CN115972093B - Workpiece surface measuring method and device and wing wallboard soft mold polishing method - Google Patents
Workpiece surface measuring method and device and wing wallboard soft mold polishing method Download PDFInfo
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Abstract
The invention discloses a method and a device for measuring the surface of a workpiece and a polishing method of a wing wallboard soft mold, and relates to the technical field of workpiece measurement and polishing. And according to the measuring method of the surface of the workpiece, identifying the defect area of the wing wallboard rubber soft mold, and carrying out path planning to generate a proper polishing path and processing parameters. The invention not only improves the polishing quality and the production efficiency, but also improves the flexibility of a robot processing system, and is suitable for the scene of random distribution of the surface defects of the rubber soft mold.
Description
Technical Field
The invention belongs to the technical field of workpiece measurement and polishing, and particularly relates to a workpiece surface measurement method and device and a wing wallboard soft mold polishing method.
Background
In order to solve the problem of profile matching in the process of integrally forming and manufacturing ribs and a skin on a reinforced wallboard made of composite materials, a cured skin appearance surface is generally used as a forming surface, a rubber soft mold is stuck on the surface of a rigid mold, the skin appearance surface is matched with the rubber soft mold, and the soft mold is manually polished based on a red lead powder gap detection result to eliminate a matching gap, so that the profile matching precision between parts after the mold is pressurized is improved. But the enterprise uses red lead powder to detect, discerns the defect area, and detection efficiency is low, and the mode of manual work mode of polishing is generally adopted in soft mould polishing process moreover, and machining efficiency is low, processingquality is unstable, the operating environment is bad subalternation realistic problem, can not satisfy high efficiency, high accuracy, high quality production requirement.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the following technical scheme.
The invention provides a method for measuring the surface of a workpiece, which comprises the following steps:
acquiring the pose of a positioning target and the pose transformation between the linear structure optical sensor and the positioning target;
calculating the pose of the linear structure light sensor under a laser tracker coordinate system;
acquiring point cloud data of the surface of a workpiece through the line structure light sensor, converting a coordinate system of the point cloud data into a coordinate system of the laser tracker, and integrating a local coordinate system corresponding to the line structure light sensor into a global coordinate system of the laser tracker, so that global splicing of the point cloud data acquired by the line structure light sensor is realized, and point cloud splicing data are obtained;
and processing the point cloud spliced data to obtain three-dimensional data of the surface of the workpiece.
Further, the pose of the line structure light sensor under the laser tracker coordinate system is:
wherein,for the transformation from the positioning target coordinate system to the laser tracker coordinate system, < >>And transforming the pose.
Further, the pose transformation can obtain the following equation set by transforming the pose of the tail end of the robot arm n times, recording the pose of each time T-Mac by using a laser tracker, and acquiring and storing calibration plate image data by using a line structured light sensor:
solving the pose transformation from the line structure light sensor to the positioning target through the form of hand-eye calibration AX=XBWherein (1)>Is the transformation from a positioning target coordinate system to a laser tracker coordinate system,is the transformation from the calibration plate coordinate system to the line structured light sensor coordinate system.
Further, processing the point cloud data includes:
and removing in-vitro orphan points, coincident points and other redundant points in the point cloud splicing data of the workpiece surface.
The invention also provides a polishing method of the wing wallboard soft mold, which comprises the following steps of:
acquiring point cloud data of the skin surface and measurement data of a soft model, and calculating the distance deviation between a measurement point in the measurement data and the point cloud in the point cloud data;
setting a deviation threshold, acquiring a deviation set formed by all the measuring points with the distance deviation larger than the deviation threshold, and generating a defect area according to the deviation set;
and generating a polishing path according to the defect area, and polishing according to the polishing path.
Further, before calculating the distance deviation, the method further comprises:
and registering and aligning the point cloud data and the measurement data.
Further, generating the defect region includes:
and carrying out cluster segmentation processing on the deviation set to generate a defect area.
