CN115876088B - 3D measuring method and device for high-speed rail wheel shaft based on digital twin - Google Patents
3D measuring method and device for high-speed rail wheel shaft based on digital twin Download PDFInfo
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Abstract
The application provides a digital twinning-based 3D measuring method and device for a high-speed rail shaft. The method is realized based on a laser calibration device, the laser calibration device comprises two V-shaped clamps, two lasers, two-dimensional moving modules, two racks and two groups of reference workpieces, each V-shaped clamp is positioned by one group of reference workpieces, the two-dimensional moving modules are respectively arranged in one rack, each two-dimensional moving module is provided with a horizontal track and a vertical track, each laser is arranged on one two-dimensional moving module, and the lasers move on a vertical plane by virtue of the horizontal tracks and the vertical tracks, and the method comprises the following steps: firstly, reference coordinates are determined in a virtual space, then actual physical coordinates are converted according to the reference, finally, a horizontal track and a vertical track of a two-dimensional moving module are driven, and a laser is moved to the position of the actual physical coordinates for calibration. The problems of large manual operation error, low efficiency and high cost in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of mechanical measurement, in particular to a digital twinning-based 3D (three-dimensional) measurement method and device for a high-speed rail axle.
Background
Along with the global digital and informationized wave-tide mats, modern digital intelligent manufacturing is continuously replacing the traditional economic production mode in the industrial field. The high-speed rail wheel shaft is an important component part of the high-speed rail power transmission system and the bearing system, has the characteristics of large weight (the weight of a single wheel shaft is measured in tons), high-speed rotation during operation and the like, and ensures the machining and manufacturing precision and quality of the high-speed rail wheel shaft to be a key factor for determining the comprehensive performance and safe operation of the high-speed rail power transmission system, so that the optimal machining allowance of the high-speed rail wheel shaft needs to be accurately determined in the machining and manufacturing.
For many years, the calibration of the optimal machining allowance of the high-speed rail wheel shaft is completed manually, and the specific process is as follows: an operator firstly measures the size data of the large-sized shaft blank, then determines the center points of the two end faces of the shaft blank according to the size data, and finally carries out cutting, polishing and other forming processes by taking the connecting line of the center points of the two ends as an axis. The measurement result obtained by personnel operation is often inaccurate, the optimal machining allowance is difficult to ensure by the selected central point connecting line, and the defects of low manual measurement efficiency, high cost, waste of shaft blank materials and the like are overcome.
Disclosure of Invention
The invention aims to overcome the defects of low efficiency, high cost, low accuracy and material waste of manual axle embryo measurement in the prior art, thereby providing a digital twinning-based high-speed rail axle 3D measurement method and device.
In order to solve the technical problems, the embodiment of the invention discloses at least a 3D measuring method and a device for a high-speed rail shaft based on digital twinning.
In a first aspect, an embodiment of the present disclosure provides a digital twinning-based 3D measurement method for a high-speed rail axle, the method being implemented based on a laser calibration device, the laser calibration device including two V-shaped jigs, two lasers, two-dimensional moving modules, two racks and two groups of reference workpieces, each V-shaped jig being positioned by a group of reference workpieces, the two-dimensional moving modules being respectively disposed in one of the racks, the two-dimensional moving modules being provided with a horizontal rail and a vertical rail, each of the lasers being disposed on one of the two-dimensional moving modules, the lasers being moved on a vertical plane by means of driving of the horizontal rail and the vertical rail, the method comprising:
reference coordinate determination process: the two ends of a calibration shaft are respectively supported and fixed by a V-shaped clamp, the calibration shaft is provided with a specified number of calibration rods, two racks are respectively arranged at the two ends of the calibration shaft, a three-dimensional scanner is obtained to scan the calibration shaft, the calibration rods and a reference workpiece, point cloud data of the calibration shaft, the calibration rods and the reference workpiece are obtained, a point cloud space formed by the point cloud data is marked as a digital twin virtual space, and a reference coordinate system of the virtual space and a physical space is in one-to-one mapping relation;
coordinate calculation process: taking down the standard shaft, respectively supporting and fixing two ends of a high-speed railway axle shaft blank by a V-shaped clamp, respectively placing two frames at two ends of the high-speed railway axle shaft blank, mapping the high-speed railway axle shaft blank and a reference workpiece into the digital twin virtual space by using a three-dimensional scanner, and calculating first coordinates of two end points of a central axis of the high-speed railway axle shaft blank in the digital twin virtual space;
the laser moving process comprises the following steps: and driving a horizontal track and a vertical track of the two-dimensional moving module based on the first coordinate, and moving the laser to the position of the first coordinate.
