3D laser full-contour measuring device and using method

Abstract

The invention provides a 3D laser full-profile measuring instrument and a use method, and the measuring part comprises a movable objective table which is installed on a platform through a guide rail, the movement direction of the guide rail is the length direction of the platform, and the movable objective table can achieve horizontal X-axis movement, Y-axis movement and rotation movement; the movable imaging bracket is positioned on the moving path of the movable objective table and comprises a top 3D laser contourgraph imaging bracket and a side 3D laser contourgraph imaging bracket; the 3D imaging unit comprises a top 3D line laser contourgraph and a side 3D line laser contourgraph, the top 3D line laser contourgraph is installed on a top 3D laser contourgraph imaging support, and the side 3D line laser contourgraph is installed on a side 3D laser contourgraph imaging support. According to the method, the defects in the prior art are effectively overcome, new breakthrough and development are brought to the field of object three-dimensional measurement, and the method has important theoretical significance and wide application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser measurement, and in particular relates to a 3D laser full profile measurement device and a use method thereof. Background Art

[0002] In modern industry and scientific research, the demand for 3D measurement technology is growing, especially in application scenarios such as precision manufacturing, quality control, reverse engineering and cultural relics digitization. Although traditional 3D measurement methods, such as contact measurement and optical measurement, are effective in some cases, they usually have disadvantages such as slow measurement speed, high surface requirements, and susceptibility to environmental interference.

[0003] In recent years, 3D line laser measurement technology has gradually emerged. This technology uses laser lines to illuminate the surface of an object, uses high-precision sensors to capture reflected light, and uses the principle of triangulation to obtain the three-dimensional geometric information of the object. Compared with traditional methods, 3D line laser measurement has the advantages of non-contact, high speed, high precision, and adaptability to a variety of surface characteristics, which can effectively improve measurement efficiency and accuracy.

[0004] Currently, there are many 3D laser scanners and measurement systems on the market, but most products still have the following shortcomings:

[0005] Measuring range limitation: Existing equipment often requires multiple moves of the device when scanning the full size of larger objects, making the measurement process cumbersome and prone to errors.

[0006] Complex data processing: After data acquisition, existing technologies often require complex post-processing steps to generate a usable 3D model, which increases work time and cost.

[0007] Lack of versatility: When the existing technology is actually applied, it is necessary to combine the morphological features of the object to be measured for measurement programming in order to facilitate subsequent batch testing. This method increases the difficulty of operation, workload and time cost.

[0008] International application number: PCT / CN2021 / 143134, invention name: A line laser 3D contour scanning and reconstruction system and its control method, which uses a line laser 3D profiler as a 3D imaging device. According to the principle of 3D imaging, the line laser profiler needs to have a relative motion displacement with the object to be measured during scanning and imaging. There are two ways to form relative motion displacement: the first is that the object to be measured is fixed and the line laser profiler moves in the horizontal direction; the second is that the line laser profiler is fixed and the object to be measured moves in the horizontal direction. Patent PCT / cn2021 / 143134 adopts the first method.

[0009] Patent PCT / CN2021 / 143134 uses a servo motor and a high-precision screw to drive the line laser profiler to move relative to the object being measured, forming a measurement system to achieve high-precision 3D profile measurement. The entire system is used to solve the problem of 3D scanning imaging accuracy.

[0010] A line laser 3D contour scanning and reconstruction system and a control method thereof have the disadvantage that they mainly use the cooperation of a lead screw and a slide rail to solve the problem of accuracy and cannot achieve all-round automatic measurement of the contour of the measured object. Summary of the invention

[0011] The purpose of the present invention is to solve the defects of the above-mentioned prior art and provide a 3D laser full-contour measurement device and a method of use. The present invention aims to achieve fast and accurate full-size three-dimensional measurement through innovative laser scanning methods and intelligent data processing algorithms, adapt to a wider range of application scenarios, and improve the convenience and reliability of measurement.

[0012] The present invention adopts the following technical solution:

[0013] The 3D laser full profile measuring device includes a measuring part, a control part and an industrial computer. The measuring part includes:

[0014] The machine driver is used to control the connection between the servo motors of the measuring part and the power supply to realize the start and stop of the measuring device. The specific operation objects include: movable stage X-axis motor, movable stage Y-axis motor, movable stage rotation motor, top 3D laser profiler imaging bracket Z-axis motor, side 3D laser profiler imaging bracket X-axis motor, side 3D laser profiler imaging bracket Z-axis motor, start and stop switch of the control part, and start and stop switch of the industrial computer.

[0015] The movable stage is mounted on the platform through guide rails, and the guide rails are arranged along the length direction of the platform (Y axis). The movable stage can realize horizontal X-axis, Y-axis movement and rotational movement.

[0016] The movable imaging bracket is located on the movement path of the movable stage, and includes a top 3D laser profiler imaging bracket and a side 3D laser profiler imaging bracket. The top 3D imaging bracket can realize vertical movement, and the side 3D laser profiler imaging bracket can realize X-axis and Z-axis movement.

[0017] The 3D imaging unit comprises a top 3D laser profiler and a side 3D laser profiler. The top 3D laser profiler is mounted on a top 3D laser profiler imaging bracket, and the side 3D laser profiler is mounted on a side 3D laser profiler imaging bracket.

[0018] The control part includes:

[0019] The measurement data control component reads the CAD model data and is used for storage, reading and secondary processing of various data results input / output during the operation of the device.

[0020] The drawing data control component is used to parse the CAD model data, extract the model shape contour, dimensional parameter information, and measurement requirement information, and generate scanning range information for 3D imaging based on the above information, generate the world coordinate system position information of the measured point of the object to be measured, and generate scanning range information for measurement point detection.

[0021] Secondly, the drawing data control component is used to convert the 3D CAD model into a 3D point cloud model in order to align the 3D image of the object to be measured with the CAD model, calculate the deviation between the object to be measured and the CAD model, and the size specifications of the measurement points.

[0022] The workpiece coordinate positioning module is used to realize the automatic positioning of the object to be measured in the equipment space.

[0023] The 3D full-scan path planning module is used to generate the motion trajectory coordinates of the movable stage and the movable imaging bracket when performing full-surface scanning of the object to be tested, so as to ensure complete coverage of the surface of the object to be tested during comprehensive 3D imaging.

[0024] The measuring point positioning module is used to automatically locate the coordinates of the specified measuring point. This module and other components can realize automatic scanning, imaging and measurement of the measuring point.

[0025] The measurement path planning module is used to set the running trajectory of each movable component for automatic imaging and measurement of the specified measurement point. Through this module and in conjunction with other components, the motion path trajectory required for each movable component from the initial state to the completion of the imaging scan of the specified measurement point is generated.