The invention also proposes a device for measuring the surface of a workpiece, comprising:
the pose conversion unit is used for obtaining the pose of the positioning target and the pose conversion between the linear structure light sensor and the positioning target;
the calculating unit is used for calculating the pose of the linear structure light sensor under the coordinate system of the laser tracker;
the point cloud splicing unit is used for acquiring point cloud data of the surface of a workpiece through the line structure light sensor, converting a coordinate system of the point cloud data into a coordinate system of the laser tracker, and integrating a local coordinate system corresponding to the line structure light sensor into a global coordinate system of the laser tracker, so that global splicing of the point cloud data acquired by the line structure light sensor is realized, and point cloud splicing data are obtained;
and generating a three-dimensional data unit for processing the point cloud spliced data to obtain three-dimensional data of the surface of the workpiece.
Further, the pose of the line structure light sensor under the laser tracker coordinate system is:
wherein,for the transformation from the positioning target coordinate system to the laser tracker coordinate system, < >>And transforming the pose.
Further, the pose transformation can obtain the following equation set by transforming the pose of the tail end of the robot arm n times, recording the pose of each time T-Mac by using a laser tracker, and acquiring and storing calibration plate image data by using a line structured light sensor:
solving the pose transformation from the line structure light sensor to the positioning target through the form of hand-eye calibration AX=XBWherein (1)>Is the transformation from a positioning target coordinate system to a laser tracker coordinate system,is the transformation from the calibration plate coordinate system to the line structured light sensor coordinate system.
The invention has the technical effects that:
(1) The guide rail and the robot carrying line structure light sensor are adopted, the laser tracker tracks the gesture of the positioning target in real time, and the laser tracker performs scanning measurement in a cooperative mode, so that large-area measurement can be flexibly performed, the local coordinate system corresponding to the line structure light sensor is integrated under the global coordinate system of the laser tracker based on the coordinate transformation principle, global splicing of point cloud data acquired by the line structure light sensor is realized, meanwhile, the overlapping part of spliced point cloud is eliminated, and finally, the three-dimensional reconstruction data of the whole surface of an object is obtained. The whole splicing relies on the laser tracker, so that the splicing precision can be effectively ensured, the measurement error of the whole measurement system caused by the vibration of a mechanism can be effectively reduced, the surface automation and high-precision measurement of the rubber soft mould of the wing wallboard are realized, the operation convenience is greatly improved, the portability is high, and large-scale equipment such as a gantry is not relied on.
(2) Registering and aligning the measurement data of the wing panel rubber soft mold and the cured skin appearance surface point cloud data, calculating the distance deviation of the measurement data and the cured skin appearance surface point cloud data, identifying a defect area, clustering and dividing a defect area point set, calculating a corresponding bounding box, planning a path to generate a proper processing path and processing parameters, and polishing the rubber soft mold.
(3) The three-dimensional vision on-line measurement and the on-line polishing path planning technology of the linear structure optical sensor are applied to polishing processing of the rubber soft mold, intelligent polishing of the integration of on-line measurement, intelligent planning and accurate processing can be realized, polishing quality and production efficiency are improved, flexibility of a robot processing system is improved, and the method is suitable for scenes with random distribution of surface defects of the rubber soft mold.
Drawings
FIG. 1 is a flow chart of a method for measuring a surface of a workpiece according to example 1;
FIG. 2 is a schematic structural diagram of a measuring apparatus for a surface of a workpiece according to example 2;
FIG. 3 is a flow chart of a method of polishing a soft mold of a wing panel according to example 3;
FIG. 4 is a component diagram of the measurement polishing system of example 4;
FIG. 5 is a flow chart of a robot intelligent polishing method for a soft rubber mold of a wing panel according to example 5;
FIG. 6 is a flow chart of the measurement of the soft rubber mold and skin of the wing panel of example 6;
FIG. 7 is a schematic diagram of the three-dimensional measurement system of embodiment 7;
FIG. 8 is a flow chart of example 8 wing panel rubber soft mold sanding.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The method provided by the invention can be implemented in a terminal environment, and the terminal can comprise one or more of the following components: processor, memory and display screen. Wherein the memory stores at least one instruction that is loaded and executed by the processor to implement the method described in the embodiments below.
The processor may include one or more processing cores. The processor connects various parts within the overall terminal using various interfaces and lines, performs various functions of the terminal and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory, and invoking data stored in the memory.