Optionally, in the calculating of coordinates, calculating, in the digital twin virtual space, first coordinates of two end points of a central axis of the axle blank of the high-speed railway axle in the digital twin virtual space includes: calculating directional machining allowance by using a point-tangent plane distance function; and determining first coordinates of two end points of the axle center axis of the axle center of the high-speed rail axle in the digital twin virtual space according to the directional machining allowance.
Optionally, in the coordinate calculation process, before calculating the first coordinates of the two end points of the axle center axis of the axle center of the high-speed railway axle in the digital twin virtual space, the method includes: searching a specified point or a specified surface in the digital twin virtual space; generating a first geometric information code of the searched designated point or designated surface from the first view point; searching for different geometric information codes of the appointed point or the appointed surface from different view points; establishing point matching corresponding relations among cloud data of different view points according to different geometric information codes of the designated points or designated surfaces; and carrying out multi-view splicing and reconstructing the digital twin virtual space according to the point matching corresponding relation among the cloud data of different view points.
Optionally, in the coordinate calculation process, before calculating the first coordinates of the two end points of the axle center axis of the axle center of the high-speed railway axle in the digital twin virtual space, the method includes: and carrying out mismatching filtering on the reconstructed digital twin virtual space based on the RANSAC strategy.
Optionally, in the coordinate calculation process, before searching the digital twin virtual space for a specified point or a specified surface, the method includes: and converting the non-rigid digital twin virtual space into a rigid digital twin virtual space by calculating a standard shape which does not change along with the deformation of the curved surface.
Optionally, the point cloud
The objective function of the calculation of the surface specification is:
wherein Z is a standard point set vector group to be solved, E is an n-order square matrix, P is a point cloud set, and J is a rotation matrix.
Optionally, the converting the non-rigid digital twin virtual space into the rigid digital twin virtual space by calculating a canonical form that does not change with the deformation of the curved surface includes: sampling the point cloud Pn to obtain the point cloud Pm, constructing an m multiplied by n low-order matrix C corresponding to the n-order matrix E by using the sampled point cloud Pm, wherein the low-order matrix C is formed by partial column/row vectors of the n-order matrix E; reconstructing a to-be-solved high-order matrix E based on the low-order matrix C, and constructing an objective function
The canonical form of computation is converted into a low-order matrix M.
In a second aspect, the disclosed embodiment of the invention also provides a digital twinning-based 3D measuring device for a high-speed railway axle, which comprises:
the laser calibration device comprises two V-shaped clamps, two lasers, two-dimensional moving modules, two racks and two groups of reference workpieces, wherein each V-shaped clamp is positioned by one group of reference workpieces, the two-dimensional moving modules are respectively arranged in one rack, each two-dimensional moving module is provided with a horizontal track and a vertical track, each laser is arranged on one two-dimensional moving module, and the laser moves on a vertical plane by virtue of the driving of the horizontal track and the vertical track;
the reference coordinate determining module is used for supporting and fixing two ends of a calibration shaft by the V-shaped clamp respectively, the calibration shaft is provided with a specified number of calibration rods, two racks are respectively arranged at two ends of the calibration shaft, the calibration rods and a reference workpiece are scanned by using a three-dimensional scanner to obtain point cloud data of the calibration shaft, the calibration rods and the reference workpiece, a point cloud space formed by the point cloud data is recorded as a digital twin virtual space, and a reference coordinate system of the virtual space and a physical space is in one-to-one mapping relation;
the coordinate calculation module is used for respectively supporting and fixing two ends of the axle blank of the high-speed railway by one V-shaped clamp after the calibration axle is taken down, two frames are respectively arranged at two ends of the axle blank of the high-speed railway, the axle blank of the high-speed railway and a reference workpiece are mapped into the digital twin virtual space by using a three-dimensional scanner, a specified point or surface is searched in the digital twin virtual space, geometric information encoding is carried out on the searched point or surface, directional machining allowance is calculated by a point-tangent plane distance function, and first coordinate information of two end points of the central axis of the axle blank of the high-speed railway in the digital twin virtual space is determined according to the directional machining allowance;
and the laser moving module is used for driving the horizontal track and the vertical track of the two-dimensional moving module based on the first coordinate and moving the laser to the position of the first coordinate.
In a third aspect, the disclosed embodiments of the invention also provide a computer device comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, or any of the possible implementations of the first aspect.
