Large-scale complex curved surface three-dimensional shape robot movement measuring system and method

Abstract

The invention belongs to the field of automatic optical measurement, and particularly discloses a large-scale complex curved surface three-dimensional shape robot movement measuring system and method.The system comprises structured light three-dimensional scanning equipment, an industrial robot, an autonomous moving platform, stereoscopic vision measuring equipment and ground positioning targets.The method using the system for measurement comprises the following steps that coordinates of the positioning targets under an overall coordination system are calibrated; a robot hand-eye relationship is calibrated; an automatic measuring route is programmed; cloud data of a plurality of position points are obtained; cloud poses of the position points are obtained; and the cloud data of the multiple position points are subjected to alignment. According to the large-scale complex curved surface three-dimensional shape robot movement measuring system and method, efficient and high-precision automatic measurement of a large-scale complex curved surface three-dimensional shape under a non-contact condition can be realized, so that original three-dimensional data is provided for machining quality estimation of a large-scale complex curved surface.

Description

technical field [0001] The invention belongs to the field of automatic optical measurement, and more specifically relates to a mobile measurement system and method for a three-dimensional shape robot of a large complex curved surface. Background technique [0002] Large and complex surface components, such as aviation structural parts, large wind turbine blades, high-speed rail car body structural parts, etc., are widely used in aerospace, energy, transportation and other fields. Complete three-dimensional measurement and accuracy analysis can provide basic measurement data for the optimization of its forming process, which plays a vital role in improving the forming accuracy of complex parts. These curved surfaces generally have the characteristics of huge size and complex shape. In view of these characteristics, it is particularly important to provide a fast and high-precision automatic measurement method for the three-dimensional shape of large and complex curved surfaces...

AI Technical Summary

Problems solved by technology

The problem is that it needs to be marked and scanned manually, and the degree of automation is low

The system uses a laser tracker to measure the point cloud pose, which is expensive and the laser is easily blocked by the measured object and the robot. In addition, the fixed robot has a limited measurement range and cannot achieve ultra-large-scale measurement.

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