The Memory may include random access Memory (Random Access Memory, RAM) or Read-Only Memory (ROM). The memory may be used to store instructions, programs, code, sets of codes, or instructions.
The display screen is used for displaying a user interface of each application program.
In addition, it will be appreciated by those skilled in the art that the structure of the terminal described above is not limiting and that the terminal may include more or fewer components, or may combine certain components, or a different arrangement of components. For example, the terminal further includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, and the like, which are not described herein.
In order to solve the technical problems in the prior art, the invention develops a device and a method capable of automatically detecting and identifying the defect area of the surface of the soft mold, controlling a robot to polish the soft mold of the wing wallboard rubber efficiently and accurately, adopting a measuring system consisting of a linear structure optical sensor and a laser tracker to scan and measure the surface of the soft mold, analyzing data to determine the defect area, planning a path according to point cloud of the defect area, generating a targeted processing path and processing parameters, controlling the robot to polish the surface of the soft mold automatically, and greatly improving measuring accuracy and polishing efficiency.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a method for measuring a surface of a workpiece, including:
step 101, acquiring the pose of a positioning target and pose transformation between a linear optical sensor and the positioning target;
102, calculating the pose of a linear structure light sensor under a laser tracker coordinate system;
the pose of the line structure light sensor under the laser tracker coordinate system is as follows:
wherein,for the transformation from the positioning target coordinate system to the laser tracker coordinate system, < >>And transforming the pose.
The pose transformation is carried out by transforming the pose of the tail end of the n-time robot arm, recording the pose of each T-Mac by using a laser tracker, collecting and storing calibration plate image data by using a line-structured light sensor, and obtaining the following equation set:
solving the pose transformation from the line structure light sensor to the positioning target through the form of hand-eye calibration AX=XBWherein (1)>Is the transformation from a positioning target coordinate system to a laser tracker coordinate system,is the transformation from the calibration plate coordinate system to the line structured light sensor coordinate system.
Step 103, obtaining point cloud data of the surface of a workpiece through the line structure light sensor, converting a coordinate system of the point cloud data into a coordinate system of the laser tracker, and integrating a local coordinate system corresponding to the line structure light sensor into a global coordinate system of the laser tracker, so that global splicing of the point cloud data acquired by the line structure light sensor is realized, and point cloud splicing data is obtained;
and 104, processing the point cloud spliced data to obtain three-dimensional data of the surface of the workpiece.
Processing the point cloud data, including:
and removing in-vitro orphan points, coincident points and other redundant points in the point cloud splicing data of the workpiece surface.
Example 2
As shown in fig. 2, an embodiment of the present invention provides an apparatus for measuring a surface of a workpiece, including:
the pose conversion unit is used for obtaining the pose of the positioning target and the pose conversion between the linear structure light sensor and the positioning target;
the calculating unit is used for calculating the pose of the linear structure light sensor under the coordinate system of the laser tracker;
specifically, the pose of the line structure light sensor under the laser tracker coordinate system is:
wherein,for the transformation from the positioning target coordinate system to the laser tracker coordinate system, < >>And transforming the pose.
In particular, the method comprises the steps of,
the pose transformation is carried out by transforming the pose of the tail end of the n-time robot arm, recording the pose of each T-Mac by using a laser tracker, collecting and storing calibration plate image data by using a line-structured light sensor, and obtaining the following equation set:
solving the pose transformation from the line structure light sensor to the positioning target through the form of hand-eye calibration AX=XBWherein (1)>Is the transformation from a positioning target coordinate system to a laser tracker coordinate system,is the transformation from the calibration plate coordinate system to the line structured light sensor coordinate system.
The point cloud splicing unit is used for acquiring point cloud data of the surface of a workpiece through the line structure light sensor, converting a coordinate system of the point cloud data into a coordinate system of the laser tracker, and integrating a local coordinate system corresponding to the line structure light sensor into a global coordinate system of the laser tracker, so that global splicing of the point cloud data acquired by the line structure light sensor is realized, and point cloud splicing data are obtained;
and generating a three-dimensional data unit for processing the point cloud spliced data to obtain three-dimensional data of the surface of the workpiece.
