CN114322761A - Mark point coordinate measuring method and system and deformation amount measuring method and system - Google Patents
Mark point coordinate measuring method and system and deformation amount measuring method and system Download PDFInfo
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Abstract
The invention discloses a mark point coordinate measuring method and system and a deformation measuring method and system. The mark point coordinate measuring method comprises the steps of photogrammetry of a body-in-white, and acquisition of a locating point file containing position information of all target points in a measurement coordinate system; in a measurement coordinate system, scanning the surface of the alignment characteristic region by laser to obtain scanning point cloud; calculating a transformation matrix for aligning the scanning point cloud with the digital-analog point cloud of the design state of the alignment characteristic region; and converting the position information of the mark points in the positioning point file by using the transformation matrix, and solving the coordinates of each mark point in the designed coordinate system. In a measurement coordinate system, photogrammetry obtains position information of each target point, laser scanning obtains point cloud data of an alignment characteristic area, the point cloud data are aligned to a design state digital-analog, a transformation matrix for converting a white body measurement coordinate system to a design coordinate system is obtained, the position of each target point is converted, and coordinate values of white body mark points are accurately obtained.
Description
Technical Field
The invention relates to the technical field of vehicle crash tests, in particular to a mark point coordinate measuring method and system and a deformation amount measuring method and system.
Background
In the passive safety development process in the automobile research and development design, the whole automobile collision test and simulation analysis work of trial-manufacture automobiles are required. And in the process of measuring the deformation of the collision test vehicle and aligning the deformation with the simulation result, a three-dimensional measuring machine or a three-dimensional scanner is required to carry out three-dimensional measurement on the body-in-white deformation area. In the practical application process, the wider articulated arm type three-coordinate measuring machine is higher in measurement accuracy, but the measurement of the deformation area of the whole vehicle cannot be completed at one time, the frog leap is required, the operation is more complex, and certain accuracy loss can be caused. The three-dimensional laser scanner is more convenient and faster to use, can acquire the triangular mesh surface or the point cloud data of the white automobile body deformation area, but in the practical application process of the three-dimensional laser scanner, the measurement output result is triangular mesh surface or point cloud data, namely the acquired data is the surface position information of a continuous area, and the coordinate information of the specific mark point on the white automobile body surface cannot be accurately picked up.
Disclosure of Invention
The invention aims to provide a mark point coordinate measuring method and system and a deformation amount measuring method and system, which can accurately pick up the mark point coordinates of the body-in-white surface and calculate the collision deformation amount.
In order to solve the technical problem, the invention provides a method for measuring the coordinates of the mark points, which comprises the following steps:
the method comprises the following steps: photogrammetry white body, obtain the locating point file comprising position information of all target points in the measurement coordinate system, wherein, the white body includes colliding with the deformation area, aligns the characteristic area, and locate colliding with the transition area between deformation area and the characteristic area of said alignment, the said target point in the deformation area of said collision represents the mark point;
step two: in a measurement coordinate system, laser scanning the surface of the alignment feature area to obtain scanning point cloud;
step three: calculating a transformation matrix for aligning the scanning point cloud with the digital-analog point cloud of the design state of the alignment characteristic region, wherein the alignment refers to the superposition of two point cloud data;
step four: and converting the position information of the mark points in the positioning point file by using the transformation matrix, and solving the coordinates of each mark point in a design coordinate system.
In the mark point coordinate measuring method, in a measuring coordinate system, target points on a white body are positioned through photogrammetry, position information of each target point is obtained, point cloud data (triangular grid surface) of a white body alignment characteristic area is obtained through laser scanning, then the point cloud data are aligned to a design state digifax through the design state digifax of the alignment characteristic area, so that a transformation matrix from the measuring coordinate system of the white body to a whole vehicle design coordinate system is obtained, the positions of the target points are converted through the transformation matrix, coordinate values of white body mark points are accurately obtained, and coordinate measurement of the whole white body deformation area mark points is completed at one time. In addition, the traditional method needs laser scanning on the whole body-in-white, and only needs laser scanning on the alignment characteristic area, so that the laser scanning time can be greatly reduced, and the efficiency of the collision test is improved.
