CN116400374B - Measuring device and method based on high-precision laser signal acquisition - Google Patents

Abstract

The invention provides a measuring device and a measuring method based on high-precision laser signal acquisition, wherein the measuring device comprises at least one laser radar for acquiring point cloud data, a communication module for sending and receiving data through a communication network, a modeling module for establishing a three-dimensional model according to a second laser signal, a vibration detection module for acquiring vibration data, a bearing module for bearing an object to be measured and a control processing module, and the laser radar comprises a laser signal transmitting module for transmitting a first laser signal, a photoelectric detection module for acquiring the laser signal to convert the laser signal into an electric signal, a pre-amplification module for amplifying the electric signal, a filtering module for reducing noise of the electric signal and a post-amplification circuit for optimizing the electric signal. According to the scheme provided by the embodiment of the invention, the laser point cloud data with high precision is obtained by utilizing the laser signals, and the measurement precision is improved by combining the information in the standard design drawing.

Description

Measuring device and method based on high-precision laser signal acquisition

Technical Field

The invention relates to the technical field of measurement, in particular to a measurement device and method based on high-precision laser signal acquisition.

Background

In current production and life, measurement of three-dimensional information of a product/article is indispensable. At present, the existing three-dimensional measurement scheme has the defects that a great part of the existing three-dimensional measurement scheme is manually measured, and the efficiency is low; in addition, for detection of some precise instruments, the contact type measuring equipment is not easy to install, scratches and the like are generated on the surface of a detected object, so that a non-contact type measuring technology based on optics is rapidly developed, and the technology is widely applied to the fields of design and manufacture of products, quality detection and the like.

The existing three-dimensional measurement scheme based on optics is low in measurement accuracy and easy to error.

Disclosure of Invention

Based on the problems, the invention provides a measuring device and a measuring method based on high-precision laser signal acquisition.

In view of this, an aspect of the present invention proposes a measurement device based on high-precision laser signal acquisition, including at least one laser radar for acquiring point cloud data, a communication module for transmitting and receiving data through a communication network, a modeling module for establishing a three-dimensional model from a second laser signal, a vibration detection module for acquiring vibration data, a carrying module for carrying an object to be measured, and a control processing module, the laser radar including a laser signal transmitting module for transmitting a first laser signal, a photodetection module for acquiring a laser signal to convert the laser signal into an electrical signal, a pre-amplification module for amplifying the electrical signal, a filtering module for noise reduction of the electrical signal, and a post-amplification circuit for optimizing the electrical signal; wherein,

The control processing module is configured to:

obtaining a standard design drawing of the object to be measured;

Identifying the standard design drawing to obtain the size information and the two-dimensional coordinate information of the key object;

Selecting N standard samples corresponding to the object to be measured;

acquiring N groups of first point cloud data of the N standard samples through first laser radar scanning;

Respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data;

annotating the N three-dimensional models by combining the size information and the two-dimensional coordinate information to obtain a standard three-dimensional model library consisting of N standard three-dimensional models;

Determining a reference measurement requirement according to the standard design drawing;

determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement;

Acquiring second point cloud data of the object to be measured through a second laser radar;

Reconstructing a three-dimensional model to be measured of the object to be measured according to the second point cloud data;

Copying the three-dimensional model to be measured to obtain N copied three-dimensional models;

The specification of the N copied three-dimensional models is adjusted to be in one-to-one correspondence with the specification of the N standard three-dimensional models in the standard three-dimensional model library, so that N first copied three-dimensional models are obtained;

respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas;

Respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets;

Obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets;

And processing and analyzing the first measurement data according to the expected rule, and outputting measurement report data.

Optionally, in the step of determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement, the control processing module is configured to:

Respectively determining M first reference measurement areas on each of the N standard three-dimensional models in the standard three-dimensional model library;

Respectively determining all first reference coordinate values of each first reference measurement region in the M first reference measurement regions, first point association relations among all the first reference coordinate values and first region association relations among P first reference points and each first reference measurement region on each standard three-dimensional model in the N standard three-dimensional models;

for each of the N standard three-dimensional models, the corresponding M first reference measurement areas are taken as the reference measurement areas.

Optionally, in the step of determining measurement areas from each of the N first replicated three-dimensional models according to the reference measurement area, respectively, obtaining N first measurement areas, the control processing module is configured to:

Respectively determining P first replication reference points on each first replication three-dimensional model in the N first replication three-dimensional models according to the P first reference points of the reference measurement area;

Determining M first replication measurement areas according to the first point association relations among the P first replication reference points and all the first reference coordinate values;

and determining the N first measurement areas according to the first area association relation between the M first replication measurement areas and each first reference measurement area.

Optionally, in the step of acquiring the second point cloud data of the object to be measured by the second laser radar, the control processing module is configured to synchronously perform the following steps:

collecting vibration data of bearing equipment by a vibration sensor arranged on the bearing equipment where the object to be measured is located, and simultaneously recording and acquiring corresponding first time data of the vibration data;

continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, and simultaneously recording corresponding second time data for acquiring the third point cloud data;

Obtaining spatial error data of the object to be measured according to the vibration data, the first time data, the third point cloud data and the second time data;

and correcting the second point cloud data according to the space error data.

