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

A technology of complex curved surfaces and three-dimensional topography, applied in measurement devices, instruments, optical devices, etc., can solve the problems of limited measurement range of fixed robots, inability to achieve ultra-large-scale measurement, and low degree of automation, and achieve flexibility and automation. The effect of high degree, improved measurement efficiency and low overall cost

Active Publication Date: 2019-07-09
HUAZHONG UNIV OF SCI & TECH
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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

Method used

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

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Embodiment Construction

[0047] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0048] figure 1 It is a mobile measurement system for a large-scale complex three-dimensional surface shape robot provided by the embodiment of the present invention. The system uses a structured light three-dimensional scanning device as a scanning device for a local three-dimensional shape, and uses a stereo vision measurement device as a tracking device for a local scanning pose. , with t...

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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...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/24
CPCG01B11/002G01B11/24
Inventor 陶波望金山龚泽宇虞苏璞尹周平
Owner HUAZHONG UNIV OF SCI & TECH
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