[0026] Mechanism motion control component: Generates PLC instruction set based on the output results of 3D full-scan path planning module and measurement path planning module, and then controls the execution of PLC lower computer, so that the movable stage, movable imaging bracket and other moving parts controlled by servo motors move according to the instruction set requirements.

[0027] Imaging control component: The imaging control component obtains the size of the object to be measured and the measurement content requirements according to the output results of the drawing data control component, generates the scanning imaging distance, scanning imaging time, and scanning imaging times required for imaging at different measuring points, and finally converts the above information into a set of work instructions for the imaging unit for the corresponding object to be measured.

[0028] Surface feature matching component: used to align the 3D scan image with the 3D CAD model obtained by the drawing data control component.

[0029] Display control component: includes display controller and display, responsible for receiving input from measurement data control component and 3D imaging unit signal source, processing and adjusting display content, and then sending it to the display.

[0030] The industrial computer includes a host and an input device, wherein the host is used to control the running carrier of the part, and the input device is used for the operation instruction input by the equipment user.

[0031] Furthermore, the movable stage includes a horizontal moving unit and a rotating unit, and the rotating unit is installed on the upper part of the horizontal moving unit, wherein the horizontal moving unit includes two servo motors for moving along the X-axis and the Y-axis, so that the movable stage can move along the X-axis direction and the Y-axis direction respectively on the horizontal plane; the rotating unit includes a servo motor that enables the stage to rotate around its own central axis in the range of 0-360 degrees on the horizontal plane.

[0032] Furthermore, the top 3D laser profiler imaging bracket and the side 3D laser profiler imaging bracket are installed independently, wherein the top 3D laser profiler imaging bracket includes a profiler fixing seat, a vertical moving unit, and a column-type load-bearing frame, the column-type load-bearing frame is installed on the platform, the vertical moving unit is fixedly installed at the end of the column-type load-bearing frame, the vertical moving unit includes a vertical actuator and a servo motor, the servo motor realizes up and down movement by controlling the vertical actuator, and the profiler fixing seat is installed on the actuator.

[0033] Furthermore, the side 3D laser profiler imaging bracket is composed of a gantry load-bearing frame, a profiler fixing seat, a horizontal moving unit, and a vertical moving unit. The gantry load-bearing frame is installed on the platform, and the vertical moving unit is installed on the crossbeam in the middle of the gantry load-bearing frame. The vertical moving unit includes a vertical actuator and a servo motor. The servo motor controls the up and down movement of the vertical actuator. The horizontal moving unit mounting seat is installed on the vertical actuator. Horizontal moving units are installed at both ends of the horizontal moving unit mounting seat. The horizontal moving unit includes a servo motor and a horizontal actuator. The servo motor controls the horizontal actuator to realize movement in the X-axis direction. The two horizontal actuators are installed with a profiler fixing seat.

[0034] Furthermore, when 2D imaging is realized, the movable imaging bracket is used to replace and install the 2D imaging unit. The 2D imaging unit includes a load-bearing bracket, a lifting module, a micro-focusing module, a 2D high-definition camera, a 2D light source bracket, and a 2D illumination light source. The load-bearing bracket is installed on the platform, the lifting module is installed at the end of the load-bearing bracket, the micro-focusing module is installed on the lifting module, the 2D high-definition camera is installed on the micro-focusing module, and the 2D light source bracket is installed at the end of the lifting module for fixing the 2D illumination light source.

[0035] Furthermore, the execution steps of the surface feature component are as follows: first, the 3D point cloud model of the object to be measured is obtained through the drawing data control component; in the measurement requirements of the object to be measured: (1) if there are manually specified feature points, the Horn alignment algorithm is called to perform alignment calculation and generate a rough registration result; (2) if there are no manually specified feature points, the PFH / FPFH local feature description algorithm is called to perform alignment calculation and generate a rough registration result; finally, the rough registration result is used as the initial value of the ICP algorithm for fine registration calculation to generate the final alignment transformation matrix.

[0036] Furthermore, the execution steps of the mechanism motion control component are: first, the motion target of the component to be controlled, that is, the starting point, the way point, the end point, the translation speed or the rotation speed, is taken as input; then, the mechanism motion control component parses the component motion target into a key value queue of the "register address + register value" structure, each register address corresponds to a PLC control variable, and the register value is the execution requirement of the corresponding PLC control variable; then, the mechanism motion control component generates a set of ordered PLC instruction sets to achieve the component motion target; finally, the mechanism motion control component sends the instruction set to the PLC lower computer in sequence for execution.

[0037] Furthermore, the display is connected to the 2D high-definition camera of the 2D imaging unit / the profilometer of the 3D imaging unit, and the display is used to present the image and contour data captured by the 2D high-definition camera and the 3D line laser profilometer in real time.

[0038] The method for using the 3D laser full profile measuring device includes:

[0039] Step 1. Control components by measuring data and read CAD data;

[0040] Step 2. Obtain the appearance size, measurement points and corresponding measurement requirements of the object through the drawing data control component;

[0041] Step 3. Obtain the coordinate position of the object to be measured in the equipment coordinate system through the workpiece coordinate positioning module;

[0042] Step 4. Automatically calculate the position of the measuring point in the device coordinate system through the measuring point positioning module;

[0043] Step 5. According to the type of scanning measurement (3D full profile scanning or scanning of points to be measured), a scanning instruction set is generated by the imaging component to set the sequence of positions to be scanned;

[0044] Step 6. Execute the 3D full scan path planning module or the measurement path planning module according to the scan measurement type;

[0045] Step 7. Through the mechanism motion control component, the path is automatically parsed into a PLC execution instruction set of the moving parts to complete automatic programming;

[0046] Step 8. The industrial computer controls the lower computer to execute the PLC program;

[0047] Step 9. Automatically perform image scanning on the planned route through the imaging unit;

[0048] Step 10. Use the measurement data control component to compare the scanned point cloud results with CAD, calculate the size and deviation, and complete the measurement.