Example 3
As shown in fig. 3, an embodiment of the present invention provides a polishing method for a soft mold of a wing panel, and the method for measuring a workpiece surface includes:
acquiring point cloud data of a skin surface and measurement data of a soft model, and calculating distance deviation between a measurement point in the measurement data and point cloud in the point cloud data, wherein the method further comprises the following steps before calculating the distance deviation: registering and aligning the point cloud data and the measurement data;
setting a deviation threshold, obtaining a deviation set formed by all the measurement points with the distance deviation larger than the deviation threshold, and generating a defect area according to the deviation set, wherein the generating the defect area comprises the following steps: performing cluster segmentation processing on the deviation set to generate a defect area;
and generating a polishing path according to the defect area, and polishing according to the polishing path.
Example 4
As shown in fig. 4, an embodiment of the present invention provides a robot intelligent polishing system for a soft rubber mold of a wing panel, including: the device comprises a control system, a three-dimensional measurement system, a polishing system, a guide rail and a dust collection device;
the control system module comprises an industrial personal computer and a system control cabinet, is connected with each module and is used for controlling the measuring and polishing system;
the three-dimensional measurement system comprises a measurement robot, a measurement robot control cabinet, a line structure light sensor, a T-mac positioning target, a laser tracker and a clamp; the measuring robot is connected with and controlled by a measuring robot control cabinet, and the measuring robot control cabinet is in communication connection with the system control cabinet; the line structure light sensor and the T-mac positioning target are arranged at the tail end of the measuring robot through a clamp;
the polishing system comprises a polishing robot, a polishing robot control cabinet and a polishing head; the polishing robot is connected with and controlled by a polishing robot control cabinet, and the polishing robot control cabinet is in communication connection with the system control cabinet; the polishing head is arranged at the tail end of the polishing robot;
the guide rail module is connected with the measuring robot and the polishing robot and is used for bearing and driving the measuring robot and the polishing robot to move so as to expand the measuring and polishing range;
the working end of the dust collection device module wraps the tail end of the flexible polishing head and is used for absorbing dust generated in the polishing process of the flexible polishing head.
Example 5
As shown in fig. 4 and 5, the robot on the guide rail drives the line structure light sensor to scan and measure the appearance of the cured skin, and obtains the point cloud data of the surface of the skin as a template point cloud;
the robot on the guide rail drives the linear structure optical sensor to scan and measure the rubber soft mold;
registering and aligning measurement data of a soft rubber mold of the wing wallboard with a template point cloud, calculating distance deviation between measurement points of the soft mold and the template point cloud, judging that the distance deviation is larger than a threshold value, if the distance deviation is larger than the threshold value, dividing a measurement point set of the soft mold with the distance deviation larger than the threshold value through clustering to form a defect area, generating polishing paths of polishing robots according to all the defect areas, sending the polishing paths to a system control cabinet to control a robot polishing device to polish all the defect areas, and controlling the robots on a guide rail to drive line structure optical sensors to scan and measure the soft rubber mold after determining that polishing of all the defect areas is completed;
if not, the soft rubber mold has no defect, and polishing is finished.
Specifically, a line structure light sensor is arranged at the tail end of a mechanical arm of the scanning robot, the soft rubber mold of the large-size wing wallboard and the appearance surface of the skin are scanned and measured according to a preset optimal track, and point cloud data of the surface of a tested workpiece are collected. Fixing the laser tracker relative to the position of the measured workpiece in a world coordinate system, and installing a positioning target at the tail end of the mechanical arm through a clamp, wherein the laser tracker tracks the gesture of the positioning target in real timeThe pose of the linear structure light sensor is mastered in time. Since the line structure light sensor and the positioning target are mounted on the robot end through the fixture, the posture between the two is kept unchanged, if the posture change between the line structure light sensor and the positioning target is determined + +.>Pose of line structured light sensor under laser tracker coordinate system is +.>The method comprises the steps of converting a point cloud data coordinate system measured by a line structure light sensor into a Laser Tracker coordinate system, integrating a local coordinate system corresponding to the line structure light sensor into a Laser Tracker global coordinate system to realize global splicing of point cloud data acquired by the line structure light sensor, and then removing external orphan points, coincident points and other redundant points in surface point cloud spliced data through a point cloud processing algorithm to obtain final three-dimensional data of the surface of a tested workpiece.