Optionally, in the step of identifying the standard design drawing and obtaining the size information and the two-dimensional coordinate information of the key object, the control processing module is configured to:

identifying the identification primitive information, the proportion information and the labeling information in the standard design drawing;

determining the key object according to the primitive information;

and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information.

Another aspect of the present invention provides a measurement method based on high-precision laser signal acquisition, the method comprising:

obtaining a standard design drawing of an object to be measured;

Identifying the standard design drawing to obtain the size information and the two-dimensional coordinate information of the key object;

Selecting N standard samples corresponding to the object to be measured;

acquiring N groups of first point cloud data of the N standard samples through first laser radar scanning;

Respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data;

annotating the N three-dimensional models by combining the size information and the two-dimensional coordinate information to obtain a standard three-dimensional model library consisting of N standard three-dimensional models;

Determining a reference measurement requirement according to the standard design drawing;

determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement;

Acquiring second point cloud data of the object to be measured through a second laser radar;

Reconstructing a three-dimensional model to be measured of the object to be measured according to the second point cloud data;

Copying the three-dimensional model to be measured to obtain N copied three-dimensional models;

The specification of the N copied three-dimensional models is adjusted to be in one-to-one correspondence with the specification of the N standard three-dimensional models in the standard three-dimensional model library, so that N first copied three-dimensional models are obtained;

respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas;

Respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets;

Obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets;

And processing and analyzing the first measurement data according to the expected rule, and outputting measurement report data.

Optionally, the step of determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement includes:

Respectively determining M first reference measurement areas on each of the N standard three-dimensional models in the standard three-dimensional model library;

Respectively determining all first reference coordinate values of each first reference measurement region in the M first reference measurement regions, first point association relations among all the first reference coordinate values and first region association relations among P first reference points and each first reference measurement region on each standard three-dimensional model in the N standard three-dimensional models;

for each of the N standard three-dimensional models, the corresponding M first reference measurement areas are taken as the reference measurement areas.

Optionally, the step of determining the measurement areas from each of the N first replicated three-dimensional models according to the reference measurement area, to obtain N first measurement areas includes:

Respectively determining P first replication reference points on each first replication three-dimensional model in the N first replication three-dimensional models according to the P first reference points of the reference measurement area;

Determining M first replication measurement areas according to the first point association relations among the P first replication reference points and all the first reference coordinate values;

and determining the N first measurement areas according to the first area association relation between the M first replication measurement areas and each first reference measurement area.

Optionally, in the step of acquiring the second point cloud data of the object to be measured by the second lidar, the following steps are further performed synchronously:

collecting vibration data of bearing equipment by a vibration sensor arranged on the bearing equipment where the object to be measured is located, and simultaneously recording and acquiring corresponding first time data of the vibration data;

continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, and simultaneously recording corresponding second time data for acquiring the third point cloud data;

Obtaining spatial error data of the object to be measured according to the vibration data, the first time data, the third point cloud data and the second time data;

and correcting the second point cloud data according to the space error data.

Optionally, the step of identifying the standard design drawing to obtain size information and two-dimensional coordinate information of the key object includes:

identifying the identification primitive information, the proportion information and the labeling information in the standard design drawing;

determining the key object according to the primitive information;

and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information.

According to the technical scheme, the measuring device based on high-precision laser signal acquisition comprises at least one laser radar for acquiring point cloud data, a communication module for sending and receiving data through a communication network, a modeling module for establishing a three-dimensional model according to a second laser signal, a vibration detection module for acquiring vibration data, a bearing module for bearing an object to be measured and a control processing module, wherein the laser radar comprises a laser signal transmitting module for transmitting a first laser signal, a photoelectric detection module for acquiring the laser signal to convert the laser signal into an electric signal, a pre-amplification module for amplifying the electric signal, a filtering module for reducing noise of the electric signal and a post-amplification circuit for optimizing the electric signal. According to the scheme provided by the embodiment of the invention, the laser point cloud data with high precision is obtained by utilizing the laser signals, and the measurement precision is improved by combining the information in the standard design drawing.

Drawings

FIG. 1 is a schematic block diagram of a measurement device based on high precision laser signal acquisition provided in one embodiment of the present invention;

fig. 2 is a flowchart of a measurement method based on high-precision laser signal acquisition according to an embodiment of the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

A measurement device and method based on high-precision laser signal acquisition according to some embodiments of the present invention are described below with reference to fig. 1 to 2.