As an improvement of the mark point coordinate measuring method of the present invention, the calculating a transformation matrix for aligning the scan point cloud with the design state digital-analog point cloud of the alignment feature area includes: converting the design state digifax of the alignment characteristic area into a design state digifax point cloud in a design coordinate system; importing the scanning point cloud and the design state digital-analog point cloud in a design coordinate system; and adjusting the scanning point cloud to enable the scanning point cloud to be overlapped with the digital-analog point cloud in the design state, and extracting a transformation matrix from the adjustment process, wherein the adjustment comprises translation and rotation transformation.
And adjusting in the designed coordinate system to enable the point cloud data under the two coordinate systems to be overlapped, thereby obtaining a transformation matrix for converting the data in the measurement coordinate system into the designed coordinate system. Of course, the deformation matrix may also be obtained by performing adjustment in the measurement coordinate system.
Optionally, the adjusting the scanning point cloud to make the scanning point cloud coincide with the design state digital-analog point cloud includes:
rotating the scanning point cloud to the same angle direction as the digital analog point cloud in the design state;
translating the scanning point cloud to the same position as the design state digital analog point cloud.
The two point cloud data are adjusted to the same visual angle direction and the scaling size of a software view interface, then are rotated and translated to be overlapped (the overlapped refers to the position with the minimum average deviation value of triangular mesh surfaces at the same position of the alignment characteristic areas of the two point clouds), and points representing the same characteristic points of an actual vehicle body on the two point cloud data can be selected as datum points during operation to be rotated and translated.
As another improvement of the coordinate measuring method of the mark point of the present invention, the processing the locating point file by using the transformation matrix, and solving the coordinates of each mark point in the design coordinate system includes: in a measurement coordinate system, creating a first position point group representing each mark point through the positioning point file; transforming the first position point group by using the transformation matrix to obtain a second position point group, and outputting a positioning point transformed file containing coordinate information of all points of the second position point group; in a design coordinate system, obtaining coordinates of each point of the second position point group through the positioning point transformed file, namely coordinates corresponding to the mark points.
In order to solve the above technical problem, a deformation measuring method of the present invention includes the above method for measuring coordinates of a mark point:
the method comprises the following steps: photogrammetry white body, obtain the locating point file comprising position information of all target points in the measurement coordinate system, wherein, the white body includes colliding with the deformation area, aligns the characteristic area, and locate colliding with the transition area between deformation area and the characteristic area of said alignment, the said target point in the deformation area of said collision represents the mark point;
step two: in a measurement coordinate system, laser scanning the surface of the alignment feature area to obtain scanning point cloud;
step three: calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment feature area;
step four: converting the position information of the mark points in the positioning point file by using the transformation matrix, and solving the coordinates of each mark point in a design coordinate system;
further comprising:
step five: and respectively executing the first step to the fourth step before and after the collision test, acquiring the coordinates of all the mark points, and calculating the deformation of the body-in-white according to the deviation of the coordinates of the same mark point before and after the collision test.
In the method for measuring the deformation amount, the coordinate measurement of the mark points of the body-in-white is respectively completed before the collision test (the body-in-white state before the whole vehicle is assembled) and after the collision test (the whole vehicle is disassembled to the body-in-white state), the corresponding data processing is carried out, and the calculation of the coordinate deviation value and the space distance of the same mark point in the two results is carried out, so that the measurement and calculation of the whole deformation amount of the body-in-white are realized, the precision is high, and the method is simple and efficient.
As a further improvement of the deformation amount measuring method of the present invention, before the step one, the method further comprises: and pasting a plurality of target points on the surface of the body-in-white, and arranging a coding point, a calibration rod and a reference frame.
In the above technical solution for pasting the plurality of target points on the surface of the collision deformation area, the pasting method is as follows: drawing a plurality of mark points in the collision deformation area by using a marker pen or paint strokes, and writing numbers beside the mark points; pasting the target points on the surfaces of all the marking points in a centering way; target point groups are pasted among the mark points, and the adjacent target point groups have different forms, wherein the target point groups are formed by at least three target points and are in a combination of specific forms.
Before the collision test, the position of the selected pasting target point is marked in a collision deformation area, the mark is made, namely the mark point, the target point is pasted on the target point, the measurement is carried out, the mark is always kept on the vehicle body, and the position of the mark point can be accurately found after the collision test to paste the target point, and the measurement is carried out again. In addition, target point groups with different forms are pasted among the mark points, so that the position relation among the mark points is convenient to distinguish, and therefore, in data obtained by shooting scanning and laser scanning, each mark point is accurately corresponding to finally obtained coordinate information.