In a fourth aspect, the disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the first aspect, or any of the possible implementation manners of the first aspect.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the laser calibration device is designed, the large-scale shaft blank to be actually machined is mapped into a virtual space in high precision by utilizing 3D scanning based on the laser calibration device, an optimal machining allowance scheme is calculated in the virtual space, and the optimal machining allowance scheme is fed back to a physical space for machining operation, so that the measuring/positioning/machining precision and the machining efficiency are improved, and the labor cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow chart of a digital twinning-based high-speed rail axle 3D measurement method provided by an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a laser calibration device according to an embodiment of the disclosure;
FIG. 3 shows a flow chart of another digital twinning-based high-speed rail axle 3D measurement method provided by the disclosed embodiments of the invention;
FIG. 4 shows a schematic diagram of spatial coordinates in accordance with an embodiment of the present disclosure;
fig. 5 shows a schematic structural diagram of a digital twinning-based 3D measurement device for a high-speed rail axle according to an embodiment of the present disclosure;
fig. 6 shows a schematic structural diagram of a computer device according to an embodiment of the disclosure.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying summary.
Example 1
As shown in fig. 1, a flowchart of a digital twin high-speed rail wheel shaft 3D measurement method provided by an embodiment of the present invention is implemented based on a laser calibration device, as shown in fig. 2, the laser calibration device includes two V-shaped clamps 2, two lasers 4, two-dimensional moving modules (not shown in the figure), two frames and two groups of reference workpieces 3, each V-shaped clamp 2 is positioned by a group of reference workpieces 3, two-dimensional moving modules are respectively disposed in one frame, each two-dimensional moving module is provided with a horizontal rail and a vertical rail, each laser is disposed on one two-dimensional moving module, and the lasers are moved on the vertical plane by means of the driving of the horizontal rail and the vertical rail, wherein the implementation of the two-dimensional moving modules is designed by a person skilled in the art according to engineering requirements, and the method is not repeated herein, and the method includes:
s11: reference coordinate determination process: the two ends of the calibration shaft are respectively supported and fixed by a V-shaped clamp 2, the calibration shaft is provided with a specified number of calibration rods, two racks are respectively arranged at the two ends of the calibration shaft, the three-dimensional scanner scans the calibration shaft, the calibration rods and the reference workpiece 3 to obtain point cloud data of the calibration shaft, the calibration rods and the reference workpiece 3, the point cloud space formed by the point cloud data is marked as a digital twin virtual space, and the reference coordinate systems of the virtual space and the physical space are in one-to-one mapping relation.
S12: coordinate calculation process: and (3) taking down the standard shaft, respectively supporting and fixing two ends of the high-speed railway axle shaft blank 1 by a V-shaped clamp 2, respectively placing two racks at two ends of the high-speed railway axle shaft blank 1, mapping the high-speed railway axle shaft blank 1 and the reference workpiece 3 into a digital twin virtual space by using a three-dimensional scanner, and calculating first coordinates of two end points of the central axis of the high-speed railway axle shaft blank 1 in the digital twin virtual space.
S13: the laser moving process comprises the following steps: and driving the horizontal track and the vertical track of the two-dimensional moving module based on the first coordinates, and moving the laser to the position of the first coordinates.
It can be understood that, the technical scheme provided by the embodiment designs the laser calibration device, and maps the large-scale shaft blank to be actually processed into the virtual space with high precision by utilizing 3D scanning based on the laser calibration device, calculates the optimal machining allowance scheme in the virtual space, and feeds back the optimal machining allowance scheme to the physical space for processing operation, thereby improving the measurement/positioning/processing precision, the processing efficiency and reducing the labor cost.
Example 2
As shown in fig. 3, another flow chart of a digital twin high-speed rail wheel shaft 3D measurement method provided by the embodiment of the present invention is implemented based on a laser calibration device, where the laser calibration device includes two V-shaped fixtures 2, two lasers 4, two-dimensional moving modules (not shown in the figure), two racks and two groups of reference workpieces 3, each V-shaped fixture 2 is positioned by one group of reference workpieces 3, the two-dimensional moving modules are respectively disposed in one rack, the two-dimensional moving modules are provided with a horizontal rail and a vertical rail, each laser is disposed on one two-dimensional moving module, and the lasers are driven by the horizontal rail and the vertical rail to move on a vertical plane, and the method includes:
s31: reference coordinate determination process: the two ends of the calibration shaft are respectively supported and fixed by a V-shaped clamp 2, the calibration shaft is provided with a specified number of calibration rods, two racks are respectively arranged at the two ends of the calibration shaft, the three-dimensional scanner scans the calibration shaft, the calibration rods and the reference workpiece 3 to obtain point cloud data of the calibration shaft, the calibration rods and the reference workpiece 3, the point cloud space formed by the point cloud data is marked as a digital twin virtual space, as shown in fig. 4, the reference coordinate systems of the virtual space and the physical space are in one-to-one mapping relation, and the calibration shaft 5, the reference workpiece 6, the calibration rods 7 and the laser 8 in the coordinate system are shown in the figure.