As shown in fig. 1, one embodiment of the present invention provides a measurement device based on high-precision laser signal acquisition, including at least one laser radar for acquiring point cloud data, a communication module for transmitting and receiving data through a communication network, a modeling module for establishing a three-dimensional model according to a second laser signal, a vibration detection module for acquiring vibration data, a carrying module for carrying an object to be measured, and a control processing module, where the laser radar includes a laser signal transmitting module for transmitting a first laser signal, a photoelectric detection module for acquiring a laser signal to convert the laser signal into an electrical signal, a pre-amplification module for amplifying the electrical signal, a filtering module for reducing noise of the electrical signal, and a post-amplification circuit for optimizing the electrical signal; wherein,

The control processing module is configured to:

obtaining a standard design drawing of the object to be measured;

Identifying the standard design drawing to obtain the size information and the two-dimensional coordinate information of the key object;

Selecting N standard samples corresponding to the object to be measured;

acquiring N groups of first point cloud data of the N standard samples through first laser radar scanning;

Respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data;

annotating the N three-dimensional models by combining the size information and the two-dimensional coordinate information to obtain a standard three-dimensional model library consisting of N standard three-dimensional models;

Determining a reference measurement requirement according to the standard design drawing;

determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement;

Acquiring second point cloud data of the object to be measured through a second laser radar;

Reconstructing a three-dimensional model to be measured of the object to be measured according to the second point cloud data;

Copying the three-dimensional model to be measured to obtain N copied three-dimensional models;

The specification of the N copied three-dimensional models is adjusted to be in one-to-one correspondence with the specification of the N standard three-dimensional models in the standard three-dimensional model library, so that N first copied three-dimensional models are obtained;

respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas;

Respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets;

Obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets;

And processing and analyzing the first measurement data according to the expected rule, and outputting measurement report data.

It should be noted that the standard design drawing may be a final finalized design drawing of a product/article, but because there may be a small difference in physical parameters that does not affect functions in different individual products of the same article manufactured according to the same standard in real production and life, in order not to cause erroneous measurement due to such small difference, in this embodiment, data of N standard samples of the article to be measured are selected as measurement comparison data to bring the product belonging to the foregoing small difference range into a normal product range as much as possible.

The reference measurement requirements are determined according to the data available in the standard design drawing (such as specification, material description, functional explanation, process requirements, etc. in terms of size/length/thickness/flatness/volume/radian/color, etc. of the whole product or each component), for example, it can be determined which components are important objects (such as core component/fragile component) to be focused on, which aspects in terms of size/length/thickness/flatness/volume/radian/color, etc. of the core component/fragile component need to be measured, how to measure, etc.

In an embodiment of the invention, the object is scanned by a laser radar to obtain point cloud data of the object, which contains three-dimensional coordinates. For example, acquiring N groups of first point cloud data of the N (N is a positive integer) standard samples through first laser radar scanning, and respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data; and annotating the N three-dimensional models by utilizing the size information and the two-dimensional coordinate information in combination with the size information and the two-dimensional coordinate information of the key object identified from the standard design drawing of the object to be measured, so as to obtain a standard three-dimensional model library consisting of the N standard three-dimensional models. And determining a reference measurement requirement according to the standard design drawing, and determining a reference measurement area (which can be a communicated area or can be formed by a plurality of non-communicated subareas) on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement. For another example, second point cloud data of the object to be measured is obtained through a second laser radar, a three-dimensional model to be measured of the object to be measured is reconstructed according to the second point cloud data, the three-dimensional model to be measured is copied to obtain N copied three-dimensional models, the specifications of the N copied three-dimensional models are adjusted to be in one-to-one correspondence (such as same size, same coordinate system and the like) with the specifications of the N standard three-dimensional models in the standard three-dimensional model library, and N first copied three-dimensional models are obtained.

Respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas; respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets; obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets; the first measurement data is processed and analyzed according to the expected rule, and measurement report data is output, for example, a data processing and analyzing model corresponding to the current product/article is determined according to a preset data processing and analyzing model corresponding to the type of the product/article (for example, the measurement of the product/article is mainly based on the shape, the size and the like of the product, the measurement of the product/article is mainly based on the color, the flatness and the like, the collected type and the collected quantity of the data are different according to different conditions, and the processing and analyzing flow/model are different), the data processing and analyzing model corresponding to the current product/article is determined according to the selection rule, and the measurement report data is output.

According to the scheme provided by the embodiment of the invention, the laser point cloud data with high precision is obtained by utilizing the laser signals, and the measurement precision is improved by combining the information in the standard design drawing.

