Laser tracker-based mobile detection robot large component shape reconstruction method

Abstract

The invention relates to a laser tracker-based mobile detection robot large component shape reconstruction method. The method comprises the following steps: (1) constructing different coordinate systems based on a laser tracker; under a laser tracker coordinate system, a laser tracker is adopted for measurement, so that an omnidirectional mobile platform coordinate system, a reference coordinate system and a vision measurement system coordinate system are constructed; (2) carrying out spatial point testability check on the model; (3) carrying out model-based spatial point automatic measurement; (4) acquiring measurement point cloud data; and (5) carrying out shape matching evaluation so as to complete shape reconstruction. According to the invention, repeated measurement is reduced, a large amount of manpower participates in the measurement process, the measurement and evaluation efficiency is improved, and the personnel safety is ensured. Meanwhile, a physical mobile detection robot system is controlled in a virtual environment, and the process of controlling reality with virtuality is achieved through disappearance of position deviation of existing functions of the laser tracker.

Description

technical field [0001] The invention relates to a method for reconstructing the shape of a large component of a mobile detection robot based on a laser tracker, and belongs to the field of high-precision measurement of a mobile detection robot. Background technique [0002] Large and complex components, such as large spacecraft cabin components, wind turbine blades, high-speed rail car body structural parts, etc., have the characteristics of large size, complex shape and surface, and weak rigidity. Both testing equipment and process methods present challenges. At present, the shape detection system mostly uses a fixed method to measure to ensure the measurement accuracy of the shape. However, as the size of large and complex components continues to increase and the accuracy continues to improve, it is difficult for large-scale fixed detection equipment to meet the detection requirements in terms of form and function. Therefore, it is necessary to propose a large-scale comp...

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Problems solved by technology

For example, "A Movable 3D Inspection Robot System", patent number CN201711482288.0, only describes the path planning subsystem, the movable 3D inspection robot subsystem, and the inspection data acquisition and analysis subsystem included in the mobile inspection robot system. , does not give the application method for shape detection

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