S32: coordinate calculation process: the method comprises the steps of taking down a standard shaft, respectively supporting and fixing two ends of a high-speed railway wheel shaft blank 1 by a V-shaped clamp 2, respectively placing two frames at two ends of the high-speed railway wheel shaft blank 1, mapping the high-speed railway wheel shaft blank 1 and a reference workpiece 3 into a digital twin virtual space by a three-dimensional scanner, converting a non-rigid digital twin virtual space into a rigid digital twin virtual space by calculating a standard which does not change along with curved surface deformation, and searching a designated point or a designated surface in the digital twin virtual space; generating a first geometric information code of the searched designated point or designated surface from the first view point; searching different geometric information codes of a designated point or a designated surface from different view points; establishing point matching corresponding relations among different view point cloud data according to different geometric information codes of the designated points or designated surfaces; and carrying out multi-view splicing and reconstructing a digital twin virtual space according to point matching correspondence among cloud data of different view points, carrying out error matching filtering on the reconstructed digital twin virtual space based on a RANSAC strategy, and calculating first coordinates of two end points of a central axis of the axle embryo 1 of the high-speed railway in the digital twin virtual space.
S33: the laser moving process comprises the following steps: and driving the horizontal track and the vertical track of the two-dimensional moving module based on the first coordinates, and moving the laser to the position of the first coordinates.
In some alternative embodiments, in S32, calculating the first coordinates of the two end points of the central axis of the axle blank 1 of the high-speed railway axle in the digital twin virtual space may be implemented by, but is not limited to, the following processes (not shown in the figures):
s321: and calculating the directional machining allowance according to the point-tangent plane distance function.
S322: and determining first coordinates of two end points of the central axis of the axle blank 1 of the high-speed railway axle in the digital twin virtual space according to the directional machining allowance.
In some alternative embodiments, the point cloud
The objective function of the calculation of the surface specification is:
wherein Z is a standard point set vector group to be solved, E is an n-order square matrix, P is a point cloud set, and J is a rotation matrix.
In some alternative embodiments, in S32, the conversion of the non-rigid digital twin virtual space into the rigid digital twin virtual space by calculating a canonical shape that does not change with deformation of the curved surface may be achieved by, but is not limited to, the following process (not shown in the figure):
s323: sampling the point cloud Pn to obtain the point cloud Pm, and constructing an m multiplied by n low-order matrix C corresponding to the n-order matrix E by using the sampled point cloud Pm, wherein the low-order matrix C is formed by partial column/row vectors of the n-order matrix E.
S324: reconstructing a to-be-solved high-order matrix E based on the low-order matrix C, and constructing an objective function
The canonical form of computation is converted into a low-order matrix M.
It can be understood that, the technical scheme provided in this embodiment is that, the laser calibration device is designed, the measurement and positioning before the processing of the axle blank 1 of the high-speed railway axle are mapped into the digital twin virtual space based on the point cloud based on the laser calibration device, the virtual space and the physical space are in one-to-one correspondence with each other through the coordinate system of the reference workpiece 3, the coordinate information of the axle in the virtual space, the coordinate information of the axle in the physical space and the coordinate information of the laser are mapped one-to-one through the position calibration algorithm of the laser, so that the purposes of calculating the measurement in the virtual space and accurately positioning in the physical space are achieved, the large axle blank to be actually processed is mapped into the virtual space with high precision, the optimal processing allowance scheme is calculated in the virtual space, and the optimal processing allowance scheme is fed back to the physical space for processing operation, thereby improving the measurement/positioning/processing precision, processing efficiency and reducing the labor cost.
Example 3
As shown in fig. 5, the embodiment of the invention further provides a digital twinning-based 3D measurement device for a high-speed railway axle, which comprises:
the laser calibration device 51, in combination with fig. 2, comprises two V-shaped clamps 2, two lasers 4, two-dimensional moving modules, two racks and two groups of reference workpieces 3, wherein each V-shaped clamp 2 is positioned by one group of reference workpieces 3, the two-dimensional moving modules are respectively arranged in one rack, each two-dimensional moving module is provided with a horizontal track and a vertical track, each laser is arranged on one two-dimensional moving module, and the lasers move on a vertical plane by virtue of the driving of the horizontal track and the vertical track.
