CN201053864Y - Intelligent holographic three-dimensional laser measuring device - Google Patents

Abstract

An intelligent holographic three-dimensional laser measuring device belongs to the field of advanced manufacturing technology. The utility model relates to a laser-computer-electricity integration technology, wherein, laser is used for scanning to-be-detected objects, and computers are used for processing scanning information and data, and finally three-dimensional vector information about the shapes of the objects can be achieved. The system consists of a probe, a C-type arm, a lifting rotary platform, a control cabinet, and a main controlling computer. After users input the basic measuring data, the system can automatically plan scanning routes and control the laser probe and the lifting rotary platform to complete the measurement. Beside, the system makes use of the arc-shaped sliding track specifically owned by the C-type arm to control the scanning track, thereby achieving the holographic non-blind-spot three-dimensional laser scanning. The system has stronger ability to adapt to the environment and to resist noise, thereby meeting the needs of industrial sites. The utility model can be widely used in criminal investigation, archaeology, three-dimensional animation, industrial production, and other fields, and can realize the online testing and processing quality verification, due to the active and automated testing model.

Description

The intelligent holographic three dimension laser measurement mechanism

Technical field

The utility model belongs to the advanced manufacturing technology field.

Background technology

Under the present circumstances, 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.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 is comprehensive strong, relate to machinery, control, measuring technique, data processing, computer software and hardware and optical field, never find rational solution.

Around digitizing 3-D scanning and this reverse-engineering theme of model construction, over past ten years, some similar scanning equipments emerge in large numbers successively, and it is the common ground that detects implementation that these equipments have with the three coordinate machine, because structural limitation, detecting the blind area is the common issue with of such equipment.Undoubtedly, this has seriously hindered the effect of digitizing three-dimensional measurement.

Based on the problems referred to above, 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, and at the needs of archaeology, sculpture and digitizing maintenance and Design of digital management, the intelligent three-dimensional holographic laser measuring system of being badly in need of providing a kind of high intelligence, high precision, low cost and can using at processing site.This system not instrument can obtain surface three dimension information rapidly and accurately and can finish the surface three dimension information extraction at the processing and manufacturing scene, realizes the crudy RES(rapid evaluation system) simultaneously on this basis.

Summary of the invention

The purpose of this utility model just provides a kind of intelligent holographic three dimension laser measurement mechanism that can realize non-blind area surface three dimension digitized measurement and crudy rapid evaluation.

Principle of the present utility model is that in conjunction with noncontact scanning technique and high-level position and speed control technology, the three-dimensional surface scanning feeler of breaking the normal procedure is fixed on the conventional three-dimensional scan pattern on the three coordinate machine.Realize no blind spot 3-D scanning based on a kind of C type arm scanister of uniqueness and the high smoothness lifting turntable of large bearing capacity to complex surface, this equipment has not only solved in the on-the-spot three dimensional surface data that realizes of processing and manufacturing and has measured fast, and realizes the crudy rapid evaluation.Simultaneously effectively shortened sweep time having improved scanning accuracy greatly.This system not only greatly is improved measuring ability and efficient by the moulding of creatively invention unique detection equipment, and because the invention of the integrated intelligenceization on system and software design makes system can finish the rapid data processing, three-dimensional model makes up and three-dimensional surface quality rapid evaluation.

Technical solution of the present utility model is, native system is by laser feeler 1, the holographic measurement instrument 2 that constitutes by C type gage beam and lifting turntable, controller 3 and main control computer 4 are formed, wherein laser feeler 1 is installed on the C type gage beam of holographic measurement instrument 2, link to each other with controller 3 by communication cable, accept movement instruction transmission scan data simultaneously, controller 3 links to each other with main control computer 4 by network interface, transmit steering order and scan-data, main control computer 4 is mainly finished location and the gliding motility TRAJECTORY CONTROL decision-making of gauge head on slide rail and is provided steering order, data presentation and processing, model construction and provide core missions such as quality evaluation report based on the comparison result of model and master pattern.Workpiece for measurement 5 is placed on the table top of lifting turntable of the holographic measurement instrument 2 that is connected with system, high-precision arc type slide rail and slide block are fixed on the C type gage beam of holographic scanners 2, the support that supports laser feeler 1 is vertically fixed on the slide block, makes the central axis of Linear Laser bundle by the lifting turntable of the circular arc type slide rail center of circle and holographic scanners 2.Slide block can be done accurate circular motion with respect to the circular arc type slide rail center of circle.The support that is fixed on the slide block is made up of U type frame, decelerating step motor, reducer casing and scrambler, decelerating step motor drives slide block by the turbine worm in the reducer casing and moves along slide rail, the locus of scrambler recording laser gauge head 1 makes to place the laser feeler 1 on the support to realize accurately location by main control computer 4 controls along arc track as required.The cable of laser feeler 1 places the drag chain at the C type arm back side of holographic scanners 2, makes laser feeler 1 not be subjected to cable to disturb smooth motion.The base of holographic scanners 2 adopts the footing of expandable type side arm and horizon adjustable, and the system of assurance operates steadily, and makes the Linear Laser bundle be in perpendicular simultaneously.Two decelerating step motor and a scrambler are arranged below the table top of the lifting turntable of holographic scanners 2, the grating chi is equipped with in the side, the scrambler record table top anglec of rotation, grating chi record table surface height drives lifting turntable by two decelerating step motor of main control computer 4 controls and accurately horizontally rotates and VTOL (vertical take off and landing).

