CN1987344A - Flexible three dimension holographic measuring system - Google Patents
Flexible three dimension holographic measuring system Download PDFInfo
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- CN1987344A CN1987344A CNA2006101341973A CN200610134197A CN1987344A CN 1987344 A CN1987344 A CN 1987344A CN A2006101341973 A CNA2006101341973 A CN A2006101341973A CN 200610134197 A CN200610134197 A CN 200610134197A CN 1987344 A CN1987344 A CN 1987344A
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Abstract
The system is composed of non-contact type gauge head, parallel robot (PR), computer, and controller. User inputs basic measurement parameters. Carrying scan path planning automatically, system controls PR to carry out gauge head to measure surface to be measured without blind spot. The measured data are transmitted to data processing unit quickly so as to complete constructing 3D model of surface to be measured. Flexibility of parallel measuring robot in structure, and high positioning accuracy meets the requirement of online detecting precision from manufacturing industry. By using adaptive capacity to environment and anti- noise capability of PR is to meet requirement of industrial site. Suspended ceiling type installation is adopted for PR with small size and lightweight. Thus, it is convenient for PR to be installed in large-scale digital control machining center. The invention possesses practicability and popularizing potential.
Description
Technical field
The invention belongs to the advanced manufacturing technology field.
Background technology
Carried out the intensive discovery of investigating by manufacturing processing market to China, in some representational large-scale manufacturing processing enterprises, make crudy in order fundamentally to improve, strengthen the competitive power of enterprise, begun to pay attention to online detection of crudy and evaluation work in the international market.They are very urgent with the demand of monitoring equipment for the on-line machining quality testing.This class business equipment advanced person, the domestic numerical control process equipment does not have online detection and crudy evaluation function, though be equipped with pick-up unit from the numerically controlled processing equipment of external import, but not only apparatus expensive but also and impracticable, this function is in idle state mostly.In the present circumstance, making processing enterprise is accustomed to adopting three dimensional coordinate measuring machine to carry out finished surface detection and the assessment of off-line crudy mostly, but because this testing equipment is bulky, cost an arm and a leg, the condition of work harshness, testing process is loaded down with trivial details to waste time and energy, and can not use at processing site, can only be used for the off-line sampling check for quality, still use the backward manual detection pattern of tradition at processing site.For some large complicated long period processing components, in case find that the non-conformity of quality standardization must reprocess, rework process is not only complicated, loaded down with trivial details, time-consuming, effort but also can be owing to locate in the process of reprocessing and be forbidden to cause additional error in the offline inspection process.In order to address this problem, some enterprises repeatedly inquire into domestic relevant research department and university and address this problem as early as possible.But because such problem comprehensive strong (machinery, control, measuring technique, data processing, computer software and hardware, optics) never finds rational solution.
The purpose of this invention is to make the active demand that manufacture field improves machining precision and cuts down finished cost the means by online detection of process and quality evaluation in order to satisfy China.
This working of an invention will significantly improve quality, the raising qualification rate of making processing and cut down finished cost.
Summary of the invention
Purpose of the present invention just provides a kind of online quick flexible three dimension holographic measuring system that can use at processing site.
Principle of the present invention is, integrating parallel Robotics and three-dimensional noncontact scanning technique, the traditional mode of the three-dimensional surface of breaking the normal procedure scanning, drive non-contact laser scanner head or laser sensor by the parallel robot the unknown curved surface of complexity is carried out three-dimensional surface scanning, utilize parallel robot's six-freedom degree, can in a bounded spherical area, there be blind spot scanning, not only solved in that processing and manufacturing is on-the-spot and realized online crudy rapid evaluation, and effectively shortened sweep time simultaneously having improved scanning accuracy greatly.Because the parallel robot adopts ceiling mounting type to install, and volume is little in light weight, can be installed in very easily on the existing large-sized numerical control machining center.Promptly do not take work space, do not need again the structure of existing equipment is transformed, have great practicality.