Example 6
As shown in fig. 6, the conversion relation of the accessory T-mac coordinate system of the line structure light sensor and the laser tracker is marked;
the laser tracker tracks the position and the posture of the T-mac in real time, the position and the posture of the line structure light sensor can be mastered in time through coordinate transformation, and the point cloud data measured at each moment of the line structure light sensor are uniformly converted into a coordinate system of the laser tracker, so that the point cloud data are spliced;
the method comprises the steps that an actual measurement path of a line structure optical sensor is formed by compounding a movement path of a guide rail and a movement path of a robot, the appearance surface of a skin is scanned and measured, and external orphan points, coincident points and other redundant points in surface point cloud splicing data are removed, so that final three-dimensional data of the appearance surface of the skin is obtained and is used as template data;
scanning and measuring the rubber soft mold by using the linear structure optical sensor, and dividing the external orphan points, the coincident points and other redundant points in the surface point cloud splicing data to obtain final three-dimensional data of the rubber soft mold surface as measurement data;
registering and aligning the measurement data and the template data, and calculating the distance deviation between the measurement point cloud data point of the wing panel rubber soft mold and the template point cloud.
When the positioning accessory can be a six-dimensional pose real-time tracking system matched with a laser tracker, a product with the model of T-Mac Basic TMC30-B can be adopted, six measurement parameters including three position parameters (X, Y, Z) and three pose parameters (psi, phi, gamma) are output in real time, and the relation between a T-Mac unit and the laser tracking unit is describedPose transformation between light sensor and positioning target for alignment of line structure>And the calibration plate is arranged at a proper position, so that the calibration plate can be completely shot by changing a plurality of postures of the linear structure optical sensor. The position and the posture of the tail end of the industrial robot are taught to be changed for a plurality of times, so that the calibration plate can be completely shot every time, and the position change of the calibration plate and the laser tracker is kept unchanged. Assume that the transformation from the positioning target coordinate system to the laser tracker coordinate system is +.>The transformation from the calibration plate coordinate system to the line sensor coordinate system is->The conversion from the calibration plate coordinate system to the laser tracker coordinate system is +.>Under a certain pose, the following conversion relation exists between the coordinate systems:
the pose of the industrial robot is controlled to be transformed n times, and the following equation set can be obtained:
through the form of calibrating AX=XB by hand and eye, through transforming the terminal pose of a plurality of robot arms, recording the pose of the current T-Mac by using a laser tracker, and acquiring and storing calibration plate image data by using a line structured light sensor, the method can solve
Example 7
As shown in fig. 7, a schematic structural diagram of a three-dimensional measurement system may specifically include a line structured light sensor, a laser tracker and a positioning fitting T-Mac, a fixture, and a measurement robot. The flange tail end mounting fixture of the industrial robot, the three-dimensional scanner and the positioning accessory T-Mac of the laser tracker are mounted and fixed on the fixture, the industrial robot is connected with the robot control cabinet, and the three-dimensional scanner, the laser tracker and the robot control cabinet are in communication connection with an industrial computer of a control system.
The laser tracker captures the gesture of locating target in real time, can capture the gesture of line structure light sensor in real time through coordinate conversion, reasonable scanning measurement route that marks line structure light sensor, complete scanning measurement wing wallboard rubber soft mould and covering appearance face, and wherein the actual measurement route of line structure light sensor is formed by the combination of the travel path of guide rail platform and the travel path of arm, the relative position of laser tracker and measured work piece is fixed.
Further, the line structure light sensor may be any one of a binocular line structure light sensor, a monocular plane structure light scanner, a binocular plane structure light scanner, and a multi-view plane structure light scanner.