[0049] Furthermore, the execution steps of the 3D full scan path planning module in step 6 are as follows:

[0050] (1) Obtain the position and distance information of each side of the object through the workpiece coordinate positioning module;

[0051] (2) Using the results of step 1 and the laser range of the profiler, calculate the initial position of the movable stage in the X direction, the initial position of the top 3D laser profiler in the Z direction, and the initial position of the left and right side 3D laser profilers in the X direction;

[0052] (3) Obtain the CAD drawing size through the drawing data control component, and calculate the number of scans required to fully cover the top surface in combination with the laser range of the top 3D laser profiler;

[0053] (4) Calculate the step displacement in the X direction of the movable stage before each scan based on the laser range of the top 3D laser profiler;

[0054] (5) Obtain the CAD drawing size through the drawing data control component, and calculate the number of scans required to fully cover the left / right side in combination with the laser range of the side 3D laser profiler;

[0055] (6) According to the line laser range of the line side 3D laser profiler, calculate the step displacement along the Z direction before each scan of the movable imaging bracket when the left side / right side is fully covered;

[0056] (7) Obtain the CAD drawing size through the drawing data control component, and calculate the number of scans required to fully cover the front and back after the movable stage rotates 90 degrees in combination with the laser range of the side 3D laser profiler;

[0057] (8) According to the line laser range of the 3D laser profiler on the line side, calculate the step displacement along the Z direction before each scan of the movable imaging bracket when the front / back full coverage is completed;

[0058] (9) According to the displacement requirements defined in steps (1) to (8), the motion paths of the movable components are generated in sequence for each scan. The motion paths are described by the coordinate sequence of “starting point, waypoint 1, waypoint 2, ..., end point”;

[0059] (10) Check the running path of step (9) to prevent the components from colliding with each other when running along the path. If there is a risk of collision, return to step (9) and readjust the waypoints of the running path to avoid the risk;

[0060] (11). Generate a complete run path queue when performing a 3D full scan.

[0061] Furthermore, the measurement point scanning in step 5 includes the following steps:

[0062] (1). Obtain the position and distance information of each side of the object to be measured through the workpiece coordinate positioning module;

[0063] (2) Obtain the position information and the surface (top, left, right, front, back) of the point to be measured in the CAD world coordinate system through the drawing data control component;

[0064] (3) Obtain the range information of the point to be measured in the CAD world coordinate system through the drawing data control component;

[0065] (4) Using the results of steps (1) and (2), calculate the position information and surface of the point to be measured in the device coordinate system.

[0066] Furthermore, the execution steps of the measurement path planning module in step (6) are as follows:

[0067] (1). Obtain the position of the point to be measured in the device coordinate system through the measurement point positioning module;

[0068] (2) Obtain the scanning imaging requirements of the test point through the imaging control component;

[0069] (3) Based on the result of step (1), determine the plane where the measurement point is located and select the component that needs path planning: if the measurement point is on the top surface, use a movable stage and a top 3D laser profiler imaging bracket; if the measurement point is on the front, back, left side or right side, use a movable stage and a side 3D laser profiler imaging bracket;

[0070] (4) Based on the coordinate positions of the measurement points obtained in steps (1) and (2) and the scanning imaging requirements, and the results obtained in step 3, the corresponding movable paths for scanning are generated in sequence. The running path is described by the coordinate sequence of "starting point, waypoint 1, waypoint 2, ..., end point";

[0071] (5) Check the running path of step (4) to prevent the components from colliding with each other when running along the path. If there is a risk of collision, return to step 4 and readjust the waypoints of the running path to avoid the risk;

[0072] (6) Repeat steps (1) to (5) for all points to be measured to generate the running path queue required to perform the detection of all measurement points.

[0073] Beneficial effects of the present invention:

[0074] (1) The imaging unit plans the path according to the measurement program, fully scans the workpiece to form 3D point cloud data, which contains all the feature information of the workpiece. The workpiece size information can be easily extracted through the algorithm.

[0075] (2) Measurement programming and measurement procedures are automatically completed using algorithms, without the need for human intervention. The entire process is automated, reducing measurement costs.

[0076] (3) For new products, you only need to export the design CAD model to start the measurement program and generate a measurement template. The measurement is then automatically completed. For products that have been measured, the measurement template is automatically identified and the measurement is automatically performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a structural schematic diagram of the present invention;

[0078] Figure 2 It is a schematic diagram of the movable stage structure;

[0079] Figure 3 imaging bracket for the top profiler;

[0080] Figure 4 It is a side profiler imaging bracket;

[0081] Figure 5 is a 2D imaging unit;

[0082] Figure 6 Schematic diagram for surface feature matching operation;

[0083] Figure 7 Schematic diagram of scanning motion direction;

[0084] Figure 8 It is a schematic diagram of the measurement process of the present invention;

[0085] Fig. 9 It is a relationship diagram of the control part of the present invention.

[0086] In the figure, 10- movable stage, 101- horizontal moving unit I, 102- rotating unit;

[0087] 20-top 3D laser profiler imaging bracket, 201-profiler fixing seat, 202-vertical moving unit I, 203-column load-bearing frame;

[0088] 30-side 3D laser profiler imaging bracket, 301-gantry load-bearing frame, 302-vertical moving unit II, 303-horizontal moving unit II;

[0089] 40-2D imaging unit, 401-load-bearing bracket, 402-lifting module, 403-micro-focusing module, 404-2D high-definition camera, 405-2D light source bracket, 406-2D lighting source;

[0090] 60- measurement data control component, 70- drawing data control component, 80- workpiece coordinate positioning module, 90- 3D full scanning path planning module, 100- measurement path planning module, 110- measurement point positioning module, 120- mechanism motion control component, 130- imaging control component, 140- surface feature matching component, 150- display control component. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention is described clearly and completely below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0092] Measurement programming: By defining a series of instructions, the motion path controls the working process of the imaging unit to form a measurement template. Measurement programming is the process of defining the measurement template.

[0093] 3D measurement: mainly used to scan the spatial shape and structure of an object to obtain the three-dimensional contour of the object and the three-dimensional spatial coordinates of the surface points of the object, so as to perform accurate measurement of the specified position.

[0094] 3D features: geometric features such as faces, edges, holes, grooves, or other specific information that can describe the properties of the target object on the three-dimensional image.

[0095] Point cloud: Point cloud is a massive set of points that express the spatial distribution and surface characteristics of the target in the same spatial reference system. After obtaining the spatial coordinates of each sampling point on the surface of the object, the geometry of the point is obtained, which is called "point cloud".

[0096] 3D CAD: Mainly used to design three-dimensional models. The three-dimensional model represents the actual shape of the product as a three-dimensional model in the computer. The model contains various information about the points, lines, surfaces and entities of the product's geometry.

[0097] World coordinate system: It is composed of three perpendicular and intersecting coordinate axes, the Y axis and the Z axis. The device coordinate system is the default coordinate system of the device proposed in the present invention. It is used to describe the coordinate positions of the object to be measured, the profiler, and the stage lamp components. The coordinate circumferential direction will not change, and the coordinate origin is the laser source position of the top 3D laser profiler.

[0098] like Figure 1 As shown, the 3D laser full profile measuring device of the present invention is composed of three module components, namely a measuring part, a control part and an industrial computer.