Technical solution of the present invention is, native system is made up of non-contact measuring head (1), parallel robot (2), main control computer (3) and switch board (4), wherein parallel robot's (2) wrist has a rotary joint, gauge head (1) is installed on this rotary joint, be connected the transmission scan-data with parallel robot (2) by data cable.Parallel robot (2) links to each other with switch board (3) by communication cable, accepts movement instruction transmission scan data simultaneously.Switch board (3) links to each other with main control computer (1) by network interface, transmits steering order and scan-data.Main control computer (1) is mainly finished core missions such as motion path planning, data presentation and processing.Workpiece for measurement (5) places the below of laser feeler (1).
The groundwork flow process of system is as follows: basic parameters such as the range of size of user by main control computer input workpiece for measurement, material, system carries out planning parameters of scanning paths automatically, controls the parallel robot then and gauge head is measured.Measurement data is carried out real-time three-dimensional and is shown, finally finishes the measuring task of whole work-piece.The user also can revise measuring route by mutual intervention according to measurement result, thereby obtains satisfied measurement result.Measure end back system and preserve measurement result automatically, the user can selectively carry out the processing of cloud data, curve reconstruction, curve reestablishing and modelling verification on this basis then.
Measuring Time is by the surperficial complexity and the scanning accuracy decision of workpiece for measurement.The Measuring Time of standard testing object is 10 minutes, spatial resolution 0.5mm.Measuring error≤the 0.03mm of laser feeler, positioning error≤0.02mm of parallel robot.The overall measurement precision of system is better than 0.05mm, can satisfy the on-line measurement accuracy requirement of most of part processing.
For achieving the above object, the key step of native system work comprises:
A) the basic physical dimension and the basic condition of scanning of input workpiece for measurement are promptly wrapped up the minimum bounding box size of object and material, the surfaceness of object under test.
B) automatic path planning.
C) scanning+real-time cloud data 3-D display.
D) calibrating of scan-data+scanning pattern adjustment+local secondary scanning.
E) Data Post is promptly put cloud processing, curve reconstruction, curve reestablishing, modelling verification.
The step of automatic path planning is taked the paths planning method based on prediction:
This method will be at first goes forward 10 to dope the coordinate that Q is ordered with least-square fitting approach is approximate according to having measured curved surface.Calculate P point and Q point then at translation distance dx, the dy of X, Y, Z coordinate, dz with around anglec of rotation α, β, the γ of X, Y, Z.
With the adjustment variable of these result of calculations as robot wrist, draw the wrist pose of robot, by robot kinematics's inverse operation, obtain each joint variable of robot, control robot arrives new position and finishes the measurement that Q is ordered.
This paths planning method is that real-time online is finished, and only needs single pass just can finish whole measuring task, and speed is very fast.Shortcoming is can't accurately measure for the place of curve form sudden change.
The step of automatic path planning is taked the paths planning method based on scan-data:
This method is divided into two stages with scanning process: coarse scan and essence are swept.At first fixedly the attitude of gauge head adopts stepped Forecasting Methodology that the position of gauge head is adjusted, and finishes the rough measure process to surface of the work to be measured.Anticipation function:
Δh＝(M
max+M
min)/2-P
Z
M wherein
MaxAnd M
MinBe respectively the minimum and maximum measurement range of laser feeler, P
ZIt is the Z coordinate that P is ordered.
Then according to the normal vector of each measurement point of resulting estimate of coarse scan.Actual normal vector and D coordinates value according to the measured point are carried out single pass again, to correct the measuring error in the coarse scan process, obtain The ultimate results.The normal vector estimation function of measured point is as follows:
Realize the step of cloud data 3-D display:
A) obtain gauge head depth data d;
B) obtain the measured point with respect to the three-dimensional coordinate under the robot base system according to the transformation matrix of coordinates A of gauge head and robot wrist and the wrist pose matrix B of robot;
C) utilize the 3 D rendering of realizing the some cloud based on the d engine of OpenGL.
Because the coordinate of all measurement points all is based on robot base, so measurement data can realize seamless making up when each face of workpiece for measurement measured, do not need the registration and the fusion of a cloud, improved measuring accuracy effectively.