Preferably, the target point group is formed by pasting at least one target point to at least two directions around the target point in a close proximity manner. A plurality of target points are closely adhered to form a target point group, so that various forms can be formed, and a plurality of target point groups with different forms are arranged around one marking point and are very easy to distinguish.
In order to solve the above technical problem, a mark point coordinate measuring system for implementing the mark point coordinate measuring method of the present invention includes:
the photogrammetry module is used for photogrammetry of the body-in-white and obtaining a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points;
the laser scanning module is used for scanning the surface of the alignment characteristic region in a measurement coordinate system by laser to obtain scanning point cloud;
the first calculation module is used for calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment characteristic region;
and the solving module is used for converting the position information of the mark points in the positioning point file by using the transformation matrix and solving the coordinates of each mark point in a design coordinate system.
In order to solve the above-described problem, a deformation amount measurement system according to the present invention for implementing the above-described deformation amount measurement method includes:
the photogrammetry module is used for photogrammetry of the body-in-white and obtaining a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points;
the laser scanning module is used for scanning the surface of the alignment characteristic region in a measurement coordinate system by laser to obtain scanning point cloud;
the first calculation module is used for calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment characteristic region;
the solving module is used for converting the mark point position information in the positioning point file by using the transformation matrix and solving the coordinates of each mark point in a design coordinate system;
and the second calculation module is used for respectively acquiring the coordinates of all the mark points before and after the collision test, and calculating the deformation of the body in white according to the deviation of the coordinates of the same mark point before and after the collision test.
In conclusion, the mark point coordinate measuring method and system and the deformation amount measuring method and system can accurately pick up the coordinates of the specific mark points on the surface of the body-in-white, further calculate the collision deformation amount, have high measuring and calculating precision, can finish the measurement of the whole body-in-white deformation area at one time, and are simple and efficient. In addition, the consumption number of positioning points can be reduced, and the measurement efficiency is improved.
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In the drawings:
fig. 1 is a flowchart of a mark point coordinate measuring method according to the present invention.
FIG. 2 is a flow chart of the deformation amount measuring method according to the present invention.
Fig. 3 is a structural diagram of a coordinate measuring system of a mark point according to the present invention.
Fig. 4 is a structural diagram of the deformation amount measuring system of the present invention.
Fig. 5 is a partial schematic view of the body-in-white collision deformation area target point attachment of the present invention.
FIG. 6 is a partial schematic diagram of the same feature point selection for two point cloud data according to the present invention.
FIG. 7 is a schematic diagram of the shape of the target point group.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
Body-in-white: refers to a vehicle body structural member and panel weld assembly and includes a front wing panel, a door, a hood, a trunk lid, but not an unpainted vehicle body with accessories and trim.
Marking points: marking points with numbering information are marked on the surface of the body-in-white by a marking pen or a painting pen.
Target point: the special light reflecting points are matched with the three-dimensional laser scanning measurement system and are suitable for photogrammetry and scanning positioning. Generally, the adhesive sticker is a round sticker with adhesive on the back, the middle is a white round, and the periphery is a black ring.
Target point group: a combination of three or more (generally not more than six) target points in a specific positional relationship.
And (3) coding points: the patch with specific coding information matched with the photogrammetric positioning system is generally a magnetic square patch. The coding information of each coding point is unique.
Calibrating the rod: the photogrammetric positioning system is matched with a rod for calibrating the spatial distance, and two ends of the rod are provided with specific coding points.
A reference frame: the photogrammetric positioning system is matched with the L-shaped right-angle support which is used for determining the origin of a coordinate system of a positioning point file and the X/Y/Z axis direction.
The implementation of the present invention is described below by taking a CREAFORM three-dimensional laser scanning measurement system including a MAXShot Next photogrammetry positioning system and a HandyScan700 three-dimensional laser scanner as measurement tools, and using geographic Studio software, CATIA V5 software, and other auxiliary analysis and calculation as examples.
As shown in fig. 1, the method for measuring coordinates of a mark point of the present invention includes the following steps:
step S10: the method comprises the steps of photogrammetry of the body-in-white, and acquisition of a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points.
The body-in-white of the test vehicle has different collision deformation areas corresponding to different collision tests, the alignment characteristic area is the body-in-white which is far away from the collision deformation area and does not generate collision deformation, a transition area is arranged between the two, and through division of the areas, targeted research is carried out, so that the reduction of workload is facilitated.
