块对理论点云和实际点云进行匹配，计算每个点云集合的形心位置，运用KDTree近邻搜索确定匹配关系，存储为点云对形式；Module M7: Match the theoretical point cloud and the actual point cloud according to the nearest point matching module, calculate the centroid position of each point cloud set, use the KDTree nearest neighbor search to determine the matching relationship, and store it in the form of point cloud pairs; 模块M8：对匹配好的点云对进行轮廓精度评价，分为整体误差和局部误差，整体误差主要有伸缩和偏移两种类型，局部误差主要是实际刻线在理论轮廓附近的误差；Module M8: Evaluate the contour accuracy of the matched point cloud pair, which is divided into overall error and local error. The overall error mainly includes two types of expansion and offset, and the local error is mainly the error of the actual scribed line near the theoretical contour; 模块M9：计算轮廓精度评价指标，包括形心偏移量、匹配点误差的平均值、标准差、最大值。Module M9: Calculate the contour accuracy evaluation index, including centroid offset, average value, standard deviation, and maximum value of matching point errors. 7.根据权利要求6所述的化铣激光刻型轮廓精度检测系统，其特征在于，所述模块M4中的截面参数拟合模块通过构造连续函数对刻型槽的截面进行拟合，拟合的参数为槽宽w，槽深d以及刻型槽位置x0，运用基于高斯牛顿迭代的非线性最小二乘拟合的系统求出待确定参数。7. The chemical milling laser engraving profile accuracy detection system according to claim 6, wherein the section parameter fitting module in the module M4 fits the section of the engraved groove by constructing a continuous function, and the fitting The parameters of is the groove width w, the groove depth d and the groove position x 0 , and the parameters to be determined are obtained by the nonlinear least square fitting system based on Gauss-Newton iteration. 8.根据权利要求6所述的化铣激光刻型轮廓精度检测系统，其特征在于，模块M8中的轮廓精度评价过程为首先计算理论点云和实际点云的形心位置，并补偿形心偏移量，对补偿后的点对进行最近点匹配。8. The laser engraving contour accuracy detection system for chemical milling according to claim 6, wherein the contour accuracy evaluation process in the module M8 is to first calculate the centroid position of the theoretical point cloud and the actual point cloud, and compensate the centroid Offset, the closest point matching is performed on the compensated point pair. 9.根据权利要求6所述的化铣激光刻型轮廓精度检测系统，其特征在于，所述模块M4中的截面参数拟合模块包括如下模块：9. The laser engraving profile accuracy detection system for chemical milling according to claim 6, wherein the section parameter fitting module in the module M4 comprises the following modules: 模块M4.1：程序指针指向线激光扫描数据集头部，通过直线拟合清除凹槽部分的数据，对剩余的表面段数据进行直线拟合，将拟合直线旋转至水平面得到实际表面数据；Module M4.1: The program pointer points to the head of the line laser scanning data set, clears the data of the groove part by straight line fitting, performs straight line fitting on the remaining surface segment data, and rotates the fitted straight line to the horizontal plane to obtain the actual surface data; 模块M4.2：对实际表面数据进行拟合，采用双曲正切函数进行构造，典型的，构造以下函数：Module M4.2: Fit the actual surface data, using the hyperbolic tangent function to construct, typically, construct the following functions:
Figure FDA0003364847180000041
Figure FDA0003364847180000041
 其中，tanh表示双曲正切函数，z0表示基线纵坐标，k表示相似系数，w表示槽宽，d表示槽深，x0表示刻型槽位置，xi表示线激光第i个数据点横坐标，zi表示线激光第i个数据点纵坐标；Among them, tanh represents the hyperbolic tangent function, z 0 represents the ordinate of the baseline, k represents the similarity coefficient, w represents the width of the groove, d represents the depth of the groove, x 0 represents the position of the engraved groove, and xi represents the horizontal line of the ith data point of the line laser Coordinates, zi represents the ordinate of the i-th data point of the line laser; 模块M4.3：运用基于高斯牛顿迭代的非线性最小二乘拟合系统求出待确定参数槽宽w，槽深d以及刻型槽位置x0，优化目标如下：Module M4.3: Use the nonlinear least squares fitting system based on Gauss-Newton iteration to obtain the parameters to be determined, the slot width w, the slot depth d and the groove position x 0 . The optimization objectives are as follows:
Figure FDA0003364847180000042
Figure FDA0003364847180000042
Figure FDA0003364847180000043
Figure FDA0003364847180000043
 其中，tanh表示双曲正切函数，z0表示基线纵坐标，k表示相似系数，w表示槽宽，d表示槽深，x0表示刻型槽位置，xi表示线激光第i个数据点横坐标，zi表示线激光第i个数据点纵坐标，f(xi)表示第i个数据点的偏差，F表示待优化的函数，N表示线激光数据的数量；Among them, tanh represents the hyperbolic tangent function, z 0 represents the ordinate of the baseline, k represents the similarity coefficient, w represents the width of the groove, d represents the depth of the groove, x 0 represents the position of the engraved groove, and xi represents the horizontal line of the ith data point of the line laser Coordinates, zi represents the ordinate of the ith data point of the line laser, f(x i ) represents the deviation of the ith data point, F represents the function to be optimized, and N represents the number of line laser data; 模块M4.4：将实际表面数据根据旋转变换关系还原，程序指针+1。Module M4.4: Restore the actual surface data according to the rotation transformation relationship, program pointer +1. 10.根据权利要求6所述的化铣激光刻型轮廓精度检测系统，其特征在于，所述模块M7中的最近点匹配模块包括如下模块：10. The laser engraving profile accuracy detection system for chemical milling according to claim 6, wherein the closest point matching module in the module M7 comprises the following modules: 模块M7.1：程序指针指向点云对的头部，分别计算理论和实际轮廓形心，根据理论和实际轮廓形心偏差值对实际刻型线点云进行补偿；Module M7.1: The program pointer points to the head of the point cloud pair, calculates the theoretical and actual contour centroids respectively, and compensates the actual notch line point cloud according to the deviation value of the theoretical and actual contour centroids; 模块M7.2：生成补偿后的实际刻型线点集{Pi}，理论刻型线点集{Ti}；Module M7.2: Generate the actual notch line point set {Pi} after compensation, and the theoretical notch line point set {Ti}; 模块M7.3：实际刻型线点集{Pi}向理论刻型线点集{Ti}查询最近点并记录点对匹配关系，理论刻型线点集{Ti}向实际刻型线点集{Pi}查询最近点并记录点对匹配关系；Module M7.3: The actual notch line point set {Pi} queries the nearest point from the theoretical notch line point set {Ti} and records the matching relationship between the points. {Pi} Query the nearest point and record the point-to-point matching relationship; 模块M7.4：判断点对匹配关系：如果两种点对匹配关系相同，这两个点为配对点，它们之间的距离为轮廓误差；如果两种点对匹配关系不同，对这两种配对关系进行修正，选取其中距离较大者为正确点对。Module M7.4: Judging point pair matching relationship: If the matching relationship between the two point pairs is the same, the two points are paired points, and the distance between them is the contour error; if the matching relationship between the two point pairs is different, The pairing relationship is corrected, and the one with the larger distance is selected as the correct point pair.
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