[0099] The measurement part includes:

[0100] Machine driver: The machine driver is the execution unit of the measurement component operation. The machine driver is used to perform the power on, power off, standby, pause and emergency operations of the whole machine. The specific operation objects include: movable stage X-axis motor, movable stage Y-axis motor, movable stage rotation motor, top 3D laser profiler imaging bracket Z-axis motor, side 3D laser profiler imaging bracket X-axis motor, side 3D laser profiler imaging bracket Z-axis motor, control part start and stop switch, industrial computer start and stop switch.

[0101] The movable stage 10 is installed on the platform through a guide rail, and the guide rail is arranged along the length direction of the platform (Y axis), and includes a horizontal moving unit Ⅰ101 and a rotating unit 102. The rotating unit 102 is installed on the upper part of the horizontal moving unit Ⅰ101, wherein the horizontal moving unit Ⅰ101 includes two high-precision servo motors that move along the X-axis and the Y-axis, so that the movable stage 10 can move along the X-axis direction and the Y-axis direction respectively on the horizontal plane; the rotating unit 102 includes a high-precision servo motor that enables the movable stage 10 to rotate around its own central axis in the horizontal plane in the range of 0-360 degrees, and can achieve a free angle rotation with a minimum step of 0.1 degree, such as Figure 2 The movable stage 10 has two functions: to place the object to be tested and fix it, and to carry the object to be tested and rotate or translate synchronously, so that the 2D / 3D camera can scan and image the object to be tested.

[0102] The movable imaging bracket is located on the movement path of the movable stage, and includes a top 3D laser profiler imaging bracket 20 and a side 3D laser profiler imaging bracket 30. The top 3D laser profiler imaging bracket 20 and the side 3D laser profiler imaging bracket 30 are independently installed, wherein the top 3D laser profiler imaging bracket 20 includes a profiler fixing seat 201, a vertical moving unit 202, and a column-type load-bearing frame 203. The column-type load-bearing frame 203 is installed on the platform, and the vertical moving unit 202 is fixedly installed on the end of the column-type load-bearing frame 203. The vertical moving unit 202 includes a vertical actuator and a servo motor. The servo motor realizes up and down movement by controlling the vertical actuator. The profiler fixing seat 201 is installed on the vertical actuator. Figure 3 shown.

[0103] The side 3D laser profiler imaging bracket 30 is composed of a gantry load-bearing frame 301, a profiler fixing seat 201, a horizontal moving unit II 303, and a vertical moving unit II 302. The gantry load-bearing frame 301 is installed on the platform, and the vertical moving unit II 302 is installed on the crossbeam in the middle of the gantry load-bearing frame 301. The vertical moving unit II 302 includes a vertical actuator and a servo motor. The servo motor controls the vertical actuator to move up and down. The horizontal moving unit mounting seat is installed on the vertical actuator. Horizontal moving units II 303 are installed at both ends of the horizontal moving unit mounting seat. The horizontal moving unit II 303 includes a servo motor and a horizontal actuator. The servo motor controls the horizontal actuator to realize movement in the X-axis direction. The profiler fixing seat 201 is installed on both horizontal actuators. Figure 4 shown.

[0104] The movable imaging bracket has the following functions: (1) to carry the 3D line laser profiler and to provide fixed support for the 3D line laser profiler. (2) to adjust the position of the 3D line laser profiler on the movable bracket with the aid of a high-precision servo motor, thereby making the present invention applicable to scanning and imaging of samples of different sizes.

[0105] like Figure 5As shown, on the one hand, when used to obtain a two-dimensional image of the surface of the object to be measured, the movable imaging bracket is used to replace and install the 2D imaging unit 40. The 2D imaging unit 40 includes a load-bearing bracket 401, a lifting module 402, a micro-focusing module 403, a 2D high-definition camera 404, a 2D light source bracket 405, and a 2D illumination light source 406. The load-bearing bracket 401 is installed on the platform, and a lifting module 402 is installed at the end of the load-bearing bracket 401. The lifting module 402 is controlled by a servo motor to adjust the distance between the 2D camera and the object to be measured. The micro-focusing module 403 is installed on the lifting module 402, and the lifting and fine-tuning is controlled by the servo motor to adjust the camera height according to the height of the object to be measured and the measurement field of view. The 2D high-definition camera 404 is installed on the micro-focusing module 403. The 2D light source bracket 405 is installed at the end of the lifting module 402 to fix the 2D illumination light source 406. The 2D illumination light source 406 is used to provide uniform and stable multi-angle illumination to the object to be measured, providing an ideal working environment for 2D measurement imaging.

[0106] On the other hand, when the three-dimensional shape, size and surface feature information of the object to be measured is captured, the 3D imaging unit installed on the movable imaging bracket is used for acquisition. The 3D imaging unit includes a top 3D line laser profiler and a side 3D line laser profiler. The top 3D laser profiler is installed on the profiler fixing seat 201 of the top 3D laser profiler imaging bracket 20, and the side 3D line laser profiler is installed on the profiler fixing seat 201 of the side 3D laser profiler imaging bracket 30.

[0107] The top 3D laser profiler is used to scan the 3D profile image of the top surface of the object to be measured, and the side 3D laser profiler is used to scan the 3D profile image on the left and right sides of the moving direction. After passing through the 3D imaging unit, the profile information of the top surface and the two side surfaces (the left and right sides in the forward direction) can be generated at the same time; finally, the complete 3D profile image of the object to be measured is obtained by splicing the point cloud coordinates of the 3D image.

[0108] like Fig. 9 As shown, the control part includes:

[0109] The measurement data control component 60 reads the CAD model data and is used for storage, reading and secondary processing of various data results input / output during the operation of the equipment. It is the basic condition for the operation of other control components. During the operation of the device proposed by the present invention, the measurement data control component has the following functions:

[0110] (1) CAD drawing data control: storing CAD data imported from outside the device and reading CAD data inside the device as the input data source of the drawing data control component 70;

[0111] (2) Manual feature point data control: used to manually select feature points for input marking and record storage during measurement operations;

[0112] (3) Output storage of each control component: store and record the output results of each control component;

[0113] (4) Measurement image storage: data storage of original image results of 2D and 3D scanning;

[0114] (5) Measurement image stitching: stitch the image results of 3D scanning according to the rules to generate extended image data of the object to be measured;

[0115] (6) Specification comparison: According to the measurement content requirements, the scanned image is compared with the specification indicators, and the result values ​​of each measurement content are calculated;

[0116] (7) Measurement result storage: storage of measurement result data for display output of the display control component 150;

[0117] (8). Built-in parameter storage: installation distance, travel range, and configuration parameters of each component.