In order to determine a defect area, scanning a skin appearance surface, registering and aligning measurement data of a wing panel rubber soft mold and the template point cloud by taking skin appearance surface data as the template point cloud, and calculating the distance deviation between a measurement point cloud data point of the wing panel rubber soft mold and the template point cloud under the same coordinate system, if the distance deviation is smaller than a distance deviation threshold value, the wing panel rubber soft mold is qualified, and finishing polishing; otherwise, a polishing program is carried out, point clouds with the distance deviation larger than a distance deviation threshold value are extracted, the Euclidean clustering segmentation method is adopted to segment the measurement data of the soft mode, points with the adjacent distance smaller than a distance threshold epsilon in the point clouds are classified into one class, the distance threshold epsilon is specifically taken as 1/4 of the diameter of a polishing head, the same point set is formed, after each point set is obtained, the point set with the number of the point clouds smaller than 100 is removed, and the reserved point set is used as a defect area. Calculating bounding boxes of each defect area, wherein the center point of the bounding box is the center point of the defect, and the size of the bounding box is the size of the defect. According to the bounding box of the defect area, the control system generates a defect polishing path, the polishing robot is controlled to clamp the flexible polishing head to polish the rubber soft mold according to the generated polishing path, after polishing is finished, the linear structure optical sensor is continuously controlled to scan the whole polished rubber soft mold, registration alignment is carried out on measured data of the wing panel rubber soft mold and template point cloud, distance deviation between measured point cloud data points of the wing panel rubber soft mold and the template point cloud is calculated, and if the distance deviation is smaller than a distance deviation threshold value, the wing panel rubber soft mold is proved to be qualified for polishing; otherwise, the polishing is unqualified, and the rubber soft mold corresponding to the defect area needs to be polished again.
Example 8
As shown in fig. 8, the polishing process may further include:
registering and aligning the measurement point cloud of the rubber soft mold with the template point cloud of the skin outline surface, and calculating the distance deviation between the measurement point cloud data point of the rubber soft mold and the template point cloud;
extracting points with the distance deviation larger than a threshold value in the rubber soft mould, and clustering and dividing the points into a plurality of point sets;
classifying points with adjacent distances smaller than a distance threshold epsilon in the point set, eliminating the point set with the number of point clouds smaller than 100, taking the reserved point set as a defect area, judging that the number of the defect areas is larger than zero, if so, calculating bounding boxes of each defect area, generating a defect polishing path according to the bounding boxes of the defect areas, controlling a polishing robot to polish the defects of the areas, and scanning the whole polished rubber soft mold after polishing of all the defect areas;
if not, finishing polishing the rubber soft mold.
Example 9
The embodiment of the invention also provides electronic equipment, which comprises a processor and a storage medium connected with the processor, wherein the storage medium stores a plurality of instructions, and the instructions can be loaded and executed by the processor so that the processor can execute a workpiece surface measuring method.
Specifically, the electronic device of the present embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.
The storage medium may be used to store a software program and a module, for example, a method for measuring a surface of a workpiece in the embodiment of the present invention, and the processor executes the software program and the module stored in the storage medium, thereby executing various functional applications and data processing, that is, implementing the above-mentioned information pushing method. The storage medium may include a high-speed random access storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage medium. In some examples, the storage medium may further include a storage medium remotely located with respect to the processor, and the remote storage medium may be connected to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor may invoke the information stored in the storage medium and the application program via the transmission system to perform the following steps:
step 101, acquiring the pose of a positioning target and pose transformation between a linear optical sensor and the positioning target;
102, calculating the pose of a linear structure light sensor under a laser tracker coordinate system;
the pose of the line structure light sensor under the laser tracker coordinate system is as follows:
wherein,for locating the pose of the target +.>And transforming the pose.
The pose transformation is carried out by transforming the pose of the tail end of the n-time robot arm, recording the pose of each T-Mac by using a laser tracker, collecting and storing calibration plate image data by using a line-structured light sensor, and obtaining the following equation set:
solving the pose transformation from the line structure light sensor to the positioning target through the form of hand-eye calibration AX=XBWherein (1)>Is the transformation from a positioning target coordinate system to a laser tracker coordinate system,is the transformation from the calibration plate coordinate system to the line structured light sensor coordinate system.
Step 103, obtaining point cloud data of the surface of a workpiece through the line structure light sensor, converting a coordinate system of the point cloud data into a coordinate system of the laser tracker, and integrating a local coordinate system corresponding to the line structure light sensor into a global coordinate system of the laser tracker, so that global splicing of the point cloud data acquired by the line structure light sensor is realized, and point cloud splicing data is obtained;
and 104, processing the point cloud spliced data to obtain three-dimensional data of the surface of the workpiece.