When in use: and opening a VXelements software VXShot module matched with the CREAFMM three-dimensional laser scanning measurement system, finishing the photogrammetry and positioning of the target point by using a MAXSout Next photogrammetry system, and outputting a positioning point file (txt format) containing the positions of all the target points.
Step S20: and in the measurement coordinate system, scanning the surface of the alignment characteristic region by laser to obtain scanning point cloud.
Opening a VXelements software VXScan module, importing a positioning point file, transmitting a coordinate system used for photogrammetry, namely measurement coordinate system information to laser scanning, scanning the surface of a white vehicle body alignment characteristic area by using a HandyScan700 laser scanner, and outputting a triangular mesh surface file (stl format).
Step S30: and calculating a transformation matrix for aligning the scanning point cloud with the digital-analog point cloud of the design state of the alignment characteristic region. The specific method comprises the following steps:
firstly, in a design coordinate system, converting a design state digital model of an alignment feature area into a design state digital model point cloud. Opening a digital-analog file (design state) of a white vehicle body alignment characteristic area in CATIA V5 software, and storing the file in an stl format, namely converting the file into point cloud data (triangular mesh surface file);
and secondly, importing scanning point clouds and design state digital-analog point clouds in a measurement coordinate system. And opening the Geomagic Stduio software, and importing a digital-analog file (stl format) of the white body alignment characteristic region and scanning point cloud (triangular mesh surface file) of the white body characteristic region.
And thirdly, adjusting the scanning point cloud to enable the scanning point cloud to be superposed with the digital-analog point cloud in the design state, and extracting a transformation matrix from the adjustment process, wherein the adjustment comprises translation and rotation transformation. And adjusting in the design coordinate system to enable the two point cloud data to be overlapped, thereby obtaining a transformation matrix for converting the data in the measurement coordinate system into the design coordinate system.
The method comprises the following steps of adjusting scanning point cloud to enable the scanning point cloud to be coincident with a design state digital analog point cloud, fixing the design state digital analog point cloud in a design coordinate system, rotating and translating the scanning point cloud, and adjusting to a position where the average deviation value of triangular mesh surfaces of the same parts of alignment feature areas of the scanning point cloud and the design state digital analog point cloud is minimum, wherein the method comprises the following specific steps:
a. rotating the scanning point cloud to the same angle direction as the digital analog point cloud in the design state;
b. and translating the scanning point cloud to the same position as the digital-analog point cloud in the design state.
Optional operations are as follows: and simultaneously selecting the two objects, clicking an alignment-manual registration-N point registration command, taking the digital-analog point cloud in the design state as a fixed object, taking the scanning point cloud as a floating object, and respectively clicking and selecting at least three groups of registration points representing the same characteristic points of the actual vehicle body by a mouse. When the "registration point" is selected, the two object point clouds are adjusted to the same view angle direction and the same zoom size, and the "registration point" of the same feature point of the actual vehicle body is selected on the two point cloud objects, as shown in fig. 6. The distribution of the registration points should be distributed as dispersedly as possible in the three directions of the length, width and height of the alignment feature region. After all the 'registration points' are selected, clicking a 'determination' command to finish the alignment of the coordinates of the scanning point cloud of the white body feature area to a digital model design state.
And then selecting the white body characteristic region scanning point cloud, clicking a 'tool-conversion-storage' command, and outputting a transformation matrix file (tfm format file).
Step S40: and converting the position information of the mark points in the positioning point file by using the transformation matrix, and solving the coordinates of each mark point in the designed coordinate system.
The method for processing the positioning point file by using the transformation matrix and solving the coordinates of each marking point in the design coordinate system comprises the following steps:
firstly, a first position point group representing each marking point is created in a measurement coordinate system through a positioning point file. And importing a positioning point file in the measurement coordinate system.
Secondly, the first position point group is transformed by using the transformation matrix to obtain a second position point group, and a positioning point transformed file containing coordinate information of all points of the second position point group is output. Selecting a positioning point file, clicking a 'tool-conversion-loading' command to load a transformation matrix file (tfm format file), and completing the coordinate conversion of the positioning point file; the file is saved as an IGES file (igs or IGES format). And finally, the first position point group is transformed by using the transformation matrix to obtain a second position point group, and a positioning point transformed file containing all point coordinate information of the second position point group is output.
