CN120868949A - Method for rapidly measuring geometric quantity of long groove workpiece based on multi-target station type - Google Patents

Method for rapidly measuring geometric quantity of long groove workpiece based on multi-target station type

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Publication number
CN120868949A
CN120868949A CN202510987584.4A CN202510987584A CN120868949A CN 120868949 A CN120868949 A CN 120868949A CN 202510987584 A CN202510987584 A CN 202510987584A CN 120868949 A CN120868949 A CN 120868949A
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CN
China
Prior art keywords
coordinate system
workpiece
robot
target station
measurement
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CN202510987584.4A
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Chinese (zh)
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王磊
李弈谋
王为
黄文浩
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Tianjin Normal University
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Tianjin Normal University
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Priority to CN202510987584.4A priority Critical patent/CN120868949A/en
Publication of CN120868949A publication Critical patent/CN120868949A/en
Pending legal-status Critical Current

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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
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method for rapidly measuring geometric quantity of a long-groove workpiece based on multiple target stations, which comprises the steps of installing an industrial robot with a structured light sensor at the tail end on a ground rail or a hanging rail system to realize long-distance movement along the axial direction of the workpiece, arranging multiple target stations at the side of the rail, carrying out global coordinate system unification on the coordinate systems of the target stations through a laser tracker, synchronously collecting the cross section profile of the workpiece and the characteristic point data of the adjacent target stations in the segmented parking measurement process of the robot, converting the cross section coordinate of the workpiece into the global coordinate system by utilizing the conversion relation between the coordinate systems of the target stations and the global coordinate system which are established in advance, and finally constructing a global measurement model containing the three-dimensional coordinate of the characteristic point of the complete workpiece through fusion of the scanning data of the multiple target stations. The technical problem of unification of multi-station coordinates in a large-scale measurement scene is effectively solved, and the detection efficiency of geometric parameters of a large-scale long-groove workpiece is remarkably improved.

Description

Method for rapidly measuring geometric quantity of long groove workpiece based on multi-target station type
Technical Field
The invention relates to the technical field of vision measurement and object surface deformation measurement, in particular to a multi-target station-based measurement method which combines the technologies of an industrial robot, a laser tracker, a structural light sensor and the like and is widely applied to the rapid detection and measurement of geometric quantity and deformation of large-size workpieces, particularly long-groove workpieces.
Background
High-precision three-dimensional measurement of large-size workpieces is a key link in the fields of mechanical manufacturing, quality control and structural analysis. With the continuous increase of the requirements of the manufacturing industry on precision and efficiency, the traditional measuring method, such as contact measurement and a measuring system based on a single sensor, cannot meet the requirements of complex shape and high precision of large-size workpieces. Contact measurement methods typically involve physical contact, with the risks of cumbersome operation, limited measurement accuracy, and damage to the workpiece surface. In the application of large-size workpieces, the non-contact measurement method based on a single sensor often faces the problems of insufficient coverage of a measurement area, inconsistent measurement precision and low efficiency.
In recent years, non-contact measurement technology has rapidly evolved into the mainstream industry, wherein structured light three-dimensional scanning and laser trackers exhibit unique advantages in high-precision three-dimensional measurement of large workpieces. The three-dimensional scanning of the structured light is realized by projecting the structured light onto the surface of the object and reconstructing the three-dimensional shape of the object through an image processing algorithm, so that the three-dimensional scanning method is suitable for shape measurement in a large range, but has large data processing capacity and is sensitive to the external environment. The laser tracker system adopting the laser interference ranging principle has irreplaceability in the precise detection of complex curved surfaces in the fields of aviation manufacturing and the like by virtue of the measuring precision of 0.5ppm, but has the physical constraint of limited measuring range during single-machine operation, and particularly solves the complexity problem of multi-view data fusion in a multi-station measuring scene.
In the measurement of a long-size workpiece, how to solve the problems of unification of a coordinate system under different measurement postures, data fusion of a plurality of measurement areas, improvement of measurement accuracy and the like remains a technical difficulty. The prior art has not effectively combined a multi-sensor, a multi-target station positioning system and a robot auxiliary system to realize high-precision and rapid measurement of the geometric quantity of the long-size workpiece with high efficiency and precision.
Based on the problems, the invention provides a high-precision rapid measurement method for the geometric quantity of a long groove workpiece based on a multi-target station. The method not only can improve the measurement accuracy of the long-size workpiece, but also can obviously improve the measurement efficiency, and solves the problems of heavy data processing burden, inconsistent measurement accuracy and the like in the traditional method.
