Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology

Abstract

The invention relates to a measuring device and a measuring method for large three-dimensional morphology based on an inertial navigation technology. The measuring device comprises a laser tracker, a portable handheld measuring terminal and a computer, wherein the portable handheld measuring terminal comprises a handheld support, a high-precision CCD (charge coupled device) camera is fixed at the upper part of the handheld support, an image processing and communication unit is positioned in the middle of the handheld support, a semiconductor laser projector is clamped at the lower part of the handheld support, an inertia navigation unit is clamped at the upper part of the handheld support, and the computer is connected with the communication unit and the laser tracker. According to the invention, the inertia navigation technology, the single-point tracking measuring technology of the laser tracker and the linear laser scanning technology are combined, the system can realize three-dimensional measurement in a measuring space which is 80m maximally, rigorous logicality is realized, the engineering is simple to realize, the precision is reliable, quick and high-precision acquisition of three-dimensional point cloud data of oversized workpieces can be realized without high cost on the basis of the existing laser tracker, and the measuring device and the measuring method have good economical usability.

Description

Technical field [0001] The invention relates to the technical field of three-dimensional contour measurement, in particular to a large-size three-dimensional shape measurement device and method based on inertial navigation technology. Background technique [0002] With the development of super-size and extreme manufacturing technology, the corresponding large-size three-dimensional object surface profile measurement technology is currently one of the hotspots of three-dimensional sensing and measurement research at home and abroad. It is widely used in aerospace, ship, automobile, online inspection and Quality control, machinery manufacturing, computer-aided design / manufacturing, robot vision systems and other fields. [0003] The current mainstream large-size 3D measurement equipment includes large gantry and bridge three-coordinate measurement systems, portable articulated arm measurement systems, and laser trackers. Large-scale coordinate measuring machines have high measuremen...

AI Technical Summary

Problems solved by technology

Large-scale three-coordinate measuring machines have high measurement accuracy, but are bulky, poor in portability and flexibility; portable articulated arms are more flexible, but for the measurement of super-large objects, it is necessary to unify the coordinate systems of multiple articulated arms

[0004] Large-scale positioning detection equipment such as laser trackers and theodolites can achieve precise positioning in large spaces, but the efficiency of feature measurement in local spaces is low

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