It may be appreciated that, in some embodiments of the present invention, to increase security of data in transmission and storage processes, the point cloud data may be encrypted, for example, for coordinate data in the point cloud data, all X values may be used as a first X set, all Y values may be used as a first Y set, all Z values may be used as a first Z set, a first encryption algorithm may be used to encrypt the first X set to obtain a second X set, a second encryption algorithm may be used to encrypt the first Y set to obtain a second Y set, and a third encryption algorithm may be used to encrypt the first Z set to obtain a second Z set, where the first encryption algorithm may be generated based on at least one of the first Y set and the first Z set (e.g., a random number sequence/pseudo random number sequence may be generated in combination with the first Y set and/or the first Z set), and a first encryption algorithm may be constructed based thereon); the second encryption algorithm may be generated based on at least one of the first X set and the first Z set (e.g., generating a random number sequence/pseudo-random number sequence in combination with the first X set and/or the first Z set, and constructing the second encryption algorithm based thereon); the third encryption algorithm may be generated based on at least one of the first Y-set and the first X-set (e.g., generating a random number column/pseudo-random number column in combination with the first Y-set and/or the first X-set, and constructing the third encryption algorithm based thereon). When point cloud data transmission or storage is carried out after encryption is completed on all X, Y, Z values, one of a second Y set and a second Z set is randomly selected based on the second X set, and the second X set is mixed with the second X set to be used as an encrypted X value, and the encrypted X value is transmitted or stored to a first storage area through a first transmission channel; based on the second Y set, randomly selecting one of the second X set and the second Z set, mixing with the second Y set to serve as an encrypted Y value, and transmitting or storing the encrypted Y value to a second storage area through a second transmission channel; based on the second Z set, randomly selecting one of the second X set and the second Y set, mixing with the second Z set to serve as an encrypted Z value, and transmitting or storing the encrypted Z value to a third storage area through a third transmission channel. Of course, the reflection intensity data in the point cloud data may be encrypted with one or more kinds of data, respectively, which is not limited by the embodiment of the present invention.

It should be noted that the block diagram of the measuring device based on high-precision laser signal acquisition shown in fig. 1 is only schematic, and the number of the modules shown is not limiting to the scope of the present invention.

In some possible embodiments of the present invention, in the step of determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement, the control processing module is configured to:

Respectively determining M first reference measurement areas on each of the N standard three-dimensional models in the standard three-dimensional model library;

Respectively determining all first reference coordinate values of each first reference measurement region in the M first reference measurement regions, first point association relations among all the first reference coordinate values and first region association relations among P first reference points and each first reference measurement region on each standard three-dimensional model in the N standard three-dimensional models;

for each of the N standard three-dimensional models, the corresponding M first reference measurement areas are taken as the reference measurement areas.

It can be understood that, in order to perform targeted measurement on a key region/object and achieve simultaneous measurement of a plurality of specific regions to improve measurement efficiency, in this embodiment, each reference measurement region is composed of a plurality of sub-regions (M first reference measurement regions, M being a positive integer). By determining all first reference coordinate values of each of the M first reference measurement regions (i.e., coordinate values of all points within the first reference measurement region), first point association relationships among all the first reference coordinate values (i.e., relationships between points within the first reference measurement region such as positional relationships, coordinate relationships, etc.), P first reference points (one or more reference points are determined from all points within each first reference measurement region), and first region association relationships among each of the first reference measurement regions (i.e., relationships between each sub-region such as positional relationships, coordinate relationships, etc.), for each of the N standard three-dimensional models, the corresponding M first reference measurement regions are taken as the reference measurement regions, and N standard measurement regions are obtained as a whole.

In some possible embodiments of the present invention, in the step of determining measurement areas from each of the N first replicated three-dimensional models according to the reference measurement area, respectively, obtaining N first measurement areas, the control processing module is configured to:

Respectively determining P first replication reference points on each first replication three-dimensional model in the N first replication three-dimensional models according to the P first reference points of the reference measurement area;

Determining M first replication measurement areas according to the first point association relations among the P first replication reference points and all the first reference coordinate values;

and determining the N first measurement areas according to the first area association relation between the M first replication measurement areas and each first reference measurement area.

It will be appreciated that in this embodiment, using the data of the reference measurement areas, N first measurement areas are determined from N first replicated three-dimensional models of the item to be measured for targeted measurement.

In some possible embodiments of the present invention, during the step of acquiring the second point cloud data of the object to be measured by the second lidar, the control processing module is configured to synchronously perform the following steps:

collecting vibration data of bearing equipment by a vibration sensor arranged on the bearing equipment where the object to be measured is located, and simultaneously recording and acquiring corresponding first time data of the vibration data;

continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, and simultaneously recording corresponding second time data for acquiring the third point cloud data;

Obtaining spatial error data of the object to be measured according to the vibration data, the first time data, the third point cloud data and the second time data;

and correcting the second point cloud data according to the space error data.

It can be understood that, in order to exclude interference of external factors, so that measurement is more accurate, in this embodiment, vibration data (such as vibration amplitude, vibration frequency, etc.) of a bearing device where the object to be measured is located is collected by a vibration sensor disposed on the bearing device, and corresponding first time data for obtaining the vibration data is recorded at the same time; continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, for example, fixing the third laser radar in a horizontal plane where the object to be measured is located, continuously or at a certain frequency, acquiring the third point cloud data of the object to be measured (according to coordinate data analysis, the position change of the object to be measured in space can be reflected), and simultaneously recording corresponding second time data for acquiring the third point cloud data; and analyzing the vibration data, the first time data, the third point cloud data and the second time data to obtain the spatial position change of the object to be measured caused by vibration or other reasons, so that the spatial error data of the object to be measured can be further obtained, and the second point cloud data is corrected according to the spatial error data to obtain measurement data with higher precision.