Disclosure of Invention
The invention mainly aims to provide a high-precision rapid measurement method for the geometric quantity of a multi-target station type long groove workpiece, which can effectively solve the problems of low geometric quantity rapid measurement precision, low measurement efficiency, difficult control of local errors and the like of long groove workpieces.
The technical scheme provided by the invention is that the high-precision rapid measurement method for the geometric quantity of the long-size workpiece based on the multi-target station comprises the following steps:
s1, erecting an industrial robot on a guide rail system, wherein the tail end of the robot is provided with a structure light sensor to form a combined measuring device capable of realizing large-range movement along a rail, so that scanning along a long groove is facilitated.
S2, calculating an optimal arrangement scheme according to the workpiece size D, the maximum arm expansion l of the robot and the track length T: N is the number of target stations required, N reference target stations are arranged at the edge of the track, the distance is not more than the maximum arm span of the robot, and each target station is ensured to be in the measurable range of the robot. The elongated slot workpiece is also divided into N measurement sections as a local measurement area under the single target station. The target station is composed of at least two groups of step surfaces, the edge angles of each group of step surfaces are mutually perpendicular to the other groups of step surfaces, and the installation height of the target station is adjusted according to the size of a workpiece.
S3, in the calibration stage, all target stations are calibrated, and the conversion relation between the coordinate system of the structural light sensor and the coordinate system of the robot base is realized, wherein the specific steps comprise:
S31, calibrating characteristic planes of all target stations by using a laser tracker and a handheld probe, continuously scanning step surfaces on all targets by using a probe of the laser tracker, taking a coordinate system of the laser tracker as a global coordinate system O L, and obtaining a coordinate point set under the global coordinate system O L for a jth characteristic plane F j of an ith target station G i
S32, the robot is parked at the 1 st target station, the mechanical arm drives the structure light sensor to scan the 1 st target station at an angle which is changed for at least 3 times to obtain a plurality of groups of mechanical arm joint parameters and structure light sensor point cloud coordinates, finally, hand-eye calibration between the structure light sensor and a flange plate at the tail end of the mechanical arm is carried out, and conversion parameters of a sensor coordinate system O S and a robot base coordinate system O M are obtained through calculation
S4, the robot stops on a subsequent target station, the mechanical arm drives the structural light sensor to continuously scan and measure the cross section of the target station and the workpiece at multiple angles, and the method specifically comprises the following steps of:
S41, for all characteristic planes of the ith target station G i, the mechanical arm drives the structural optical sensor to scan and measure the angle of the target station for multiple changes, so as to obtain a characteristic plane coordinate point set under a sensor coordinate system O S Through the conversion parameters of the sensor coordinate system O S and the robot base coordinate system O M in the step S32Coordinate point set of all characteristic planes of target station G i in robot base coordinate systemRepresenting all feature planes of the spliced target station G i;
S42, for the same characteristic plane of the target station G i, respectively collecting coordinate points in a robot base coordinate system Coordinate point set under global coordinate system O L After fitting the feature plane, calculating to obtain conversion parameters between the robot base coordinate system O M and the global coordinate system O L when the robot stops at the ith target station
S43, for the ith measurement section C i of the long-groove workpiece, the mechanical arm drives the continuous scanning of the structural light sensor to obtain a measurement section coordinate point set under a sensor coordinate system O S The conversion parameters of the sensor coordinate system O S and the robot base coordinate system O M in the step S31 are also passedObtaining a measurement section coordinate point set of a robot base coordinate systemRepresenting all characteristic points of the spliced measurement section C i;
S44, regarding the ith measurement section C i of the long-groove workpiece, a section C i coordinate point set under the robot base coordinate system Conversion parameters of the robot base coordinate system O M and the global coordinate system O L obtained through the step S53Conversion to a set of coordinate points under the global coordinate system O L
S5, for the subsequent (i+1) th target station and the section of the workpiece, continuously performing S4 operation until all N measurement sections are obtained under a laser tracker coordinate system O L Obtaining the cross-section point cloud of the complete long groove
S6, passing through the long groove workpiece under the global coordinate systemAnd deleting the coordinates of the noise points representing the abnormality through statistical filtering, and then measuring the diameter and the edge deformation quantity of the long groove. For measuring the diameter of the long groove, firstly fitting the axial direction, generating a plurality of vertical sections along the axial direction for a plurality of times, extracting point cloud data of each section, fitting to obtain the diameter of the long groove, for measuring the edge, detecting the edge point cloud based on curvature or normal abrupt change, comparing the edge point cloud with the fitted ideal shape (such as ellipse and circle), and calculating the distance from each point to the model as deformation deviation.