[0118] The drawing data control component 70 is used to parse the CAD model data read by the measurement data control component 60, extract the model shape contour, size parameter information, and measurement requirement information, and generate the scanning range information for 3D full imaging based on the above information, generate the world coordinate system position information of the workpiece coordinate positioning module 80 of the measured point of the object to be measured, and generate the scanning range information for the measurement point detection used by the 3D full scanning path planning module 90. Secondly, the drawing data control component 70 is used to convert the 3D CAD model into a 3D point cloud model, so that the measurement data control component 60 can align the 3D image of the object to be measured with the CAD model, calculate the deviation between the object to be measured and the CAD model, and the size specifications of the measurement points.

[0119] The workpiece coordinate positioning module 80 is used to realize the automatic positioning of the object to be measured in the device coordinate system, such as Figure 6 As shown, the dotted box is the effective boundary of the movable stage, the cross in the dotted box is the central axis of the movable stage, the intersection is the center point of the movable stage, and the gray rectangle represents the boundary of the object to be measured. This module is used to automatically determine the movable stage 10, when the movable imaging bracket is in the initial zero position, the distance between the upper edge of the object to be measured and the left side 3D laser profiler in the X direction, the distance between the lower edge of the object to be measured and the right side 3D laser profiler in the X direction, the distance between the left edge of the object to be measured and the center point of the movable stage in the Y direction, and the distance between the right edge of the object to be measured and the center point of the movable stage in the Y direction, where: the distance between the center point of the movable stage and the top 3D laser profiler in the Y direction is L OT, the distance L in the X direction from the left 3D laser profiler OS1 , the distance L from the right side 3D laser profiler in the X direction OS2 Built-in fixed parameters for the device.

[0120] The working principle and operation steps of the workpiece coordinate positioning module 80 are as follows:

[0121] (1) Place the object to be tested on the rotatable stage 10 manually or by a robot, so that the position of the object to be tested is consistent with the direction of the CAD drawing coordinate system;

[0122] (2) According to the distance between the top 3D laser profiler and the stage (Z direction distance), the height of the CAD drawing of the object to be measured (Z direction height), and the depth of field of the top 3D laser profiler, calculate the distance TL that the top 3D laser profiler imaging bracket 20 needs to be adjusted in the vertical direction when the right edge of the top surface of the object to be measured can be imaged;

[0123] (3) Adjust the top 3D laser profiler imaging bracket 20 moving distance TL through the mechanism motion control component 120;

[0124] (4) Through the imaging control module, start the top 3D laser profiler and perform a 3D scan from 0 to the maximum effective travel range;

[0125] (5) Obtain a 3D point cloud image through the measurement data control module 60, process the 3D point cloud image, and calculate the distance between the right edge of the object to be measured and the top 3D laser profiler in the Y direction;

[0126] (6) Using the result of step (5) and the distance L between the center point of the movable stage and the top 3D laser profiler in the Y direction OT , the distance between the right edge of the object to be measured and the center point of the movable stage in the Y direction can be calculated;

[0127] (7) Through the mechanism motion control assembly 120, adjust the movable stage 10 so that it rotates 180 degrees clockwise along its own axis;

[0128] (8) Repeat steps (4) to (6). The distance obtained at this time is the distance between the left edge of the object to be measured and the center point of the movable stage in the Y direction;

[0129] (9) Through the mechanism motion control assembly 120, adjust the movable stage 10 to reset it to 0 degrees;

[0130] (10) Through the mechanism motion control assembly 120, adjust the movable stage 10 so that it rotates 90 degrees clockwise along its own axis;

[0131] (11) Repeat steps (4) to (6). The distance obtained at this time is the distance between the upper edge of the object to be measured and the center point of the movable stage in the X direction;

[0132] (12). Using the result of step (11) and the center point of the movable stage on the left side, the 3D laser profiler is at a distance L in the X direction. OS1 , the distance between the upper edge of the object to be measured and the left edge of the 3D laser profiler in the X direction can be calculated;

[0133] (13) Through the mechanism motion control assembly 120, adjust the movable stage 10 to reset it to 0 degrees;

[0134] (14) Through the mechanism motion control assembly 120, adjust the movable stage 10 so that it rotates 90 degrees counterclockwise along its own axis;

[0135] (15) Repeat steps (4) to (6). The distance obtained at this time is the distance between the lower edge of the object to be measured and the center point of the movable stage in the X direction;

[0136] (16). Using the result of step (15) and the distance L between the center point of the movable stage and the right side 3D laser profiler in the X direction OS2 , the distance between the lower edge of the object to be measured and the right side 3D laser profiler in the X direction can be calculated;

[0137] (17). Adjust the movable stage 10 to reset it to 0 through the mechanism motion control component 120.

[0138] 3D full scanning path planning module 90, due to the limited length range of the line laser of the profiler, when the X-direction range of the top surface of the object to be measured exceeds the scanning range of the top 3D laser profiler, the object to be measured needs to be translated and scanned multiple times in the X-direction to cover the complete range of the top surface of the object to be measured; when the Z-direction range of the side of the object to be measured exceeds the scanning range of the side 3D laser profiler, the side camera needs to be lifted and scanned multiple times in the Z-direction to cover the complete range of the side of the object to be measured. In order to solve the above problems, a 3D full scanning path planning module 90 is proposed, which is used to generate the motion trajectory coordinates of the movable stage 10 and the movable imaging bracket when performing full surface scanning on the object to be measured, so as to meet the complete coverage of the surface of the object to be measured during comprehensive 3D imaging.

[0139] like Figure 7 As shown, during full scanning, the position relationship of each surface of the object to be measured is defined with the movement direction as a reference.