And thirdly, in the design coordinate system, obtaining coordinates of each point of the second position point group as coordinates of the corresponding mark point through the file after the positioning point is transformed.
a. Opening an IGES file of a positioning point by using CATIA V5 software, entering a GSD (generative appearance design) module, sequentially selecting a single positioning point through a point-coordinate command, and creating a position point representing each marking point;
b. and measuring the coordinate value of each marking point in a CATIA V5 software GSD module.
As shown in fig. 2, the method for measuring deformation according to the present invention includes steps S10, S20, S30, and S40 of the method for measuring coordinates of mark points, and further includes:
step S50: and respectively executing the first step to the fourth step before and after the collision test, acquiring the coordinates of all the mark points, and calculating the deformation of the body-in-white according to the deviation of the coordinates of the same mark point before and after the collision test. And adjusting in the measurement coordinate system to enable the point cloud data under the two coordinate systems to be overlapped, thereby obtaining a transformation matrix for converting the data in the measurement coordinate system into the design coordinate system.
When the device is used, the coordinate measurement and data processing of the mark points of the white body can be respectively completed before the collision test of the whole vehicle (the white body state before the whole vehicle is assembled) and after the collision test (the whole vehicle is disassembled to the white body state), the coordinate deviation value and the space distance of the same mark point in the two results are measured, the measurement of the deformation of the white body can be realized, the measurement is accurate and quick, the calculation process is completed through a computer, and the working efficiency and the accuracy are greatly improved.
Optionally, as shown in fig. 5, before executing step S10, the method includes: step S01: several target points are affixed on the surface of the body-in-white (impact deformation zone, transition zone and alignment feature zone) and the code points, calibration bar and reference frame are arranged. The method comprises the following specific steps:
firstly, a plurality of marking points are formed in a collision deformation area by using a marker pen or paint strokes, and numbers are written beside the marking points. The marking points are generally distributed in a lattice manner, and the transverse and longitudinal spacing is 100-150 mm. Marking points are drawn in a deformation area of a white vehicle body (before or after the collision test) of the collision test vehicle by using a marker pen or paint strokes, and numbers are written beside the marking points, so that the subsequent distinguishing and identification are facilitated. The marks of different areas are numbered respectively, for example, the marks of the front wall panel are numbered as A1, A2 and A3 …, the marks of the floor panel are numbered as B1, B2 and B3 …, the marks of the outer side of the door frame are numbered as C1, C2 and C3 …, and the marks of the inner side of the door frame are numbered as D1, D2 and D3 …. The marking points in the same area are generally distributed in a dot matrix, and a measurer can select the positions of the marking points according to the requirements or the requirements of a specific test to mark out the specific marking points.
And secondly, pasting target points on the surfaces of all the marked points in a centering way. In order to facilitate centering and pasting, the center of the target point sticker can be punched, the center of the hole is enabled to be coincident with the mark point during pasting, the target point is marked and pasted, so that the target point can be pasted at the same position before and after collision, and data before and after collision can be conveniently contrasted and analyzed.
Pasting target point groups between the mark points, wherein the adjacent target point groups have different forms, and the target point groups are formed by at least three target points and are in a combination of specific forms. In order to facilitate the identification and positioning of the photogrammetric system, a target point group needs to be pasted in the interval of each marking point, generally, one target point group is pasted among four target points, and the target point groups can be added as required. The number of target points in one target point group is not less than three, and the edges of two adjacent target points in the target point group are required to be tightly attached during pasting.
Optionally, the target point group is formed by pasting at least one target point to at least two directions around the target point in close proximity. The target point arrangement mode of the specific target point group is shown in fig. 7, the target point group includes, but is not limited to, seven types shown in the figure, and provides auxiliary reference for data obtained by subsequent processing of photogrammetry and laser scanning, and the mark points can be accurately distinguished, that is, the mark points around the target point group can be identified according to the specific target point group, and then the mark points are distinguished and corresponding to the scanning measurement results one by one.
And fourthly, pasting the target point in the alignment characteristic area of the white automobile body which is far away from the collision deformation area and does not generate collision deformation. The alignment feature region generally selects a surface region with large curvature variation of the sheet metal part of the white car body. The target points are also arranged in a dot matrix in the area with small change of the surface curvature of the sheet metal part in the alignment characteristic area, the distance is generally 100 mm and 150mm, and the edges, seams, edges and corners and the like of the sheet metal part are not covered.