In some possible embodiments of the present invention, in the step of identifying the standard design drawing and obtaining the size information and the two-dimensional coordinate information of the key object, the control processing module is configured to:

identifying the identification primitive information, the proportion information and the labeling information in the standard design drawing;

determining the key object according to the primitive information;

and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information.

It can be understood that the standard design drawing of the article comprises structural features, primitive information, proportion information, annotation information and the like of the article, and the key object, namely a key measurement component or structure, can be determined according to the primitive information; and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information so as to provide reference data for subsequent measurement.

Referring to fig. 2, another embodiment of the present invention provides a measurement method based on high-precision laser signal acquisition, the method includes:

obtaining a standard design drawing of an object to be measured;

Identifying the standard design drawing to obtain the size information and the two-dimensional coordinate information of the key object;

Selecting N standard samples corresponding to the object to be measured;

acquiring N groups of first point cloud data of the N standard samples through first laser radar scanning;

Respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data;

annotating the N three-dimensional models by combining the size information and the two-dimensional coordinate information to obtain a standard three-dimensional model library consisting of N standard three-dimensional models;

Determining a reference measurement requirement according to the standard design drawing;

determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement;

Acquiring second point cloud data of the object to be measured through a second laser radar;

Reconstructing a three-dimensional model to be measured of the object to be measured according to the second point cloud data;

Copying the three-dimensional model to be measured to obtain N copied three-dimensional models;

The specification of the N copied three-dimensional models is adjusted to be in one-to-one correspondence with the specification of the N standard three-dimensional models in the standard three-dimensional model library, so that N first copied three-dimensional models are obtained;

respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas;

Respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets;

Obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets;

And processing and analyzing the first measurement data according to the expected rule, and outputting measurement report data.

It should be noted that the standard design drawing may be a final finalized design drawing of a product/article, but because there may be a small difference in physical parameters that does not affect functions in different individual products of the same article manufactured according to the same standard in real production and life, in order not to cause erroneous measurement due to such small difference, in this embodiment, data of N standard samples of the article to be measured are selected as measurement comparison data to bring the product belonging to the foregoing small difference range into a normal product range as much as possible.

The reference measurement requirements are determined according to the data (such as specification, material description, functional explanation, process requirements, etc. of the whole product or the size/length/thickness/flatness/volume/radian/color of each component) available in the standard design drawing, for example, it can be determined which components are important objects (such as core component/fragile component) to be focused on, which aspects of the size/length/thickness/flatness/volume/radian/color of the core component/fragile component need to be measured, how to measure, etc.

In an embodiment of the invention, the object is scanned by a laser radar to obtain point cloud data of the object, which contains three-dimensional coordinates. For example, acquiring N groups of first point cloud data of the N (N is a positive integer) standard samples through first laser radar scanning, and respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data; and annotating the N three-dimensional models by utilizing the size information and the two-dimensional coordinate information in combination with the size information and the two-dimensional coordinate information of the key object identified from the standard design drawing of the object to be measured, so as to obtain a standard three-dimensional model library consisting of the N standard three-dimensional models. And determining a reference measurement requirement according to the standard design drawing, and determining a reference measurement area (which can be a communicated area or can be formed by a plurality of non-communicated subareas) on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement. For another example, second point cloud data of the object to be measured is obtained through a second laser radar, a three-dimensional model to be measured of the object to be measured is reconstructed according to the second point cloud data, the three-dimensional model to be measured is copied to obtain N copied three-dimensional models, the specifications of the N copied three-dimensional models are adjusted to be in one-to-one correspondence (such as same size, same coordinate system and the like) with the specifications of the N standard three-dimensional models in the standard three-dimensional model library, and N first copied three-dimensional models are obtained.

Respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas; respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets; obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets; the first measurement data is processed and analyzed according to the expected rule, and measurement report data is output, for example, a data processing and analyzing model corresponding to the current product/article is determined according to a preset data processing and analyzing model corresponding to the type of the product/article (for example, the measurement of the product/article is mainly based on the shape, the size and the like of the product, the measurement of the product/article is mainly based on the color, the flatness and the like, the collected type and the collected quantity of the data are different according to different conditions, and the processing and analyzing flow/model are different), the data processing and analyzing model corresponding to the current product/article is determined according to the selection rule, and the measurement report data is output.

According to the scheme provided by the embodiment of the invention, the laser point cloud data with high precision is obtained by utilizing the laser signals, and the measurement precision is improved by combining the information in the standard design drawing.