[0140] The operating principle and steps of the 3D full scan path planning module are as follows:

[0141] (1) Obtain the position and distance information of each side of the object to be measured through the workpiece coordinate positioning module 80;

[0142] (2) Using the results of step (1) and the laser range of the profiler, calculate the initial position of the movable stage 10 in the X direction, the initial position of the top 3D laser profiler in the Z direction, and the initial position of the left and right side 3D laser profilers in the X direction;

[0143] (3) Obtain the CAD drawing size through the drawing data control component 70, and calculate the number of scans required to complete full coverage of the top surface in combination with the laser range of the top 3D laser profiler;

[0144] (4) According to the top 3D laser profiler line laser range, calculate the step displacement of the movable stage 10 along the X direction before each scan;

[0145] (5) Obtain the CAD drawing size through the drawing data control component 70, and calculate the number of scans required to complete full coverage of the left side / right side in combination with the laser range of the side 3D laser profiler;

[0146] (6) According to the line laser range of the line side 3D laser profiler, calculate the step displacement along the Z direction before each scan of the movable imaging bracket when the left side / right side is fully covered;

[0147] (7) Obtain the CAD drawing size through the drawing data control component 70, and calculate the number of scans when the movable stage 10 is rotated 90 degrees to complete full coverage of the front and back, combined with the laser range of the side 3D laser profiler;

[0148] (8) According to the line laser range of the 3D laser profiler on the line side, calculate the step displacement along the Z direction before each scan of the movable imaging bracket when the front / back full coverage is completed;

[0149] (9) According to the displacement requirements defined in steps (1) to (8), the motion paths of the movable components are generated in sequence for each scan. The motion paths are described by the coordinate sequence of “starting point, waypoint 1, waypoint 2, ..., end point”;

[0150] (10) Check the running path of step (9) to prevent the components from colliding with each other when running along the path. If there is a risk of collision, return to step (9) and readjust the waypoints of the running path to avoid the risk;

[0151] (11). Generate a complete run path queue when performing a 3D full scan.

[0152] The measurement path planning module 100 is used to set the running trajectory of each movable component for automatic imaging and measurement of the designated measurement point. Through this module and in conjunction with other components, the movement path trajectory required for each movable component from the initial state to the completion of the imaging scan of the designated measurement point is generated.

[0153] The purpose is to complete the motion trajectory coordinates of each moving part when all points are detected, and then transmit them to the mechanism operation control component;

[0154] The operating principle and steps of the measurement path planning module 100 are as follows:

[0155] (1) Obtain the position of the measured point in the device coordinate system through the measurement point positioning module 110;

[0156] (2) Obtain the scanning imaging requirements of the test point through the imaging control component 130;

[0157] (3) According to the result of step (1), determine the plane where the measuring point is located and select the component that needs path planning: if the measuring point is on the top surface, use the movable stage 10 and the top 3D laser profiler imaging bracket; if the measuring point is on the front, back, left side or right side, use the movable stage 10 and the side 3D laser profiler imaging bracket 30;

[0158] (4) Based on the coordinate positions of the measurement points obtained in steps (1) and (2) and the scanning imaging requirements, and the results obtained in step 3, the corresponding movable paths for scanning are generated in sequence. The running path is described by the coordinate sequence of "starting point, waypoint 1, waypoint 2, ..., end point";

[0159] (5) Check the running path of step 4 to prevent collisions between components when running along the path. If there is a risk of collision, return to step 4 and readjust the waypoints of the running path to avoid the risk.

[0160] (6) Repeat steps (1) to (5) for all points to be measured to generate the running path queue required to perform the detection of all measurement points.

[0161] The measuring point positioning module 100 is used for automatically positioning the coordinates of the designated measuring point. This module and other components can realize automatic scanning, imaging and measurement of the measuring point.

[0162] The operating principle and steps of the measuring point positioning module 100 are as follows:

[0163] (1) Obtain the position distance information of each side of the object to be measured through the workpiece coordinate positioning module 80;

[0164] (2) Obtain the position information and the surface (top surface, left surface, right surface, front surface, back surface) of the point to be measured in the CAD world coordinate system through the drawing data control component 70;

[0165] (3) Obtain the range information of the point to be measured in the CAD world coordinate system through the drawing data control component 70;

[0166] (4) Using the results of steps (1) and (2), calculate the position information and surface of the point to be measured in the device coordinate system.

[0167] Mechanism motion control component 120: Generates a PLC instruction set through the output results of the 3D full-scanning path planning module 90 and the measurement path planning module 100, and then controls the lower computer of the PLC to execute, so that the movable stage 10, movable imaging bracket and other moving parts controlled by the servo motor move according to the instruction set requirements. When the mechanism motion control component is executed, firstly, the motion target of the part to be controlled, that is, the starting point, the passing point, the end point, the translation speed or the rotation speed, is taken as input; then, the mechanism motion control component 120 parses the part motion target into a key value queue of the "register address + register value" structure, each register address corresponds to a PLC control variable, and the register value is the execution requirement of the corresponding PLC control variable; then, the mechanism motion control component 120 generates a set of ordered PLC instruction sets to achieve the part motion target; finally, the mechanism motion control component 120 sends the instruction set to the PLC lower computer in sequence for execution.

[0168] The PLC control variables involved in the present invention are as follows:

[0169] (1) Moving starting point

[0170] (2) Moving end point

[0171] (3) Direction of movement

[0172] (4) Moving distance

[0173] (5).Moving speed / rotation speed / stepping speed

[0174] (6) Moving time

[0175] (7) Reset / zero

[0176] A PLC instruction consists of one or more control variables mentioned above, and a set of PLC instruction sets consists of multiple PLC instructions.

[0177] Imaging control component 130: used to generate data instructions for controlling the operation of 2D imaging unit 40 and 3D imaging unit. Imaging control component 130 obtains the size of the object to be measured and the measurement content requirements according to the output results of drawing data control component 70, generates the scanning imaging distance, scanning imaging time, and scanning imaging times required for imaging at different measurement points, and finally converts the above information into a set of working instructions for the imaging unit for the corresponding object to be measured.

[0178] The working instructions of the imaging control component 130 include the following information:

[0179] (1) Position of the point to be measured: coordinate information of the current measuring point in the device coordinate system;

[0180] (2) Scanning imaging distance: the actual distance between the 2D imaging unit 40 / 3D imaging unit and the target when scanning the current measurement point;

[0181] (3) Start scanning position: the coordinate position of the stage when scanning the current measurement point begins;

[0182] (4) End scanning position: the coordinate position of the stage when the scanning of the current measurement point ends;

[0183] (5) Scanning imaging duration: the duration of continuous scanning of the current measurement point;

[0184] (6) Scanning times: The number of times the current measurement point is scanned repeatedly.

[0185] Surface feature matching component 140: used to align the 3D scanned image with the 3D CAD model. First, the 3D point cloud model of the object to be measured is obtained through the drawing data control component 70; in the measurement requirements of the object to be measured, if there are manually specified feature points, the Horn alignment algorithm is called to perform alignment calculations to generate a rough alignment result; if no feature points are manually specified, the PFH / FPFH local feature description algorithm is called to perform alignment calculations to generate a rough alignment result; finally, the rough alignment result is used as the initial value of the ICP algorithm for fine alignment calculations to generate the final alignment transformation matrix.

[0186] Display control component 150: includes a display controller and a display, and is responsible for receiving input from a signal source, processing and adjusting display content, and then sending it to the display. It is the central processing unit of the display and plays a decisive role in the display effect.