The beneficial effect that the present invention reached is: the present invention utilizes the dirigibility that the parallel robot controls and the accuracy of location to realize no blind spot three-dimensional surface scanning rapidly and efficiently, makes total system have the high characteristics of dirigibility, exploration, adaptability, multifunctionality and integrated level.Because this system has extremely strong adaptive capacity to environment and noise resisting ability, make and to use in industry spot.System breaks existing passive or manual detecting pattern with the detecting pattern of flexible active and robotization, realizes the reverse-engineering real time implementation with this.Obtain by realizing the full-automatic result who promotes processing design automation, crudy monitoring automation and valuable workpiece reparation robotization of testing process.As a kind of novel at testing equipment, this system will have powerful competitive power on huge domestic and international market.This equipment will promote the development of automated manufacturing.
Description of drawings
The present invention is further described by accompanying drawing:
Fig. 1 is a system schematic of the present invention.
Fig. 2 be system to test object forward sight scanning attitude figure.
Fig. 3 be system to test object backsight scanning attitude figure.
Fig. 4 is a process flow diagram of the present invention.
Fig. 5 is the specific embodiment of the present invention workpiece for measurement figure.
Fig. 6 is scanning result figure of the present invention.
Embodiment
The present invention mainly comprises following five parts:
(1) parallel three-dimensional measurement machine people
(2) planning of scanning pattern mainly is the estimation of the coordinate and the normal vector of tested point.
(3) coordinate conversion of scan-data and 3-D display.
(4) Data Post comprises point, line, surface.
(5) crudy that provides scanning of a surface is assessed.
Below in conjunction with foregoing, the scanning of engine components is described in detail:
Step 1: the basic parameter of input workpiece for measurement
Size: 40 * 35 * 15cm
3
Material: cast iron
Surfaceness: 3.2
Scanning step pitch: 0.2mm
Step 2: coarse scan
The second method that adopts path planning is promptly based on the paths planning method of scan-data.Scanning process is divided into two stages: coarse scan and essence are swept.At first fixedly the attitude of gauge head adopts stepped Forecasting Methodology that the position of gauge head is adjusted, and finishes the rough measure process to surface of the work to be measured.Anticipation function:
Δh＝(M
max+M
min)/2-P
Z＝(250-90)/2-P
z＝80-P
z
M wherein
MaxAnd M
MinBe respectively the minimum and maximum measurement range of laser feeler, P
ZIt is the Z coordinate that P is ordered.Obtain the rough resemblance of workpiece for measurement.
Step 3: essence is swept
Normal vector according to each measurement point of resulting estimate of coarse scan.The normal vector estimation function of measured point is as follows:
Actual normal vector and D coordinates value according to the measured point are carried out single pass again, to correct the measuring error in the coarse scan process, obtain The ultimate results.
Operation result: Fig. 5 is the engine components of this scanning.Fig. 6 is a scanning result.The entire scan time is 14 minutes.
Claims (6)
1. a flexible three dimension holographic measuring system is characterized in that,
A. native system is made up of laser feeler (1), parallel robot (2), main control computer (3) and controller (4), wherein laser feeler (1) is connected with parallel robot (2) by data cable, parallel robot (2) links to each other with switch board (4) by communication cable, and switch board (4) links to each other with main control computer (3) by network interface;
B. the step of system works is:
1. import the physical dimension and the condition of scanning of workpiece for measurement (6) by main control computer (3),
2. cook up scanning pattern by main control computer (3),
3. parallel robot (2), drives laser feeler (1) and finishes scanning according to the path movement of planning as movement executing mechanism, and the cloud data of scanning is presented on the main control computer (3) in real time,
4. main control computer (3) is examined and determine scan-data, and scanning pattern is adjusted, and carries out rescan at regional area,
5. Data Post.
2. according to the described a kind of flexible three dimension holographic measuring system of claim 1, it is characterized in that movement executing mechanism is parallel robot (2).
3. according to the described a kind of flexible three dimension holographic measuring system of claim 1, it is characterized in that the parallel robot adopts ceiling mounting type to install, and directly hangs on the numerical control machining center top, under the online environment of digital control processing, carry out three-dimensional data scanning.