Only arranging the coding points in the transition area, wherein the general spacing between the coding points is 300-500mm, and the pasting workload of the marking points is reduced.
Sixthly, preparing for photogrammetry. The code points, the calibration bars and the reference frame are arranged in a body-in-white measuring area, and the schematic layout can refer to fig. 5. The pitch of the arrangement of the code dots is typically 300-500 mm. The reference frame and the first alignment bar are arranged in the vicinity of each other, and the other alignment bar is arranged in the farthest area and is in a substantially perpendicular direction to the first alignment bar. The area near the reference frame and the calibration rod is increased appropriately to arrange the coding points.
Optionally, before executing step S10, the method includes: step S05: after pasting a plurality of target points on the surfaces of the collision deformation area and the alignment feature area, the method comprises the following steps: and photographing the collision deformation area of the pasted target point.
And (3) utilizing a common camera to shoot and record the mark points of the white automobile body collision deformation area, and paying attention to the overall distribution condition and relative position relation of the mark points in each area. In this way, in step S40, the number information of each position point can be analyzed and determined by referring to the relative position relationship of each mark point in the photograph information, each point of the third position point group in the design coordinate system is named correspondingly first, and the coordinates are obtained to ensure one-to-one correspondence and the calculation is accurate. Specifically, in the CATIA V5 software GSD module, a single position point is selected, an attribute-feature name is clicked, a corresponding marking point number is input, and each position point is named. The position points (i.e., the mark points) of the different areas are named respectively, for example, the mark points of the front wall are named as A1, A2 and A3 …, the floor is named as B1, B2 and B3 …, the outer side of the door frame is named as C1, C2 and C3 …, and the inner side of the door frame is named as D1, D2, D3 …, etc.
As shown in fig. 3, a mark point coordinate measuring system for implementing the mark point coordinate measuring method of the present invention includes:
the photogrammetry module is used for photogrammetry of the body-in-white and acquiring a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points;
the laser scanning module is used for scanning the surface of the alignment characteristic region in a measurement coordinate system by laser to obtain scanning point cloud;
the first calculation module is used for calculating a transformation matrix for aligning the scanning point cloud with the digital-analog point cloud of the design state of the alignment characteristic region;
and the solving module is used for converting the position information of the mark points in the positioning point file by using the transformation matrix and solving the coordinates of each mark point in the design coordinate system.
As shown in fig. 4, a deformation amount measuring system according to the present invention for implementing the deformation amount measuring method includes:
the photogrammetry module is used for photogrammetry of the body-in-white and acquiring a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points;
the laser scanning module is used for scanning the surface of the alignment characteristic region in a measurement coordinate system by laser to obtain scanning point cloud;
the first calculation module is used for calculating a transformation matrix for aligning the scanning point cloud with the digital-analog point cloud of the design state of the alignment characteristic region;
the solving module is used for converting the position information of the mark points in the locating point file by using the transformation matrix and solving the coordinates of each mark point in the design coordinate system;
and the second calculation module is used for respectively acquiring the coordinates of all the mark points before and after the collision test, and calculating the deformation of the body-in-white according to the deviation of the coordinates of the same mark point before and after the collision test.
Optionally, the method further comprises a preparation module: the device is used for pasting a plurality of target points on the surface of a body-in-white and arranging an encoding point, a calibration rod and a reference frame.
Optionally, the system further comprises a photographing module, configured to take a photograph of the collision deformation region after pasting a plurality of target points on the surfaces of the collision deformation region and the alignment feature region.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will appreciate that various changes, modifications and equivalents can be made in the embodiments of the invention without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. A mark point coordinate measuring method is characterized by comprising the following steps:
the method comprises the following steps: photogrammetry white body, obtain the locating point file comprising position information of all target points in the measurement coordinate system, wherein, the white body includes colliding with the deformation area, aligns the characteristic area, and locate colliding with the transition area between deformation area and the characteristic area of said alignment, the said target point in the deformation area of said collision represents the mark point;
step two: in a measurement coordinate system, laser scanning the surface of the alignment feature area to obtain scanning point cloud;
step three: calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment feature area;
step four: and converting the position information of the mark points in the positioning point file by using the transformation matrix, and solving the coordinates of each mark point in a design coordinate system.