The reference coordinate determining module 52 is configured to support and fix two ends of the calibration shaft by using a V-shaped fixture 2, the calibration shaft is provided with a specified number of calibration rods, the two racks are respectively disposed at two ends of the calibration shaft, the calibration rods and the reference workpiece 3 are scanned by using a three-dimensional scanner, point cloud data of the calibration shaft, the calibration rods and the reference workpiece 3 are obtained, a point cloud space formed by the point cloud data is recorded as a digital twin virtual space, reference coordinate systems of the virtual space and the physical space are in a one-to-one mapping relationship, and the coordinate system refers to fig. 4.
The coordinate calculation module 53 is configured to, after the calibration shaft is removed, support and fix two ends of the axle blank 1 of the high-speed rail by using a V-shaped fixture 2, respectively place two frames at two ends of the axle blank 1 of the high-speed rail, map the axle blank 1 of the high-speed rail and the reference workpiece 3 into a digital twin virtual space by using a three-dimensional scanner, search for a specified point or plane in the digital twin virtual space, encode geometric information of the searched point or plane, calculate directional machining allowance according to a point-tangential plane distance function, and determine first coordinate information of two end points of a central axis of the axle blank 1 of the high-speed rail in the digital twin virtual space according to the directional machining allowance.
The laser moving module 54 is configured to drive the horizontal rail and the vertical rail of the two-dimensional moving module based on the first coordinates, and move the laser to the position of the first coordinates.
In some alternative embodiments, as shown in phantom in fig. 5, the coordinate calculation module 53 includes:
directional machining allowance calculation submodule 531: calculating directional machining allowance by using a point-tangent plane distance function;
the first coordinate determination sub-module 532: and determining first coordinates of two end points of the central axis of the axle blank 1 of the high-speed railway axle in the digital twin virtual space according to the directional machining allowance.
In some alternative embodiments, the point cloud
The objective function of the calculation of the surface specification is:
wherein Z is a standard point set vector group to be solved, E is an n-order square matrix, P is a point cloud set, and J is a rotation matrix.
In some alternative embodiments, the coordinate calculation module 53 further includes:
a digital twin virtual space reconstruction sub-module 533 that searches for a specified point or a specified face in the digital twin virtual space; generating a first geometric information code of the searched designated point or designated surface from the first view point; searching for different geometric information codes of the appointed point or the appointed surface from different view points; establishing point matching corresponding relations among cloud data of different view points according to different geometric information codes of the designated points or designated surfaces; and carrying out multi-view splicing and reconstructing the digital twin virtual space according to the point matching corresponding relation among the cloud data of different view points.
In some alternative embodiments, the coordinate calculation module 53 further includes:
and a mismatch filtering sub-module 534, which performs mismatch filtering on the reconstructed digital twin virtual space based on the RANSAC policy.
In some alternative embodiments, the coordinate calculation module 53 further includes:
the digital twin virtual space rigidity conversion sub-module 535 converts the non-rigid digital twin virtual space into a rigid digital twin virtual space by calculating a specification that does not change with deformation of the curved surface.
In some alternative embodiments, the coordinate calculation module 53 further includes:
matrix construction submodule 536: sampling the point cloud Pn to obtain the point cloud Pm, constructing an m multiplied by n low-order matrix C corresponding to the n-order matrix E by using the sampled point cloud Pm, wherein the low-order matrix C is formed by partial column/row vectors of the n-order matrix E; reconstructing a to-be-solved high-order matrix E based on the low-order matrix C, and constructing an objective function
The canonical form of computation is converted into a low-order matrix M.
For ease of reading and understanding, embodiments of the invention will be described in detail below with reference to a few specific implementations.
Calibration of reference coordinate position of 1-1 device
And manufacturing a rubber standard shaft according to the size of a finished product required by the high-speed rail wheel shaft. The calibration shaft is placed on the V-clamp 2 of the device of the invention.
Referring to fig. 4, a reference coordinate system XYZ is established with the center points of the 4 reference works 3 as the origin. And establishing a moving coordinate system of the two-dimensional moving module as XsYsZs.
And 9 calibration rods are randomly arranged on the end face of the calibration shaft, the 3D scanner is utilized to scan the calibration shaft, the calibration rods and the reference workpiece 3, so that point cloud data of the calibration shaft, the calibration rods and the reference workpiece 3 are obtained, and the point cloud space is a digital twin virtual space. In the virtual space, the calibration shaft, the calibration rod, and the reference workpiece 3 are regarded as one rigid body. The reference coordinate systems of the virtual space and the physical space are in one-to-one mapping relation, so that the measured coordinates in the point cloud are corresponding coordinates in the physical space.
