CN117553681A - Solid rocket engine metal part detection method based on three-dimensional laser scanning - Google Patents
Solid rocket engine metal part detection method based on three-dimensional laser scanning Download PDFInfo
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- CN117553681A CN117553681A CN202311450761.2A CN202311450761A CN117553681A CN 117553681 A CN117553681 A CN 117553681A CN 202311450761 A CN202311450761 A CN 202311450761A CN 117553681 A CN117553681 A CN 117553681A
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- 239000002184 metal Substances 0.000 title claims abstract description 57
- 239000007787 solid Substances 0.000 title claims abstract description 53
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 25
- 238000013461 design Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 230000001131 transforming effect Effects 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
- G01B5/0004—Supports
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/003—Measuring of motor parts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a solid rocket engine metal part detection method based on three-dimensional laser scanning, which comprises the steps of 1) designing a tool, 2) planning a scanning path, 3) automatically calibrating a three-dimensional laser scanner, 4) collecting a three-dimensional point cloud model, 5) registering the point cloud model and the design model, 6) manufacturing a measurement template, and 7) automatically detecting; according to the invention, the three-dimensional laser scanner is used for comprehensively scanning the metal parts of the solid rocket engine, and the high-precision and high-efficiency detection of the metal parts of the solid rocket engine is realized by utilizing the advantages of strong laser interference resistance, high stability and high propagation speed.
Description
Technical Field
The invention belongs to the technical field of inspection and detection, and particularly relates to a solid rocket engine metal piece detection method based on three-dimensional laser scanning.
Background
The solid rocket engine is a propulsion unit taking solid chemical propellant as a power source, is widely applied to the fields of aerospace, national defense and the like, and the quality of the product is directly related to the success or failure of a launching task. Therefore, inspection of solid rocket engine hardware is necessary. Non-contact measurement techniques are used because contact measurements may cause abrasion to the surface of solid rocket engine hardware. The three-dimensional laser scanning is a non-contact measurement technology integrating optical, electric, mechanical and computer equipment, the basic principle is a triangulation method, and geometrical optics and space coordinate transformation are combined to carry out multipoint dense measurement so as to realize the reproduction of the surface profile of the measured object.
Disclosure of Invention
In view of the above, the invention provides a solid rocket engine metal piece detection method based on three-dimensional laser scanning, which can obtain a complete three-dimensional point cloud model through one-time scanning, avoid splicing errors and realize comprehensive scanning of the solid rocket engine metal piece.
The technical scheme for realizing the invention is as follows:
a solid rocket engine metal piece detection method based on three-dimensional laser scanning comprises the following steps:
analyzing characteristics of metal parts of a solid rocket engine to be tested, and designing a tool to complete installation of the metal parts of the solid rocket engine;
step two, adopting FlexScan software to plan a scanning path in an online programming mode, and enabling the same kind of metal parts to be only required to be programmed once and then directly called;
step three, realizing automatic calibration of the three-dimensional laser scanner by using a calibration plate and a calibration program;
acquiring three-dimensional point cloud data of the surface of a metal piece of the solid rocket engine by using a three-dimensional laser scanner to form a three-dimensional point cloud model;
fifthly, registering a three-dimensional point cloud model of a metal part of the solid rocket engine and a design model according to an ICP criterion, and finishing data denoising by utilizing a Gaussian filter function;
step six, performing size measurement on a scanning model of a metal part of the first solid rocket engine, defining 3D comparison, size measurement, reporting formats and contents, and completing a measurement template;
and step seven, the processed model is led into a Geomagic Control X plug-in unit, so that the automatic detection of the metal parts of the solid rocket engine is realized.
Further, the specific steps of the first step are as follows: from the angles of the appearance structure, the type of indexes to be measured and the surface material characteristics of the metal piece of the solid rocket engine, the tool is designed according to the selection sequence of manual, pneumatic, hydraulic and servo, and the installation of the metal piece of the solid rocket engine is completed according to the principle of no movement after positioning and clamping, the principle of no deformation after positioning and clamping and the principle of no vibration after positioning and clamping.
Further, the specific steps of the second step are as follows: firstly, generating redundant candidate viewpoints in a random sampling mode, and calculating the pose of a robot under each viewpoint and the robot motion relation between viewpoints; secondly, evaluating the visibility relation between the viewpoint set and the surface piece of the metal piece to be measured and measuring the quality; and finally, modeling by adopting a Markov decision process in the candidate viewpoint set, and solving a shortest viewpoint path capable of meeting the coverage requirement by using a Monte Carlo tree search method.
Further, the specific steps of the third step are as follows: and presetting a calibration program, adjusting the demonstrator into an automatic mode, installing the calibration plate at a designated position, and calling the automatic calibration program to realize automatic calibration.