According to the specific embodiment provided by the invention, the method has the following technical effects that the data of the long-size workpiece in a plurality of measuring areas are globally unified through the arrangement of the multi-target stations and the calibration of the laser tracker. By means of the accurate coordinate system and the method, the problem of inconsistent coordinate systems caused by measurement gesture changes in the traditional measurement method is avoided, and therefore measurement accuracy is greatly improved. And secondly, the hand-eye calibration ensures that the coordinate conversion between the tail end of the robot and the sensor is accurately realized, and the consistency and the accuracy of the measured data are ensured. And the point cloud splicing is performed by the least square fitting method, so that the efficient combination of the measured data of each local area of the workpiece is ensured, and finally, an accurate global point cloud model is formed. By the method, the three-dimensional data of the long-dimension workpiece can be measured rapidly and accurately, the method is particularly suitable for high-precision rapid measurement of the long-dimension groove workpiece, and real-time quality control and dynamic adjustment support can be provided for industrial production.
Drawings
FIG. 1 is a diagram showing the constitution of a measuring apparatus according to the present invention;
FIG. 2 is a flow chart of measurement in the present invention;
The device comprises a 101-guide rail system, a 102-industrial robot, a 103-robot flange plate, a 104-robot base, a 200-structure light sensor, a 300-long groove workpiece, a 400-target station and a 500-laser tracker.
Detailed Description
In order to achieve the above object, the following describes the above technical solution in detail with reference to the drawings and the detailed description.
In order to solve the problems in the prior art, as shown in fig. 1, the invention provides a high-precision rapid measurement method for the geometric quantity of a multi-target station type long groove workpiece, which comprises the following steps:
S1, an industrial robot 102 is erected on a guide rail system 101, and a structural light sensor 200 is fixed at the tail end 103 of a flange plate of the robot, so that a composite measuring device capable of realizing large-range movement along the guide rail system 101 is formed, and a workpiece 300 along an elongated slot is conveniently scanned.
S2, calculating an optimal arrangement scheme according to the workpiece size D, the maximum arm expansion l of the robot and the track length T: wherein N is the number of target stations required, N reference target stations 400 are arranged at the edge of the track, the distance is not more than the maximum arm span of the robot, and each target station is ensured to be within the measurable range of the robot. The elongated slot workpiece is also divided into N measurement sections as a local measurement area under the single target station. The target station is composed of at least two groups of step surfaces, the edge angles of each group of step surfaces are mutually perpendicular to the other groups of step surfaces, and the installation height of the target station is adjusted according to the size of a workpiece.
S3, in a calibration stage, all target stations are calibrated, and the conversion relation between the coordinate system of the structural light sensor and the coordinate system of the robot base 104 is mainly carried out, wherein the specific steps comprise:
S31, calibrating the characteristic planes of all target stations by using a laser tracker 500, continuously scanning the step surfaces on all targets by using a probe of the laser tracker, taking a coordinate system of the laser tracker as a global coordinate system O L, and obtaining a coordinate point set under the global coordinate system O L for the j-th characteristic plane F j of the i-th target station G i
S32, the robot is parked at the 1 st target station, the mechanical arm drives the structure light sensor to scan the 1 st target station at an angle which is changed for at least 3 times to obtain a plurality of groups of mechanical arm joint parameters and structure light sensor point cloud coordinates, finally, hand-eye calibration between the structure light sensor and a flange plate at the tail end of the mechanical arm is carried out, and conversion parameters of a sensor coordinate system O S and a robot base coordinate system O M are obtained through calculation
S4, the robot stops on a subsequent target station, the mechanical arm drives the structural light sensor to continuously scan and measure the cross section of the target station and the workpiece at multiple angles, and the method specifically comprises the following steps of:
S41, for all characteristic planes of the ith target station G i, the mechanical arm drives the structural optical sensor to scan and measure the angle of the target station for multiple changes, so as to obtain a characteristic plane coordinate point set under a sensor coordinate system O S Through the conversion parameters of the sensor coordinate system O S and the robot base coordinate system O M in the step S32Coordinate point set of all characteristic planes of target station G i in robot base coordinate systemRepresenting all feature planes of the spliced target station G i;
S42 for the feature plane of the target station G i, it is represented in the robot base coordinate system O M as a set of coordinate points Coordinate point set in global coordinate system O L After fitting the feature plane, calculating to obtain conversion parameters between the robot base coordinate system O M and the global coordinate system O L when the robot stops at the ith target station
S43, for the ith measurement section C i of the long-groove workpiece, the mechanical arm drives the continuous scanning of the structural light sensor to obtain a measurement section coordinate point set under a sensor coordinate system O S The conversion parameters of the sensor coordinate system O S and the robot base coordinate system O M in the step S31 are also passedObtaining a measurement section coordinate point set of a robot base coordinate systemRepresenting all characteristic points of the spliced measurement section C i;
S44, regarding the ith measurement section C i of the long-groove workpiece, a section C i coordinate point set under the robot base coordinate system Conversion parameters of the robot base coordinate system O M and the global coordinate system O L obtained through the step S53Conversion to a set of coordinate points under the global coordinate system O L
S5, for the subsequent (i+1) th target station and the section of the workpiece, continuously performing S4 operation until all N measurement sections are obtained under a laser tracker coordinate system O L Obtaining the cross-section point cloud of the complete long groove
S6, passing through the long groove workpiece under the global coordinate systemAnd deleting the coordinates of the noise points representing the abnormality through statistical filtering, and then measuring the diameter and the edge deformation quantity of the long groove. For measuring the diameter of the long groove, firstly fitting the axial direction, generating a plurality of vertical sections along the axial direction for a plurality of times, extracting point cloud data of each section, fitting to obtain the diameter of the long groove, for measuring the edge, detecting the edge point cloud based on curvature or normal abrupt change, comparing the edge point cloud with the fitted ideal shape (such as ellipse and circle), and calculating the distance from each point to the model as deformation deviation.
The multi-target station type long groove workpiece geometry quick measurement method adopts a method of global splicing through local accurate measurement, and can better realize global geometry and deformation measurement of long-size objects. In the measurement stage of the local cross section, aiming at the point cloud of the base coordinate system of the characteristic plane of the target station and the point cloud of the global coordinate system, a matrix decomposition technology of singular value decomposition (SVD, singular Value Decomposition) is adopted to calculate the minimum eigenvector of a covariance matrix to determine a plane normal vector, and the plane normal vector is determined by matching constraint conditions, so that the high-precision plane equation fitting can be realized, the noise and abnormal values can be effectively processed, and the conversion relation between the base coordinate system and the global coordinate system is provided, and the conversion of the measurement coordinate value of the local cross section to the global coordinate value is realized.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims (6)

1.一种基于多靶标站的长槽工件几何量快速测量方法，包括工业机器人，导轨系统，结构光传感器，靶标站，激光跟踪仪，其特征在于包括以下技术步骤：1. A method for rapid measurement of geometric quantities of long slotted workpieces based on multiple target stations, comprising an industrial robot, a guide rail system, a structured light sensor, target stations, and a laser tracker, characterized by the following technical steps: 步骤一，构建移动测量系统，将工业机器人搭载于地轨/吊轨组成的轨道式移动平台，机器人末端集成了结构光传感器，沿轨道延伸方向布设多个参考靶标站，靶标间距不超过机器人最大工作半径且高度根据工件形貌自适应调整；Step 1: Construct a mobile measurement system by mounting an industrial robot on a track-type mobile platform consisting of a ground rail and a hanging rail. The robot's end effector integrates a structured light sensor, and multiple reference target stations are deployed along the track extension direction. The spacing between the targets does not exceed the robot's maximum working radius, and the height is adaptively adjusted according to the workpiece shape. 