Therefore, the coordinate information of 9 calibration rods in the reference coordinate system is output through the virtual space
. The laser is made to move by the two-dimensional moving moduleDotting on 9 calibration rods respectively and recording coordinate information of 9 points in a moving coordinate system
X, y and z are reference coordinates, x k For the x-axis coordinate, y of the kth calibration bar k For the y-axis coordinate, z, of the kth calibration bar k For the z-axis coordinates of the kth calibration bar, k=1, 2, 3 sk 、y sk 、z sk The point coordinates on the kth calibration rod.
The calibration is shown in the following formula:
will be
And->
Bringing the formula: />
And solving conversion parameters R and M by utilizing a least square algorithm to finish coordinate calibration of the laser, wherein a, b, c, d is the conversion parameters in a conversion parameter matrix, and X, Y, Z is the conversion parameter matrix variable.
1-2 obtaining a digital twin virtual model based on point cloud
After the coordinates of the laser are calibrated, the calibrated laser position is the zero position of the laser. And taking down the calibration shaft, and fixing the shaft blank 1 of the high-speed rail shaft to be processed on the V-shaped block clamp. The high-speed railway axle shaft blank 1 and the reference workpiece 3 are mapped into a virtual digital twin space based on point cloud data by utilizing a three-dimensional scanner, and the high-speed railway axle shaft blank 1 and the reference workpiece 3 are regarded as one rigid body at the moment, so that the reference coordinate systems of the virtual space and the physical space are ensured to be in one-to-one mapping relation, and therefore, the coordinates measured in the point cloud are the corresponding coordinates in the physical space.
And (3) reconstructing the standardability of the three-dimensional curved surface of the point cloud: in a digital twin virtual space based on point cloud, special points or faces are searched and geometrical information of the points or faces is encoded. The geometric description matched in other view point clouds is searched through the geometric coding information of the points, the matching corresponding relation among different view angle scanning data is established, multi-view angle splicing reconstruction is assisted, based on RANSAC (Random Sample Consensus), mathematical model parameters of data are calculated according to a group of sample data sets containing abnormal data, an algorithm of effective sample data is obtained, and mismatching filtering is carried out on strategy, so that three-dimensional curved surface reconstruction is carried out. Establishing a rigid mapping space: the non-rigid mapping space is converted into a rigid mapping space by calculating a canonical form that does not change with deformation of the curved surface. Point-to-point cloud
Calculating an objective function of a surface specification
Wherein Z is a standard point set vector group to be solved, E is an n-order square matrix, P is a point cloud set, J is a rotation matrix, and the calculation complexity is O (n 2). The part point cloud scale is often tens of millions, and the situation that E is difficult to solve easily occurs. For this purpose, first, the point cloud Pn is sampled, and an m×n low-order matrix C corresponding to E is constructed by using the sampled point cloud Pm, where C is composed of partial column/row vectors of the matrix E. Then reconstructing a to-be-solved higher-order matrix E based on the matrix C, and constructing an objective function>
The function converts the canonical form of computation into computation of a low-order matrix M. In minimizing the objective function, the matrix of the first m rows of C can be specially constructedAnd decomposing the characteristic value, and neglecting partial elements with smaller characteristic values, so that the calculation stability and the calculation precision are both considered.
1-3 optimal machining allowance calculation
And calculating directed machining allowance by using a point-tangent plane distance function, and establishing a point cloud matching model facing machining by using the allowance non-negative constraint and solving by using a Gaussian Newton optimization method. And calculating position information of the machining points in a mapping and calculating mode, then establishing differential motion relation between adjacent machining points, and gradually smoothing according to differential motion under the condition that the allowance is not negative, so as to finally obtain an accurate machining scheme.
1-4 positioning and laser dotting
And after the optimal machining allowance scheme is calculated in a digital twin virtual space based on the point cloud, coordinate information under the machining scheme is obtained, wherein the coordinate information is coordinate information (X1, Y1, Z1) (X2, Y2, Z2) of two central axis points of the high-speed rail axle shaft blank 1 calculated in the virtual space. Through the coordinate conversion, the coordinate information is converted into coordinates (Xs 1, ys1, zs 1) (Xs 2, ys2, zs 2) under a moving coordinate system, the coordinate information is sent to a controller of the two-dimensional moving module, the controller controls a laser to move to a correct position through the coordinates (Xs 1, ys 1) (Xs 2, ys 2), and the laser performs laser dotting on the end face of the shaft blank 1 of the high-speed rail shaft to be processed to finish dotting positioning.