Further, the specific steps of the fourth step are as follows: and driving the six-degree-of-freedom robot and the high-precision turntable along a planned path, adjusting a scanning mode, exposure and resolution, enabling a three-dimensional laser scanner signal transmitter to project line laser to the surface of the tested solid rocket engine metal piece, and enabling a receiver to receive light reflected by the surface of the tested metal piece, so as to collect point cloud data of the surface of the solid rocket engine metal piece, and forming a three-dimensional point cloud model.
Further, the specific steps of the fifth step are as follows: and solving corresponding point pairs between the three-dimensional point cloud model and the design point cloud model, and constructing a rotation translation matrix based on the corresponding point pairs. And transforming the three-dimensional point cloud model into a coordinate system of the design model by using the matrix to realize model registration. The noise is filtered using a gaussian low pass filter to smooth the image.
Further, the specific steps of the step six are as follows: and (3) measuring the size, the length, the angle, the radius/diameter, the roundness, the coaxiality, the perpendicularity, the levelness and the form and position tolerance on the model processed in the step five without creating corresponding features, editing a report pattern to be output, and completing the measurement template.
Further, the specific steps of the step seven are as follows: defining a comparison rule, enabling the Geomagic Control X plug-in to work according to the first measurement model, automatically opening measurement software, introducing a new scanning model, registering, executing all operations in the measurement model, exporting a report to a designated position according to a template after the measurement of the size is completed, and reporting a format of pdf, excel, txt, CSV.
The beneficial effects are that:
1. compared with the traditional contact type manual inspection or three-coordinate inspection, the three-dimensional laser scanning technology has the remarkable advantages of high efficiency, high precision, convenience in operation and the like, and is applied to the field of metal part detection of solid rocket engines for the first time.
2. According to the invention, the detection tool is introduced to clamp the metal part of the solid rocket engine to be detected, a complete three-dimensional point cloud model can be obtained through one-time scanning, splicing according to characteristic points after secondary scanning is not needed, splicing errors are eliminated, and the detection precision is greatly improved.
3. The fixture comprises the base, the support frame and the locating clamp, wherein the base ensures the balance degree of the whole structure and is not easy to overturn; the bracket is used for fixing the positioning clamp and pasting the mark points; the positioning clamps are arranged on the support frame in a delta shape, the top positioning clamp can move longitudinally, the positioning clamps at two sides can move longitudinally or move in an arc within a range of 120 degrees, and the three positioning clamps act together to achieve the purpose of fixing a workpiece. When in use, the positioning clamp is adjusted to enable the workpiece to be stably fixed and the laser can cover the workpiece by 360 degrees.
4. According to the invention, the ICP point cloud registration and Gaussian low-pass filtering technology is adopted, redundant points are removed, corresponding features can be selected directly on the processed model, and the time cost and the storage cost for post-processing of the three-dimensional point cloud model of the metal part of the solid rocket engine are reduced.
Drawings
FIG. 1 is a flow chart of a solid rocket engine metal piece detection method based on three-dimensional laser scanning.
Fig. 2 is a data processing flow chart of a solid rocket engine metal part detection method based on three-dimensional laser scanning.
FIG. 3 is a tooling for a model upper lug; (a) front view, (b) left view, (c) top view.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
A solid rocket engine metal piece detection method based on three-dimensional laser scanning is shown in fig. 1, and the test steps are as follows:
1) Analyzing the characteristics of the metal parts of the solid rocket engine to be tested, and designing a tool to complete the installation of the metal parts of the solid rocket engine;
2) The scanning path is planned in an online programming mode by adopting FlexScan software, and the same metal piece only needs one-time programming and can be directly called later;
3) The automatic calibration of the three-dimensional laser scanner is realized by using a calibration plate and a calibration program;
4) Collecting three-dimensional point cloud data of the surface of a metal piece of the solid rocket engine by using a three-dimensional laser scanner to form a three-dimensional point cloud model;
5) As shown in fig. 2, registering a three-dimensional point cloud model of a metal part of a solid rocket engine and a design model is realized according to an ICP criterion, and data denoising is completed by using a Gaussian filter function;
6) Performing size measurement on a scanning model of a first solid rocket engine metal part, defining 3D comparison, size measurement, reporting format and content, and completing a measurement template;
7) And introducing the processed model into a Geomagic Control X plug-in unit to realize automatic detection of the metal parts of the solid rocket engine.