[0187] Display control is the precise operation and adjustment of the display content of the display through specific technologies and equipment to achieve effective display, transmission and interaction of information. This process involves the coordinated work of multiple components and technologies, which together constitute the core of modern display systems.

[0188] The display is connected to the 2D high-definition camera 404 of the 2D imaging unit 40 / the profiler of the 3D imaging unit. The display is used to present the images and profile data captured by the 2D high-definition camera 404 and the 3D line laser profiler in real time, so that the details of the measured object can be clearly observed. At the same time, the measurement results (such as key information such as size and shape deviation) are also accurately presented on the display synchronously. The display is a display window for measurement data and a channel for users to interact with the measurement system.

[0189] The industrial computer includes the following components:

[0190] 1. The host is the carrier for the software of the present invention to run, the signal control source of the display control component, and also the data storage medium of the measurement data control component.

[0191] 2. Keyboard and mouse

[0192] The keyboard and mouse are the interactive interfaces of the device proposed by the present invention and are the input sources of all operation control instructions.

[0193] The present invention uses a 3D line laser profiler to perform three-dimensional imaging on the surface of the object to be measured, and compares it with a CAD drawing, thereby automatically completing the size measurement of the object to be measured.

[0194] like Figure 8 As shown, the method for using the 3D laser full profile measurement device includes:

[0195] Step 1. Read CAD data by measuring data control component 60;

[0196] Step 2. Obtain the appearance size, measurement points and corresponding measurement requirements of the object through the drawing data control component 70;

[0197] Step 3. Obtain the coordinate position of the object to be measured in the device coordinate system through the workpiece coordinate positioning module 80;

[0198] Step 4. The position of the measuring point in the device coordinate system is automatically calculated by the measuring point positioning module 110;

[0199] Step 5. According to the type of scanning measurement (3D full profile scanning or scanning of points to be measured), a scanning instruction set is generated by the imaging component to set the sequence of positions to be scanned;

[0200] Step 6. Execute the 3D full scan path planning module or the measurement path planning module according to the scan measurement type;

[0201] Step 7. The path is automatically parsed into a PLC execution instruction set of the moving parts through the mechanism motion control component 120 to complete automatic programming;

[0202] Step 8. The industrial computer controls the lower computer to execute the PLC program;

[0203] Step 9. Automatically perform image scanning on the planned route through the imaging unit;

[0204] Step 10. By measuring the data control component 60, the point cloud result obtained by scanning is compared with the CAD, and the size and deviation are calculated to complete the measurement.

[0205] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. 3D laser full profile measurement device, characterized in that: Including measurement part, control part and industrial computer; The measuring part includes: a machine driver, which is used to control the connection between each servo motor of the measuring part and the power supply to realize the start and stop of the measuring device; a movable stage, which is installed on the platform through a guide rail, and the guide rail is arranged along the length of the platform, and the movable stage can realize horizontal X-axis, Y-axis movement and rotational movement; a movable imaging bracket, which is located on the movement path of the movable stage, including a top 3D laser profiler imaging bracket and a side 3D laser profiler imaging bracket, the top 3D imaging bracket can realize vertical movement, and the side 3D laser profiler imaging bracket can realize X-axis and Z-axis movement; a 3D imaging unit, including a top 3D laser profiler and a side 3D laser profiler, the top 3D laser profiler is installed on the top 3D laser profiler imaging bracket, and the side 3D laser profiler is installed on the side 3D laser profiler imaging bracket; The control part includes: Measurement data control component, which reads CAD model data and is used for storage, reading and secondary processing of various data results input / output during the operation of the device; Drawing data control component, used to parse CAD model data, extract model shape contour, dimension parameter information, measurement requirement information, and generate scanning range information for 3D imaging based on the information, generate world coordinate system position information of the points to be measured of the object to be measured, and generate scanning range information for measuring point detection; Secondly, the drawing data control component is used to convert the 3D CAD model into a 3D point cloud model, so as to align the 3D image of the object to be measured with the CAD model, calculate the deviation between the object to be measured and the CAD model, and the size specifications of the measurement points; Workpiece coordinate positioning module, used to realize automatic positioning of the object to be measured in the equipment space; 3D full scanning path planning module, used to generate the motion trajectory coordinates of the movable stage and the movable imaging bracket when performing full surface scanning of the object to be tested, so as to ensure complete coverage of the surface of the object to be tested during full 3D imaging; The measuring point positioning module is used to automatically locate the coordinates of the specified measuring point. This module and other components can be used to automatically scan, image and measure the points to be measured. The measurement path planning module is used to set the running trajectory of each movable component for automatic imaging and measurement of the specified measurement point. Through this module and in conjunction with other components, the movement path trajectory required for each movable component from the initial state to the completion of the imaging scan of the specified measurement point is generated; Mechanism motion control component: Generates PLC instruction set based on the output results of 3D full scan path planning module and measurement path planning module, and then controls the execution of PLC lower computer, so that the moving parts controlled by servo motor move according to the instruction set requirements; Imaging control component: The imaging control component obtains the size of the object to be measured and the measurement content requirements according to the output results of the drawing data control component, generates the scanning imaging distance, scanning imaging time, and scanning imaging times required for imaging at different measuring points, and finally converts the above information into a set of working instructions for the imaging unit for the corresponding object to be measured; Surface feature matching component: used to align the 3D scan image with the 3D CAD model obtained by the drawing data control component; The industrial computer includes a host and an input device, wherein the host is an operating carrier for the control part, and the input device is used to input 3D CAD model information.

2. The 3D laser full profile measurement device according to claim 1, characterized in that: The movable stage includes a horizontal moving unit I and a rotating unit, wherein the rotating unit is installed on the upper part of the horizontal moving unit I, wherein the horizontal moving unit I includes two servo motors for movement along the X-axis and the Y-axis, so that the movable stage can move along the X-axis direction and the Y-axis direction respectively on the horizontal plane; the rotating unit includes a servo motor that enables the stage to rotate around its own central axis in the horizontal plane within a range of 0-360 degrees.

3. The 3D laser full profile measurement device according to claim 1, characterized in that: The top 3D laser profiler imaging bracket and the side 3D laser profiler imaging bracket are installed independently, wherein the top 3D laser profiler imaging bracket includes a profiler fixing seat, a vertical moving unit I, and a column-type load-bearing frame, the column-type load-bearing frame is installed on the platform, the vertical moving unit is fixedly installed at the end of the column-type load-bearing frame, the vertical moving unit includes a vertical actuator and a servo motor, the servo motor realizes up and down movement by controlling the vertical actuator, and the profiler fixing seat is installed on the actuator.