It can be appreciated that the technical scheme provided by the embodiment designs the laser calibration device, maps the large-scale axle blank to be actually processed into the virtual space with high precision by utilizing the 3D scanning based on the laser calibration device, calculates the optimal machining allowance scheme in the virtual space, feeds back the optimal machining allowance scheme to the physical space for processing operation, and can accurately position the central axis position of the axle blank 1 of the high-speed rail axle to be processed, thereby completing the shaping of the high-speed rail axle under the optimal machining allowance, solving the defects that the measurement is inaccurate, the selected central point connecting line is difficult to ensure the optimal machining allowance, the manual measurement efficiency is low, the labor cost is high, the axle blank material is wasted and the like in the traditional method, improving the measurement/positioning/processing precision and the processing efficiency of the high-speed rail axle and reducing the labor cost.
Example 4
Based on the same technical concept, the embodiment of the application further provides a computer device, which comprises a memory 61 and a processor 62, as shown in fig. 6, wherein the memory 61 stores a computer program, and the processor 62 implements the digital twin-based 3D measurement method for the high-speed rail axle according to any one of the above embodiments when executing the computer program.
The memory 61 includes at least one type of readable storage media including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 61 may in some embodiments be an internal memory unit of a digital twinned-based high-speed rail axle 3D measurement device, such as a hard disk. The memory 61 may in other embodiments also be an external memory device based on a Digital twinned high-speed rail axle 3D measuring device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like. Further, the memory 61 may also comprise both an internal memory unit and an external memory device of the digital twinned based high-speed rail axle 3D measuring device. The memory 61 may be used not only for storing application software installed in the digital twinning-based high-speed rail shaft 3D measuring device and various kinds of data, such as codes of digital twinning-based high-speed rail shaft 3D measuring programs, etc., but also for temporarily storing data that has been output or is to be output.
The processor 62 may in some embodiments be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip for running program code or processing data stored in the memory 61, for example executing a digital twinned high-speed rail axle 3D measurement program or the like.
It can be understood that, the technical scheme provided by the embodiment designs the laser calibration device, and maps the large-scale shaft blank to be actually processed into the virtual space with high precision by utilizing 3D scanning based on the laser calibration device, calculates the optimal machining allowance scheme in the virtual space, and feeds back the optimal machining allowance scheme to the physical space for processing operation, thereby improving the measurement/positioning/processing precision, the processing efficiency and reducing the labor cost.
The disclosed embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the digital twinned-based high-speed rail axle 3D measurement method described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The computer program product of the digital twin-based high-speed rail shaft 3D measurement method provided by the embodiment of the present invention includes a computer readable storage medium storing program codes, and the program codes include instructions for executing the steps of the digital twin-based high-speed rail shaft 3D measurement method described in the above method embodiment, and the specific reference may be made to the above method embodiment, which is not repeated herein.
The disclosed embodiments also provide a computer program which, when executed by a processor, implements any of the methods of the previous embodiments. The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" means at least two.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. The utility model provides a high-speed railway shaft 3D measuring method based on digital twin, its characterized in that, the method is realized based on laser calibration device, laser calibration device includes two V type anchor clamps, two lasers, two-dimensional removal modules, two frames and two sets of benchmark work pieces, every V type anchor clamps are fixed a position by a set of benchmark work piece, two-dimensional removal modules set up respectively in one in the frame, two-dimensional removal modules are equipped with horizontal track and vertical track, every lasers is placed on one two-dimensional removal module, the lasers relies on the drive of horizontal track and vertical track to remove on the vertical plane, the method includes:
reference coordinate determination process: the two ends of a calibration shaft are respectively supported and fixed by a V-shaped clamp, the calibration shaft is provided with a specified number of calibration rods, two racks are respectively arranged at the two ends of the calibration shaft, a three-dimensional scanner is obtained to scan the calibration shaft, the calibration rods and a reference workpiece, point cloud data of the calibration shaft, the calibration rods and the reference workpiece are obtained, a point cloud space formed by the point cloud data is marked as a digital twin virtual space, and a reference coordinate system of the virtual space and a physical space is in one-to-one mapping relation;
coordinate calculation process: taking down the standard shaft, respectively supporting and fixing two ends of a high-speed railway axle shaft blank by a V-shaped clamp, respectively placing two frames at two ends of the high-speed railway axle shaft blank, mapping the high-speed railway axle shaft blank and a reference workpiece into the digital twin virtual space by using a three-dimensional scanner, and calculating first coordinates of two end points of a central axis of the high-speed railway axle shaft blank in the digital twin virtual space;
the laser moving process comprises the following steps: and driving a horizontal track and a vertical track of the two-dimensional moving module based on the first coordinate, and moving the laser to the position of the first coordinate.