步骤二，通过手眼标定，建立传感器坐标系到机器人底座坐标系的转换，并建立三维空间基准，采用激光跟踪仪完成各靶标站进行标定，得到各靶标站的特征平面在全局坐标系的坐标；Step 2: Through hand-eye calibration, establish the transformation from the sensor coordinate system to the robot base coordinate system, and establish a three-dimensional spatial reference. Use a laser tracker to calibrate each target station and obtain the coordinates of the feature plane of each target station in the global coordinate system. 步骤三，分段动态测量，控制工业机器人沿轨道分段驻停，在单站位驻停测量时，驱动机械臂执行多视角扫描，同步获取长槽工件局部截面，及对应靶标站特征平面的三维点云；Step 3: Segmented dynamic measurement. Control the industrial robot to stop in segments along the track. When stopping to measure at a single station, drive the robotic arm to perform multi-view scanning and simultaneously acquire the local cross-section of the long slot workpiece and the three-dimensional point cloud of the corresponding target station feature plane. 步骤四，点云数据融合处理，基于单个靶标站的特征平面在全局坐标系的坐标，以及该靶标站的特征平面在机器人底座坐标系的坐标，采用基于特征平面匹配的最小二乘拟合，得到驻停该靶标站点时，机器人底座坐标系与全局坐标系的转换矩阵，最终将机器人底座坐标系下的被测局部截面坐标，转换到全局坐标系下，同步运用多站协同平差算法对机器人运动累积误差进行自适应校准；Step 4: Point cloud data fusion processing. Based on the coordinates of the feature plane of a single target station in the global coordinate system and the coordinates of the feature plane of the target station in the robot base coordinate system, the least squares fitting based on feature plane matching is used to obtain the transformation matrix between the robot base coordinate system and the global coordinate system when the target station is parked. Finally, the measured local section coordinates in the robot base coordinate system are transformed to the global coordinate system. At the same time, the multi-station collaborative adjustment algorithm is used to adaptively calibrate the cumulative error of robot motion. 对于多靶标站的局部扫描测量结果，通过特征平面拟合进行多靶标站点云数据的全局拼接，实现长槽工件的三维点云重构，最终生成满足预设精度要求的工件全尺寸三维几何模型。For the local scanning measurement results of multiple target stations, the point cloud data of multiple target stations are globally stitched together by fitting the feature plane to realize the three-dimensional point cloud reconstruction of the long groove workpiece, and finally generate a full-size three-dimensional geometric model of the workpiece that meets the preset accuracy requirements. 2.根据权利要求1所述的方法，其特征在于：通过手眼标定和激光跟踪仪的联合校准，实现传感器、机器人及靶标站之间的坐标系转换。2. The method according to claim 1, characterized in that: coordinate system transformation between the sensor, robot and target station is achieved through joint calibration of hand-eye calibration and laser tracker. 3.根据权利要求1所述的方法，其特征在于：相邻靶标站的间距，是根据工件长度及机器人工作半径进行动态优化的，确保覆盖测量盲区，靶标站高度根据工件表面曲率调整后保持固定。3. The method according to claim 1, characterized in that: the spacing between adjacent target stations is dynamically optimized according to the workpiece length and the robot working radius to ensure coverage of the measurement blind zone, and the height of the target station is adjusted according to the curvature of the workpiece surface and then kept fixed. 4.根据权利要求1所述的方法，其特征在于：导轨系统可以是地面导轨或悬挂导轨形式。4. The method according to claim 1, wherein the guide rail system can be in the form of a ground guide rail or a suspended guide rail. 5.根据权利要求2所述的方法，其特征在于：手眼标定选择任意一个靶标站，通过机器人带动结构光传感器在多个角度连续扫描台阶面，获取传感器坐标系下的点云进行平面拟合，利用最小二乘拟合法计算转换矩阵，以实现从传感器坐标系到机器人基座坐标系的转换关系。5. The method according to claim 2, characterized in that: the hand-eye calibration selects any target station, and the robot drives the structured light sensor to continuously scan the step surface from multiple angles to obtain the point cloud in the sensor coordinate system for plane fitting. The least squares fitting method is used to calculate the transformation matrix to realize the transformation relationship from the sensor coordinate system to the robot base coordinate system. 6.根据权利要求2所述的方法，其特征在于：单个靶标站是由多组台阶面组成，且每组台阶面棱角与其它组台界面相互垂直，台阶面的阶梯宽度能够便于激光干涉仪的反射球自由布置。6. The method according to claim 2, characterized in that: a single target station is composed of multiple sets of stepped surfaces, and the edges of each set of stepped surfaces are perpendicular to the interfaces of other sets of stations, and the step width of the stepped surfaces can facilitate the free arrangement of the reflective spheres of the laser interferometer.
CN202510987584.4A 2025-07-17 2025-07-17 Method for rapidly measuring geometric quantity of long groove workpiece based on multi-target station type Pending CN120868949A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN121619413A (en) * 2026-01-30 2026-03-06 沈阳质及航空科技有限公司 Composite material sub-layering laser projection positioning method and system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN121619413A (en) * 2026-01-30 2026-03-06 沈阳质及航空科技有限公司 Composite material sub-layering laser projection positioning method and system

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