2. The method of claim 1, wherein the computing a transformation matrix for aligning the scan point cloud with the design state digital-to-analog point cloud of the alignment feature area comprises:
converting the design state digifax of the alignment characteristic area into a design state digifax point cloud in a design coordinate system;
importing the scanning point cloud and the design state digital-analog point cloud in a design coordinate system;
and adjusting the scanning point cloud to enable the scanning point cloud to be overlapped with the digital-analog point cloud in the design state, and extracting a transformation matrix from the adjustment process, wherein the adjustment comprises translation and rotation transformation.
3. The method as claimed in claim 1, wherein said processing the positioning point file by using the transformation matrix, and solving the coordinates of each of the marked points in the design coordinate system comprises:
in a measurement coordinate system, creating a first position point group representing each mark point through the positioning point file;
transforming the first position point group by using the transformation matrix to obtain a second position point group, and outputting a positioning point transformed file containing coordinate information of all points of the second position point group;
in a design coordinate system, obtaining coordinates of each point of the second position point group through the positioning point transformed file, namely coordinates corresponding to the mark points.
4. A deformation amount measuring method comprising the marking point coordinate measuring method according to claim 1:
the method comprises the following steps: photogrammetry white body, obtain the locating point file comprising position information of all target points in the measurement coordinate system, wherein, the white body includes colliding with the deformation area, aligns the characteristic area, and locate colliding with the transition area between deformation area and the characteristic area of said alignment, the said target point in the deformation area of said collision represents the mark point;
step two: in a measurement coordinate system, laser scanning the surface of the alignment feature area to obtain scanning point cloud;
step three: calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment feature area;
step four: converting the position information of the mark points in the positioning point file by using the transformation matrix, and solving the coordinates of each mark point in a design coordinate system;
further comprising:
step five: and respectively executing the first step to the fourth step before and after the collision test, acquiring the coordinates of all the mark points, and calculating the deformation of the body-in-white according to the deviation of the coordinates of the same mark point before and after the collision test.
5. The mark point coordinate measuring method according to claim 4, further comprising, before the first step: and pasting a plurality of target points on the surface of the body-in-white, and arranging a coding point, a calibration rod and a reference frame.
6. The mark point coordinate measuring method according to claim 5, wherein attaching the target points on the surface of the collision deformation area comprises:
drawing a plurality of mark points in the collision deformation area by using a marker pen or paint strokes, and writing numbers beside the mark points;
pasting the target points on the surfaces of all the marking points in a centering way;
target point groups are pasted among the mark points, and the adjacent target point groups have different forms, wherein the target point groups are formed by at least three target points and are in a combination of specific forms.
7. The method as claimed in claim 6, wherein the target point group is formed by pasting at least one target point to at least two directions of the target point.
8. The mark point coordinate measuring method according to claim 4, further comprising, before the first step: and photographing the collision deformation area with the pasted target point.
9. A marker coordinate measuring system for implementing the marker coordinate measuring method according to claim 1, comprising:
the photogrammetry module is used for photogrammetry of the body-in-white and obtaining a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points;
the laser scanning module is used for scanning the surface of the alignment characteristic region in a measurement coordinate system by laser to obtain scanning point cloud;
the first calculation module is used for calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment characteristic region;
and the solving module is used for converting the position information of the mark points in the positioning point file by using the transformation matrix and solving the coordinates of each mark point in a design coordinate system.
10. A deformation measuring system for implementing the deformation measuring method according to claim 4, comprising:
the photogrammetry module is used for photogrammetry of the body-in-white and obtaining a positioning point file containing position information of all target points in a measurement coordinate system, wherein the body-in-white comprises a collision deformation area, an alignment characteristic area and a transition area arranged between the collision deformation area and the alignment characteristic area, and the target points in the collision deformation area represent mark points;
the laser scanning module is used for scanning the surface of the alignment characteristic region in a measurement coordinate system by laser to obtain scanning point cloud;
the first calculation module is used for calculating a transformation matrix for aligning the scanning point cloud with the design state digital-analog point cloud of the alignment characteristic region;
the solving module is used for converting the mark point position information in the positioning point file by using the transformation matrix and solving the coordinates of each mark point in a design coordinate system;
and the second calculation module is used for respectively acquiring the coordinates of all the mark points before and after the collision test, and calculating the deformation of the body in white according to the deviation of the coordinates of the same mark point before and after the collision test.
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