4. according to the described a kind of flexible three dimension holographic measuring system of claim 1, it is characterized in that parallel robot's (2) wrist has a rotary joint, laser feeler (1) is installed on this rotary joint.
5. according to the described a kind of flexible three dimension holographic measuring system of claim 1, it is characterized in that scanning process is divided into two stages: coarse scan and essence are swept; Fixing gauge head attitude is adopted in coarse scan, uses stepped Forecasting Methodology that the position of gauge head is adjusted, and finishes the rough measure process to surface of the work to be measured; Essence is swept the normal vector according to each measurement point of resulting estimate of coarse scan, carries out single pass again according to the actual normal vector and the D coordinates value of measured point, to correct the measuring error in the coarse scan process, obtains The ultimate results.
According to the described a kind of flexible three dimension holographic measuring system of claim 1, it is characterized in that 6, the coordinate of all measurement points all is based upon under the basis coordinates system of robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101341973A CN1987344A (en) | 2006-11-04 | 2006-11-04 | Flexible three dimension holographic measuring system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2006101341973A CN1987344A (en) | 2006-11-04 | 2006-11-04 | Flexible three dimension holographic measuring system |
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| CN1987344A true CN1987344A (en) | 2007-06-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986350A (en) * | 2010-10-22 | 2011-03-16 | 武汉大学 | Monocular structured light-based three-dimensional modeling method |
| CN102867074A (en) * | 2011-06-15 | 2013-01-09 | 天宝导航有限公司 | Method of placing a total station in a building |
| CN104729439A (en) * | 2013-12-20 | 2015-06-24 | 赫克斯冈技术中心 | Coordinate measuring machine having high-precision 3-d printing functionality |
| CN105333819A (en) * | 2014-08-15 | 2016-02-17 | 苏州北硕检测技术有限公司 | Robot workpiece assembly and form and location tolerance detection system and method based on face laser sensor |
| CN108151661A (en) * | 2016-12-02 | 2018-06-12 | 上海Abb工程有限公司 | A kind of membrane thickness measuring system |
| CN111426281A (en) * | 2018-12-21 | 2020-07-17 | 核动力运行研究所 | Flexible three-dimensional automatic measurement system and method for large-size flange sealing surface |
-
2006
- 2006-11-04 CN CNA2006101341973A patent/CN1987344A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986350A (en) * | 2010-10-22 | 2011-03-16 | 武汉大学 | Monocular structured light-based three-dimensional modeling method |
| CN101986350B (en) * | 2010-10-22 | 2012-03-28 | 武汉大学 | Monocular structured light-based three-dimensional modeling method |
| CN102867074A (en) * | 2011-06-15 | 2013-01-09 | 天宝导航有限公司 | Method of placing a total station in a building |
| CN102867074B (en) * | 2011-06-15 | 2015-12-16 | 天宝导航有限公司 | The method of placing total station between floors |
| CN104729439A (en) * | 2013-12-20 | 2015-06-24 | 赫克斯冈技术中心 | Coordinate measuring machine having high-precision 3-d printing functionality |
| US9803966B2 (en) | 2013-12-20 | 2017-10-31 | Hexagon Technology Center Gmbh | Coordinate measuring machine having high-precision 3-D printing functionality |
| CN104729439B (en) * | 2013-12-20 | 2018-06-05 | 赫克斯冈技术中心 | There is the coordinate measuring machine of high-precision 3D printing |
| CN105333819A (en) * | 2014-08-15 | 2016-02-17 | 苏州北硕检测技术有限公司 | Robot workpiece assembly and form and location tolerance detection system and method based on face laser sensor |
| CN108151661A (en) * | 2016-12-02 | 2018-06-12 | 上海Abb工程有限公司 | A kind of membrane thickness measuring system |
| CN111426281A (en) * | 2018-12-21 | 2020-07-17 | 核动力运行研究所 | Flexible three-dimensional automatic measurement system and method for large-size flange sealing surface |
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