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, and system carries out planning parameters of scanning paths automatically; Controlling gauge head then carries out on lifting turntable up and down and rotatablely moves at the enterprising line slip of slide rail and workpiece for measurement; Control gauge head simultaneously and carry out three-dimensional measurement, and measurement data is carried out the real-time three-dimensional demonstration; Finally finish the measuring task of whole work-piece.The user can also 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.

Measuring error≤the 0.03mm of laser feeler, the positioning error≤0.01mm of C type gage beam, the positioning error of lifting turntable is lifting≤0.01mm, rotates≤0.1 °.The overall measurement precision of system is better than 0.05mm, can satisfy the on-line measurement accuracy requirement of most of part processing.Measuring Time is by surperficial complexity, scan area and the scanning accuracy decision of workpiece for measurement.

For achieving the above object, the key step of native system work comprises:

A) the basic physical dimension of input workpiece for measurement (minimum bounding box of parcel object) and the basic condition of scanning (material of object under test, surfaceness).

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 (processing of some cloud, 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 the translation distance d of X, Y, Z coordinate x, d y, d z with around anglec of rotation α, β, the γ of X, Y, Z.

With the adjustment variable of these result of calculations as the holographic measurement instrument, draw amount of exercise and the platform of gauge head on slide rail, by robot kinematics's inverse operation, obtain each joint variable of robot, control robot arrives new position and also 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:

$\stackrel{\→}{n}=\stackrel{\→}{B}E\⊗\stackrel{\→}{C}D$

Realize the step of cloud data 3-D display:

A) obtain gauge head depth data d;

B) obtain the coordinate of measured point according to the transformation matrix of coordinates A of gauge head and robot wrist and the wrist pose matrix B of robot with respect to robot base;

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 utility model reached is: the utility model 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

Below in conjunction with the drawings and specific embodiments the utility model is further specified.

Fig. 1 is a structural drawing of the present utility model.

Fig. 2 is a C type measuring instrument right view of the present utility model.

Fig. 3 is a C type measuring instrument left view of the present utility model.

Embodiment

Illustrate that below in conjunction with aforesaid operation steps best embodiment is as follows:

Laser feeler 1 is contactless binocular laser feeler, LASER Light Source adopts one of 650nm semiconductor laser, the Linear Laser beam width is less than 1mm, the ccd signal acquisition system adopts the two-way CCD stylus that forms an angle, and adopts between the CCD stylus of ccd signal acquisition system and its support and can adjust the angle of pitch of CCD stylus and the jointing of steering angle.High-precision arc type slide rail and slide block are fixed on the C type gage beam of holographic scanners 2, and the support that supports laser feeler 1 is vertically fixed on the slide block, make the central axis of Linear Laser bundle by the lifting turntable of the circular arc type slide rail center of circle and holographic scanners 2.Slide block can be done accurate circular motion with respect to the circular arc type slide rail center of circle.The support that is fixed on the slide block is made up of U type frame, decelerating step motor, reducer casing and scrambler, decelerating step motor drives slide block by the turbine worm in the reducer casing and moves along slide rail, the locus of scrambler recording laser gauge head 1 makes to place the laser feeler 1 on the support to realize accurately location by main control computer 4 controls along arc track as required.The cable of laser feeler 1 places the drag chain at the C type arm back side of holographic scanners 2, makes laser feeler 1 not be subjected to cable to disturb smooth motion.The base of holographic scanners 2 adopts the footing of expandable type side arm and horizon adjustable, and the system of assurance operates steadily, and makes the Linear Laser bundle be in perpendicular simultaneously.The table top of the lifting turntable of holographic scanners 2 is diameter 200mm, the marble of thick 40mm, two decelerating step motor and a scrambler are arranged below the table top, the grating chi is equipped with in the side, the scrambler record table top anglec of rotation, grating chi record table surface height drives lifting turntable by two decelerating step motor of main control computer 4 controls and accurately horizontally rotates and VTOL (vertical take off and landing).

Claims (4)

1. intelligent holographic three dimension laser measurement mechanism, it is characterized in that, the holographic measurement instrument (2), controller (3) and the main control computer (4) that constitute by laser feeler (1), by C type gage beam and lifting turntable are formed, wherein laser feeler (1) is installed on the C type gage beam of holographic measurement instrument (2), link to each other with controller (3) by communication cable, controller (3) links to each other with main control computer (4) by network interface.

2. intelligent holographic three dimension laser measurement mechanism according to claim 1, it is characterized in that, high-precision arc type slide rail and slide block are fixed on the C type gage beam of holographic scanners (2), the support that supports laser feeler (1) is vertically fixed on the slide block, and the Linear Laser bundle is by the central axis of the lifting turntable of the circular arc type slide rail center of circle and holographic scanners (2); Slide block is done accurate circular motion with respect to the circular arc type slide rail center of circle.

3. intelligent holographic three dimension laser measurement mechanism according to claim 1 is characterized in that, the base of holographic scanners (2) adopts the footing of expandable type side arm and horizon adjustable.

4. intelligent holographic three dimension laser measurement mechanism according to claim 1 is characterized in that, lifting turntable be placed in C type slide rail under, have VTOL (vertical take off and landing) and the rotation two degree of freedom; Workpiece for measurement is placed on the platform of lifting turntable; Table top is diameter 200mm, the marble of thick 40mm, two decelerating step motor and a scrambler are arranged below the table top, the grating chi is equipped with in the side, the scrambler record table top anglec of rotation, grating chi record table surface height drives lifting turntable by two decelerating step motor of main control computer (4) control and accurately horizontally rotates and VTOL (vertical take off and landing).

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