It may be appreciated that, in some embodiments of the present invention, to increase security of data in transmission and storage processes, the point cloud data may be encrypted, for example, for coordinate data in the point cloud data, all X values may be used as a first X set, all Y values may be used as a first Y set, all Z values may be used as a first Z set, a first encryption algorithm may be used to encrypt the first X set to obtain a second X set, a second encryption algorithm may be used to encrypt the first Y set to obtain a second Y set, and a third encryption algorithm may be used to encrypt the first Z set to obtain a second Z set, where the first encryption algorithm may be generated based on at least one of the first Y set and the first Z set (e.g., a random number sequence/pseudo random number sequence may be generated in combination with the first Y set and/or the first Z set), and a first encryption algorithm may be constructed based thereon); the second encryption algorithm may be generated based on at least one of the first X set and the first Z set (e.g., generating a random number sequence/pseudo-random number sequence in combination with the first X set and/or the first Z set, and constructing the second encryption algorithm based thereon); the third encryption algorithm may be generated based on at least one of the first Y-set and the first X-set (e.g., generating a random number column/pseudo-random number column in combination with the first Y-set and/or the first X-set, and constructing the third encryption algorithm based thereon). When point cloud data transmission or storage is carried out after encryption is completed on all X, Y, Z values, one of a second Y set and a second Z set is randomly selected based on the second X set, and the second X set is mixed with the second X set to be used as an encrypted X value, and the encrypted X value is transmitted or stored to a first storage area through a first transmission channel; based on the second Y set, randomly selecting one of the second X set and the second Z set, mixing with the second Y set to serve as an encrypted Y value, and transmitting or storing the encrypted Y value to a second storage area through a second transmission channel; based on the second Z set, randomly selecting one of the second X set and the second Y set, mixing with the second Z set to serve as an encrypted Z value, and transmitting or storing the encrypted Z value to a third storage area through a third transmission channel. Of course, the reflection intensity data in the point cloud data may be encrypted with one or more kinds of data, respectively, which is not limited by the embodiment of the present invention.

In some possible embodiments of the present invention, the step of determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement includes:

Respectively determining M first reference measurement areas on each of the N standard three-dimensional models in the standard three-dimensional model library;

Respectively determining all first reference coordinate values of each first reference measurement region in the M first reference measurement regions, first point association relations among all the first reference coordinate values and first region association relations among P first reference points and each first reference measurement region on each standard three-dimensional model in the N standard three-dimensional models;

for each of the N standard three-dimensional models, the corresponding M first reference measurement areas are taken as the reference measurement areas.

It can be understood that, in order to perform targeted measurement on a key region/object and achieve simultaneous measurement of a plurality of specific regions to improve measurement efficiency, in this embodiment, each reference measurement region is composed of a plurality of sub-regions (M first reference measurement regions, M being a positive integer). By determining all first reference coordinate values of each of the M first reference measurement regions (i.e., coordinate values of all points within the first reference measurement region), first point association relationships among all the first reference coordinate values (i.e., relationships between points within the first reference measurement region such as positional relationships, coordinate relationships, etc.), P first reference points (one or more reference points are determined from all points within each first reference measurement region), and first region association relationships among each of the first reference measurement regions (i.e., relationships between each sub-region such as positional relationships, coordinate relationships, etc.), for each of the N standard three-dimensional models, the corresponding M first reference measurement regions are taken as the reference measurement regions, and N standard measurement regions are obtained as a whole.

In some possible embodiments of the present invention, the step of determining the measurement areas from each of the N first replicated three-dimensional models according to the reference measurement area, to obtain N first measurement areas includes:

Respectively determining P first replication reference points on each first replication three-dimensional model in the N first replication three-dimensional models according to the P first reference points of the reference measurement area;

Determining M first replication measurement areas according to the first point association relations among the P first replication reference points and all the first reference coordinate values;

and determining the N first measurement areas according to the first area association relation between the M first replication measurement areas and each first reference measurement area.

It will be appreciated that in this embodiment, using the data of the reference measurement areas, N first measurement areas are determined from N first replicated three-dimensional models of the item to be measured for targeted measurement.

In some possible embodiments of the present invention, during the step of acquiring the second point cloud data of the object to be measured by the second lidar, the following steps are further performed synchronously:

collecting vibration data of bearing equipment by a vibration sensor arranged on the bearing equipment where the object to be measured is located, and simultaneously recording and acquiring corresponding first time data of the vibration data;

continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, and simultaneously recording corresponding second time data for acquiring the third point cloud data;

Obtaining spatial error data of the object to be measured according to the vibration data, the first time data, the third point cloud data and the second time data;

and correcting the second point cloud data according to the space error data.

It can be understood that, in order to exclude interference of external factors, so that measurement is more accurate, in this embodiment, vibration data (such as vibration amplitude, vibration frequency, etc.) of a bearing device where the object to be measured is located is collected by a vibration sensor disposed on the bearing device, and corresponding first time data for obtaining the vibration data is recorded at the same time; continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, for example, fixing the third laser radar in a horizontal plane where the object to be measured is located, continuously or at a certain frequency, acquiring the third point cloud data of the object to be measured (according to coordinate data analysis, the position change of the object to be measured in space can be reflected), and simultaneously recording corresponding second time data for acquiring the third point cloud data; and analyzing the vibration data, the first time data, the third point cloud data and the second time data to obtain the spatial position change of the object to be measured caused by vibration or other reasons, so that the spatial error data of the object to be measured can be further obtained, and the second point cloud data is corrected according to the spatial error data to obtain measurement data with higher precision.