2. The method for 3D measurement of a high-speed railway axle based on digital twinning according to claim 1, wherein in the process of calculating coordinates, calculating the first coordinates of two end points of the central axis of the high-speed railway axle embryo in the digital twinning virtual space comprises:
calculating directional machining allowance by using a point-tangent plane distance function;
and determining first coordinates of two end points of the axle center axis of the axle center of the high-speed rail axle in the digital twin virtual space according to the directional machining allowance.
3. The digital twinning-based high-speed rail axle 3D measurement method according to claim 2, wherein in the coordinate calculation process, before calculating the first coordinates of the two end points of the axle center axis of the high-speed rail axle embryo in the digital twinning virtual space, the method comprises:
searching a designated point and a designated surface in the digital twin virtual space;
generating a first geometric information code of the searched designated point and designated surface from the first view point;
searching different geometric information codes of the appointed point and the appointed surface from different view points;
establishing point matching corresponding relations among cloud data of different view points according to the first geometric information codes and the different geometric information codes of the designated points and the designated surfaces;
and carrying out multi-view splicing and reconstructing the digital twin virtual space according to the point matching corresponding relation among the cloud data of different view points.
4. A digital twinning-based high-speed rail axle 3D measurement method according to claim 3, characterized in that, before calculating the first coordinates of the two end points of the axle center axis of the high-speed rail axle embryo in the digital twinning virtual space in the coordinate calculation process, the method comprises:
and carrying out mismatching filtering on the reconstructed digital twin virtual space based on the RANSAC strategy.
5. The digital twinning-based high-speed rail axle 3D measurement method according to claim 4, characterized in that in the coordinate calculation process, before searching the digital twinning virtual space for a specified point and a specified surface, the method comprises:
and converting the non-rigid digital twin virtual space into a rigid digital twin virtual space by calculating a standard shape which does not change along with the deformation of the curved surface.
6. High-speed railway shaft 3D measuring device based on digital twin, characterized by comprising:
the laser calibration device comprises two V-shaped clamps, two lasers, two-dimensional moving modules, two racks and two groups of reference workpieces, wherein each V-shaped clamp is positioned by one group of reference workpieces, the two-dimensional moving modules are respectively arranged in one rack, each two-dimensional moving module is provided with a horizontal track and a vertical track, each laser is arranged on one two-dimensional moving module, and the laser moves on a vertical plane by virtue of the driving of the horizontal track and the vertical track;
the reference coordinate determining module is used for supporting and fixing two ends of a calibration shaft by the V-shaped clamp respectively, the calibration shaft is provided with a specified number of calibration rods, two racks are respectively arranged at two ends of the calibration shaft, the calibration rods and a reference workpiece are scanned by using a three-dimensional scanner to obtain point cloud data of the calibration shaft, the calibration rods and the reference workpiece, a point cloud space formed by the point cloud data is recorded as a digital twin virtual space, and a reference coordinate system of the virtual space and a physical space is in one-to-one mapping relation;
the coordinate calculation module is used for respectively supporting and fixing two ends of the axle blank of the high-speed railway by one V-shaped clamp after the calibration axle is taken down, two frames are respectively arranged at two ends of the axle blank of the high-speed railway, the axle blank of the high-speed railway and a reference workpiece are mapped into the digital twin virtual space by using a three-dimensional scanner, a specified point or surface is searched in the digital twin virtual space, geometric information encoding is carried out on the searched point or surface, directional machining allowance is calculated by a point-tangent plane distance function, and first coordinate information of two end points of the central axis of the axle blank of the high-speed railway in the digital twin virtual space is determined according to the directional machining allowance;
and the laser moving module is used for driving the horizontal track and the vertical track of the two-dimensional moving module based on the first coordinate and moving the laser to the position of the first coordinate.
7. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor in communication with the memory via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the digital twinning-based high-speed rail axle 3D measurement method of any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when run by a processor, performs the digital twinning-based high-speed rail axle 3D measurement method according to any one of claims 1 to 5.
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| CN102062576B (en) * | 2010-11-12 | 2012-11-21 | 浙江大学 | Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof |
| US10310922B2 (en) * | 2015-04-13 | 2019-06-04 | University Of Southern California | Systems and methods for predicting and improving scanning geometric accuracy for 3D scanners |
| CN109211166B (en) * | 2018-09-30 | 2019-09-03 | 南京航空航天大学 | A kind of section structure part constrained based on wall thickness and external form is in machine fast calibrating device and its aligning method |
| CN111993159B (en) * | 2020-08-27 | 2022-02-11 | 江苏科技大学 | In-place non-contact detection method for shaft workpieces |
| CN112614098B (en) * | 2020-12-17 | 2022-09-20 | 大连理工大学 | Blank positioning and machining allowance analysis method based on augmented reality |
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