In an embodiment, the three-dimensional laser scanning detection test for the lugs of a certain model comprises the following steps:
1) The upper support lugs are ear-shaped metal pieces, have smooth surfaces and weak light reflection, and are clamped on the tool shown in (a) to (c) of fig. 3 according to the principles of no movement after positioning and clamping, no deformation after positioning and clamping and no vibration after positioning and clamping;
2) Determining a scanning path by using FlexScan software and a demonstrator, wherein the total steps are 50, and the scanning path is to be called subsequently;
3) Opening calibration software, editing a calibration program, and completing automatic calibration;
4) Driving a six-degree-of-freedom robot and a high-precision turntable according to a scanning path, adjusting a scanning mode, exposure, resolution and the like, and collecting sufficient point cloud data to form a three-dimensional point cloud model;
5) The three-dimensional point cloud model is processed through ICP point cloud registration and Gaussian low-pass filtering, so that the characteristics of the three-dimensional point cloud model can be directly selected;
6) Measuring the processed model through Geomagic Control X, obtaining the length dimension, the angle dimension, the radius/diameter dimension, the coaxiality, the roundness, the perpendicularity, the parallelism and the form tolerance of the model, selecting the content and the format to be displayed of a measurement report, and forming a measurement template;
7) And collecting three-dimensional point cloud data of the same type of upper support lugs, importing Geomagic Control X plug-ins, and automatically completing measurement according to the measurement template defined before.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The solid rocket engine metal piece detection method based on three-dimensional laser scanning is characterized by comprising the following steps of:
analyzing characteristics of metal parts of a solid rocket engine to be tested, and designing a tool to complete installation of the metal parts of the solid rocket engine;
step two, adopting FlexScan software to plan a scanning path in an online programming mode, and enabling the same kind of metal parts to be only required to be programmed once and then directly called;
step three, realizing automatic calibration of the three-dimensional laser scanner by using a calibration plate and a calibration program;
acquiring three-dimensional point cloud data of the surface of a metal piece of the solid rocket engine by using a three-dimensional laser scanner to form a three-dimensional point cloud model;
fifthly, registering a three-dimensional point cloud model of a metal part of the solid rocket engine and a design model according to an ICP criterion, and finishing data denoising by utilizing a Gaussian filter function;
step six, performing size measurement on a scanning model of a metal part of the first solid rocket engine, defining 3D comparison, size measurement, reporting formats and contents, and completing a measurement template;
and step seven, the processed model is led into a Geomagic ControlX plug-in unit, so that the automatic detection of the metal parts of the solid rocket engine is realized.
2. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as recited in claim 1, wherein the specific steps of the first step are as follows: from the angles of the appearance structure, the type of indexes to be measured and the surface material characteristics of the metal piece of the solid rocket engine, the tool is designed according to the selection sequence of manual, pneumatic, hydraulic and servo, and the installation of the metal piece of the solid rocket engine is completed according to the principle of no movement after positioning and clamping, the principle of no deformation after positioning and clamping and the principle of no vibration after positioning and clamping.
3. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as claimed in claim 1 or 2, wherein the specific steps of the second step are as follows: firstly, generating redundant candidate viewpoints in a random sampling mode, and calculating the pose of a robot under each viewpoint and the robot motion relation between viewpoints; secondly, evaluating the visibility relation between the viewpoint set and the surface piece of the metal piece to be measured and measuring the quality; and finally, modeling by adopting a Markov decision process in the candidate viewpoint set, and solving a shortest viewpoint path capable of meeting the coverage requirement by using a Monte Carlo tree search method.
4. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as recited in claim 1, wherein the specific steps of the third step are as follows: and presetting a calibration program, adjusting the demonstrator into an automatic mode, installing the calibration plate at a designated position, and calling the automatic calibration program to realize automatic calibration.
5. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as recited in claim 1, wherein the specific steps of the fourth step are as follows: and driving the six-degree-of-freedom robot and the high-precision turntable along a planned path, adjusting a scanning mode, exposure and resolution, enabling a three-dimensional laser scanner signal transmitter to project line laser to the surface of the tested solid rocket engine metal piece, and enabling a receiver to receive light reflected by the surface of the tested metal piece, so as to collect point cloud data of the surface of the solid rocket engine metal piece, and forming a three-dimensional point cloud model.
6. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as recited in claim 1, wherein the specific steps of the fifth step are as follows: solving corresponding point pairs between the three-dimensional point cloud model and the design point cloud model, and constructing a rotation translation matrix based on the corresponding point pairs; transforming the three-dimensional point cloud model into a coordinate system of the design model by using the matrix to realize model registration; the noise is filtered using a gaussian low pass filter to smooth the image.
7. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as recited in claim 6, wherein the specific steps of the step six are as follows: and (3) measuring the size, the length, the angle, the radius/diameter, the roundness, the coaxiality, the perpendicularity, the levelness and the form and position tolerance on the model processed in the step five without creating corresponding features, editing a report pattern to be output, and completing the measurement template.
8. The method for detecting the metal piece of the solid rocket engine based on the three-dimensional laser scanning as recited in claim 1, wherein the specific steps of the step seven are as follows: defining a comparison rule, enabling the Geomagic Control X plug-in to work according to the first measurement model, automatically opening measurement software, introducing a new scanning model, registering, executing all operations in the measurement model, exporting a report to a designated position according to a template after the measurement of the size is completed, and reporting a format of pdf, excel, txt, CSV.
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| CN202311450761.2A CN117553681A (en) | 2023-11-02 | 2023-11-02 | Solid rocket engine metal part detection method based on three-dimensional laser scanning |
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| CN202311450761.2A CN117553681A (en) | 2023-11-02 | 2023-11-02 | Solid rocket engine metal part detection method based on three-dimensional laser scanning |
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