In some possible embodiments of the present invention, the step of identifying the standard design drawing and obtaining size information and two-dimensional coordinate information of the key object includes:

identifying the identification primitive information, the proportion information and the labeling information in the standard design drawing;

determining the key object according to the primitive information;

and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information.

It can be understood that the standard design drawing of the article comprises structural features, primitive information, proportion information, annotation information and the like of the article, and the key object, namely a key measurement component or structure, can be determined according to the primitive information; and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information so as to provide reference data for subsequent measurement.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as 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 an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over 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 application 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 described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, comprising 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 above-mentioned method of the various embodiments of the present application. And the aforementioned memory includes: a usb 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 other various media capable of storing program codes.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

The foregoing has outlined rather broadly the more detailed description of embodiments of the application, wherein the principles and embodiments of the application are explained in detail using specific examples, the above examples being provided solely to facilitate the understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Although the present invention is disclosed above, the present invention is not limited thereto. Variations and modifications, including combinations of the different functions and implementation steps, as well as embodiments of the software and hardware, may be readily apparent to those skilled in the art without departing from the spirit and scope of the invention.

Claims (8)

1. The measuring device based on high-precision laser signal acquisition is characterized by comprising at least one laser radar for acquiring point cloud data, a communication module for sending and receiving data through a communication network, a modeling module for establishing a three-dimensional model according to a second laser signal, a vibration detection module for acquiring vibration data, a bearing module for bearing an object to be measured and a control processing module, wherein the laser radar comprises a laser signal transmitting module for transmitting a first laser signal, a photoelectric detection module for acquiring the laser signal to convert the laser signal into an electric signal, a pre-amplification module for amplifying the electric signal, a filtering module for reducing noise of the electric signal and a post-amplification circuit for optimizing the electric signal; wherein,

The control processing module is configured to:

obtaining a standard design drawing of the object to be measured;

Identifying the standard design drawing to obtain the size information and the two-dimensional coordinate information of the key object;

Selecting N standard samples corresponding to the object to be measured;

acquiring N groups of first point cloud data of the N standard samples through first laser radar scanning;

Respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data;

annotating the N three-dimensional models by combining the size information and the two-dimensional coordinate information to obtain a standard three-dimensional model library consisting of N standard three-dimensional models;

Determining reference measurement requirements according to the standard design drawing, wherein the reference measurement requirements are determined according to specifications, material descriptions, functional explanation and process requirements of the whole product or each part of the product, namely the size, the length, the thickness, the flatness, the volume, the radian and the color of the product obtained in the standard design drawing;

determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement;

Acquiring second point cloud data of the object to be measured through a second laser radar;

Reconstructing a three-dimensional model to be measured of the object to be measured according to the second point cloud data;

Copying the three-dimensional model to be measured to obtain N copied three-dimensional models;

The specification of the N copied three-dimensional models is adjusted to be in one-to-one correspondence with the specification of the N standard three-dimensional models in the standard three-dimensional model library, so that N first copied three-dimensional models are obtained;

respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas;

Respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets;

Obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets;

processing and analyzing the first measurement data according to the expected rule, and outputting measurement report data, specifically: determining a data processing and analyzing model corresponding to the article to be measured according to a preset data processing and analyzing model selection rule corresponding to the type of the article to be measured, processing and analyzing the first measurement data by using the selected model, and outputting measurement report data;

In the process of executing the step of acquiring the second point cloud data of the object to be measured through the second laser radar, the control processing module is configured to synchronously execute the following steps:

collecting vibration data of bearing equipment by a vibration sensor arranged on the bearing equipment where the object to be measured is located, and simultaneously recording and acquiring corresponding first time data of the vibration data;

continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, and simultaneously recording corresponding second time data for acquiring the third point cloud data;

Obtaining spatial error data of the object to be measured according to the vibration data, the first time data, the third point cloud data and the second time data;

and correcting the second point cloud data according to the space error data.

2. The measurement device based on high precision laser signal acquisition according to claim 1, wherein in the step of determining a reference measurement area on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement, the control processing module is configured to:

Respectively determining M first reference measurement areas on each of the N standard three-dimensional models in the standard three-dimensional model library;

Respectively determining all first reference coordinate values of each first reference measurement region in the M first reference measurement regions, first point association relations among all the first reference coordinate values and first region association relations among P first reference points and each first reference measurement region on each standard three-dimensional model in the N standard three-dimensional models;

for each of the N standard three-dimensional models, the corresponding M first reference measurement areas are taken as the reference measurement areas.