4. The 3D laser full profile measurement device according to claim 3, characterized in that: The side 3D laser profiler imaging bracket is composed of a gantry load-bearing frame, a profiler fixing seat, a horizontal moving unit II, and a vertical moving unit II. The gantry load-bearing frame is installed on the platform, and the vertical moving unit II is installed on the crossbeam in the middle of the gantry load-bearing frame. The vertical moving unit II includes a vertical actuator and a servo motor. The servo motor controls the up and down movement of the vertical actuator. The horizontal moving unit mounting seat is installed on the vertical actuator. The horizontal moving unit II is installed at both ends of the horizontal moving unit mounting seat. The horizontal moving unit II includes a servo motor and a horizontal actuator. The servo motor controls the horizontal actuator to realize movement in the X-axis direction. The profiler fixing seat is installed on both horizontal actuators.

5. The 3D laser full profile measurement device according to claim 1, characterized in that: The execution steps of the surface feature component are as follows: first, the 3D point cloud model of the object to be measured is obtained through the drawing data control component; in the measurement requirements of the object to be measured: (1) if there are manually specified feature points, the Horn alignment algorithm is called to perform alignment calculation and generate a rough alignment result; (2) If no feature points are manually specified, the PFH / FPFH local feature description algorithm is called to perform alignment calculations to generate a rough registration result. Finally, the rough registration result is used as the initial value of the ICP algorithm to perform fine registration calculations to generate the final alignment transformation matrix.

6. The 3D laser full profile measurement device according to claim 1, characterized in that: The execution steps of the mechanism motion control component are as follows: first, the motion target of the component to be controlled, i.e., the starting point, the waypoint, the end point, the translation speed or the rotation speed, is taken as input; then, the mechanism motion control component parses the component motion target into a key value queue of the "register address + register value" structure, each register address corresponds to a PLC control variable, and the register value is the execution requirement of the corresponding PLC control variable; then, the mechanism motion control component generates a set of ordered PLC instruction sets to realize the component motion target; finally, the mechanism motion control component sends the instruction set to the PLC lower computer in sequence for execution.

7. The method for using the 3D laser full profile measurement device according to any one of claims 1 to 6, characterized in that: include: Step 1. Control components by measuring data and read CAD data; Step 2. Obtain the appearance size, measurement points and corresponding measurement requirements of the object through the drawing data control component; Step 3. Obtain the coordinate position of the object to be measured in the equipment coordinate system through the workpiece coordinate positioning module; Step 4. Automatically calculate the position of the measuring point in the device coordinate system through the measuring point positioning module; Step 5. Depending on whether the type of scanning measurement is 3D full profile scanning or scanning of points to be measured, a scanning instruction set is generated by the imaging component to set a sequence of positions to be scanned; Step 6. Execute the 3D full scan path planning module or the measurement path planning module according to the scan measurement type; Step 7. Through the mechanism motion control component, the path is automatically parsed into a PLC execution instruction set of the moving parts to complete automatic programming; Step 8. The industrial computer controls the lower computer to execute the PLC program; Step 9. Automatically perform image scanning on the planned route through the imaging unit; Step 10. Use the measurement data control component to compare the scanned point cloud results with CAD, calculate the size and deviation, and complete the measurement.

8. The method for using the 3D laser full profile measurement device according to claim 7, characterized in that: The execution steps of the 3D full scan path planning module in step 6 are as follows: (1) Obtain the position and distance information of each side of the object through the workpiece coordinate positioning module; (2) Using the results of step 1 and the laser range of the profiler, calculate the initial position of the movable stage in the X direction, the initial position of the top 3D laser profiler in the Z direction, and the initial position of the left and right side 3D laser profilers in the X direction; (3) Obtain the CAD drawing size through the drawing data control component, and calculate the number of scans required to fully cover the top surface in combination with the laser range of the top 3D laser profiler; (4) Calculate the step displacement in the X direction of the movable stage before each scan based on the laser range of the top 3D laser profiler; (5) Obtain the CAD drawing size through the drawing data control component, and calculate the number of scans required to fully cover the left / right side in combination with the laser range of the side 3D laser profiler; (6) According to the line laser range of the line side 3D laser profiler, calculate the step displacement along the Z direction before each scan of the movable imaging bracket when the left side / right side is fully covered; (7) Obtain the CAD drawing size through the drawing data control component, and calculate the number of scans required to fully cover the front and back after the movable stage rotates 90 degrees in combination with the laser range of the side 3D laser profiler; (8) According to the line laser range of the 3D laser profiler on the line side, calculate the step displacement along the Z direction before each scan of the movable imaging bracket when the front / back full coverage is completed; (9) According to the displacement requirements defined in steps (1) to (8), the motion paths of the movable components are generated in sequence for each scan. The motion paths are described by the coordinate sequence of "starting point, waypoint 1, waypoint 2, ..., end point"; (10) Check the running path of step (9) to prevent the components from colliding with each other when running along the path. If there is a risk of collision, return to step (9) and readjust the waypoints of the running path to avoid the risk; (11). Generate a complete run path queue when performing a 3D full scan.

9. The method for using the 3D laser full profile measurement device according to claim 7, characterized in that: The measurement point scanning in step 5 includes the following steps: (1). Obtain the position and distance information of each side of the object to be measured through the workpiece coordinate positioning module; (2) Obtain the position information and the surface of the point to be measured in the CAD world coordinate system through the drawing data control component; (3) Obtain the range information of the point to be measured in the CAD world coordinate system through the drawing data control component; (4) Using the results of steps (1) and (2), calculate the position information and surface of the point to be measured in the device coordinate system.

10. The method for using the 3D laser full profile measurement device according to claim 7, characterized in that: Step 6: The execution steps of the measurement path planning module are as follows: (1). Obtain the position of the point to be measured in the device coordinate system through the measurement point positioning module; (2) Obtain the scanning imaging requirements of the test point through the imaging control component; (3) Based on the result of step (1), determine the plane where the measurement point is located and select the component that needs path planning: if the measurement point is on the top surface, use a movable stage and a top 3D laser profiler imaging bracket; if the measurement point is on the front, back, left side or right side, use a movable stage and a side 3D laser profiler imaging bracket; (4) Based on the coordinate positions of the measurement points obtained in steps (1) and (2) and the scanning imaging requirements, and the results obtained in step (3), the corresponding movable paths for scanning are generated in sequence. The running path is described by the coordinate sequence of "starting point, waypoint 1, waypoint 2, ..., end point"; (5) Check the running path of step (4) to prevent the components from colliding with each other when running along the path. If there is a risk of collision, return to step (4) and readjust the waypoints of the running path to avoid the risk; (6) Repeat steps (1) to (5) for all points to be measured to generate the running path queue required to perform the detection of all measurement points.

Images