Processing the point cloud data, including:
and removing in-vitro orphan points, coincident points and other redundant points in the point cloud splicing data of the workpiece surface.
Example 10
The embodiment of the invention provides a storage medium, which stores a plurality of instructions for realizing a method for measuring the surface of a workpiece.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The system embodiments described above are merely exemplary, and for example, the division of the units is merely a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or partly in the form of a software product or all or part of the technical solution, which is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or the like, which can store program codes.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (3)
1. A polishing method of a wing wallboard soft mold uses a measuring method of a workpiece surface, and the measuring method of the workpiece surface comprises the following steps: acquiring the pose of a positioning target and the pose transformation between the linear structure optical sensor and the positioning target;
calculating the pose of the linear structure light sensor under a laser tracker coordinate system;
acquiring point cloud data of the surface of a workpiece through the line structure light sensor, converting a coordinate system of the point cloud data into a coordinate system of the laser tracker, and integrating a local coordinate system corresponding to the line structure light sensor into a global coordinate system of the laser tracker, so that global splicing of the point cloud data acquired by the line structure light sensor is realized, and point cloud splicing data are obtained;
processing the point cloud spliced data to obtain three-dimensional data of the surface of the workpiece;
the pose of the line structure light sensor under the laser tracker coordinate system is as follows:
wherein,for the transformation from the positioning target coordinate system to the laser tracker coordinate system, < >>Transforming the pose;
the pose transformation is carried out by transforming the pose of the tail end of the n-time robot arm, recording the pose of each positioning target by using a laser tracker, collecting and storing calibration plate image data by using a line-structured light sensor, and obtaining the following equation set:
solving for the position from the line structured light sensor to the positioning target by means of the form of hand-eye calibration ax=xbGesture transformationWherein (1)>Is the transformation from a positioning target coordinate system to a laser tracker coordinate system,the transformation from the calibration plate coordinate system to the line structure light sensor coordinate system;
acquiring point cloud data of a skin surface and measurement data of a soft mold, and calculating distance deviation between a measurement point in the measurement data and the point cloud in the point cloud data, wherein a line structure light sensor is installed at the tail end of a mechanical arm of a robot, scanning and measuring the soft mold and the skin surface according to a preset optimal track, collecting the point cloud data of the surface of a measured workpiece, fixing a laser tracker relative to the position of the measured workpiece in a world coordinate system, installing a positioning target at the tail end of the mechanical arm through a clamp, and tracking the gesture of the positioning target in real time by the laser trackerTimely acquiring the pose of the line structure light sensor, if the pose transformation between the line structure light sensor and the positioning target is determined +.>The pose of the line structured light sensor under the laser tracker coordinate system is +.>Converting the point cloud data coordinate system measured by the line structure light sensor into a laser tracker coordinate system, integrating the local coordinate system corresponding to the line structure light sensor into a laser tracker global coordinate system to realize global splicing of the point cloud data acquired by the line structure light sensor,
compounding the moving path of the guide rail and the moving path of the robot to generate an actual measuring path of the linear structure optical sensor, scanning and measuring the surface of the skin, and removing external orphan points, coincident points and other redundant points in the point cloud data to obtain final three-dimensional data of the surface of the skin as template data;
scanning and measuring a soft mold by using a line structure optical sensor, and removing external orphan points, coincident points and other redundant points in the point cloud data to obtain final soft mold surface three-dimensional data serving as measurement data;
registering and aligning the measurement data and the template data, and calculating the distance deviation between the measurement point cloud data point in the measurement data and the template point cloud in the template data;
setting a deviation threshold, acquiring a deviation set formed by all the measuring points with the distance deviation larger than the deviation threshold, and generating a defect area according to the deviation set;
and generating a polishing path according to the defect area, and polishing according to the polishing path.
2. A method of sanding a flexible mold of a wing panel according to claim 1, further comprising, prior to calculating the distance deviation:
and registering and aligning the point cloud data and the measurement data.
3. The method of sanding a soft mold of a wing panel according to claim 1, wherein generating a defect area comprises:
and carrying out cluster segmentation processing on the deviation set to generate a defect area.
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