3. The measurement device based on high precision laser signal acquisition according to claim 2, wherein the control processing module is configured to:

Respectively determining P first replication reference points on each first replication three-dimensional model in the N first replication three-dimensional models according to the P first reference points of the reference measurement area;

Determining M first replication measurement areas according to the first point association relations among the P first replication reference points and all the first reference coordinate values;

and determining the N first measurement areas according to the first area association relation between the M first replication measurement areas and each first reference measurement area.

4. A measurement device based on high-precision laser signal acquisition according to any one of claims 1-3, wherein in the step of identifying the standard design drawing and obtaining size information and two-dimensional coordinate information of a key object, the control processing module is configured to:

identifying the identification primitive information, the proportion information and the labeling information in the standard design drawing;

determining the key object according to the primitive information;

and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information.

5. The measuring method based on high-precision laser signal acquisition is characterized by comprising the following steps of:

obtaining a standard design drawing of an object to be measured;

Identifying the standard design drawing to obtain the size information and the two-dimensional coordinate information of the key object;

Selecting N standard samples corresponding to the object to be measured;

acquiring N groups of first point cloud data of the N standard samples through first laser radar scanning;

Respectively establishing N three-dimensional models of the object to be measured according to the N groups of first point cloud data;

annotating the N three-dimensional models by combining the size information and the two-dimensional coordinate information to obtain a standard three-dimensional model library consisting of N standard three-dimensional models;

Determining reference measurement requirements according to the standard design drawing, wherein the reference measurement requirements are determined according to specifications, material descriptions, functional explanation and process requirements of the whole product or each part of the product, namely the size, the length, the thickness, the flatness, the volume, the radian and the color of the product obtained in the standard design drawing;

determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement;

Acquiring second point cloud data of the object to be measured through a second laser radar;

Reconstructing a three-dimensional model to be measured of the object to be measured according to the second point cloud data;

Copying the three-dimensional model to be measured to obtain N copied three-dimensional models;

The specification of the N copied three-dimensional models is adjusted to be in one-to-one correspondence with the specification of the N standard three-dimensional models in the standard three-dimensional model library, so that N first copied three-dimensional models are obtained;

respectively determining measurement areas from each first replication three-dimensional model in the N first replication three-dimensional models according to the reference measurement areas to obtain N first measurement areas;

Respectively extracting coordinate values of coordinate points of each first measurement region in the N first measurement regions to obtain N first coordinate value sets;

Obtaining first measurement data of each of the N first measurement areas according to the N first coordinate value sets;

processing and analyzing the first measurement data according to the expected rule, and outputting measurement report data, specifically: determining a data processing and analyzing model corresponding to the article to be measured according to a preset data processing and analyzing model selection rule corresponding to the type of the article to be measured, processing and analyzing the first measurement data by using the selected model, and outputting measurement report data;

in the process of executing the step of acquiring the second point cloud data of the object to be measured through the second laser radar, the following steps are synchronously executed:

collecting vibration data of bearing equipment by a vibration sensor arranged on the bearing equipment where the object to be measured is located, and simultaneously recording and acquiring corresponding first time data of the vibration data;

continuously acquiring third point cloud data of the object to be measured through a third laser radar with a fixed position, and simultaneously recording corresponding second time data for acquiring the third point cloud data;

Obtaining spatial error data of the object to be measured according to the vibration data, the first time data, the third point cloud data and the second time data;

and correcting the second point cloud data according to the space error data.

6. The method of claim 5, wherein determining a reference measurement region on the N standard three-dimensional models in the standard three-dimensional model library according to the reference measurement requirement comprises:

Respectively determining M first reference measurement areas on each of the N standard three-dimensional models in the standard three-dimensional model library;

Respectively determining all first reference coordinate values of each first reference measurement region in the M first reference measurement regions, first point association relations among all the first reference coordinate values and first region association relations among P first reference points and each first reference measurement region on each standard three-dimensional model in the N standard three-dimensional models;

for each of the N standard three-dimensional models, the corresponding M first reference measurement areas are taken as the reference measurement areas.

7. The method according to claim 6, wherein the step of determining the measurement areas from each of the N first replica three-dimensional models according to the reference measurement area to obtain N first measurement areas includes:

Respectively determining P first replication reference points on each first replication three-dimensional model in the N first replication three-dimensional models according to the P first reference points of the reference measurement area;

Determining M first replication measurement areas according to the first point association relations among the P first replication reference points and all the first reference coordinate values;

and determining the N first measurement areas according to the first area association relation between the M first replication measurement areas and each first reference measurement area.

8. The method for measuring a target object based on high-precision laser signal acquisition according to any one of claims 5 to 7, wherein the step of identifying the standard design drawing and obtaining size information and two-dimensional coordinate information of the target object comprises the steps of:

identifying the identification primitive information, the proportion information and the labeling information in the standard design drawing;

determining the key object according to the primitive information;

and determining the size information and the two-dimensional coordinate information of the key object according to the proportion information and the labeling information.