Large thin-walled workpiece measuring method and system based on structured light scanning and electromagnetic ultrasound

Abstract

The invention provides a large thin-walled workpiece measuring method and system based on structured light scanning and electromagnetic ultrasonic. The method comprises the steps that 1, a structured light camera and an electromagnetic ultrasonic thickness measuring module are integrated; 2, synchronizing and calibrating the structured light camera and the electromagnetic ultrasonic thickness measurement module before measurement; 3, taking the wall thickness data and the point cloud data as input, carrying out data preprocessing and data fusion, and outputting a high-precision fused point cloud; step 4, designing functions of a control unit according to different measurement workpieces and measurement scenes; and 5, displaying a result on a user interface and providing a corresponding interaction function. According to the method, the structured light camera and the electromagnetic ultrasonic thickness measurement technology are combined, high-precision three-dimensional reconstruction of the large thin-walled part is achieved, external point cloud information and internal wall thickness data can be obtained at the same time, measurement comprehensiveness and accuracy are remarkably improved, and product quality evaluation is more reliable.

Description

Technical Field

[0001] The present invention relates to the field of aerospace digital measurement technology, and in particular to a large thin-walled part measurement method and system based on structured light scanning and electromagnetic ultrasound. Background Art

[0002] With the development of industrial automation and precision manufacturing technology, the measurement accuracy requirements for large thin-walled parts are increasing. These parts are widely used in aerospace, automobile manufacturing, precision instruments and other fields, and their quality directly affects the safety and reliability of the products. Traditional contact measurement methods are inefficient and easily damage thin-walled parts, affecting their integrity and performance. Therefore, non-contact measurement technology is gradually emerging. Structured light cameras can provide high-precision external point cloud information and construct accurate three-dimensional models by analyzing the deformation of light patterns on the surface of parts. However, relying solely on contour information is not enough to meet the measurement needs of large thin-walled parts, because their internal structure and wall thickness are equally important. Electromagnetic ultrasonic technology can non-destructively measure the thickness of parts and accurately obtain wall thickness information by transmitting and receiving ultrasonic signals.

[0003] Regarding patent CN202411082387.X, the proposed pulsed electromagnetic electromagnetic ultrasonic thickness gauge realizes non-contact high-precision measurement and is easy to operate, especially reducing the force requirement when the probe is separated from the object being measured. However, the patent has shortcomings in acquiring surface information, cannot provide detailed surface feature data, and has relatively single functions, which limits its applicability in certain applications. In addition, patent CN202211103848.8 uses optical means to achieve non-contact automated scanning and detection of the engine shape, improving the safety and efficiency of detection. The system is mounted on a six-axis robotic arm to achieve flexible automated scanning, but it also lacks the ability to acquire internal structure information, which limits its use in specific application scenarios. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a large thin-walled part measurement method and system based on structured light scanning and electromagnetic ultrasound.

[0005] The large thin-walled part measurement method based on structured light scanning and electromagnetic ultrasound provided by the present invention includes:

[0006] Step 1: Integrate the structured light camera with the electromagnetic ultrasonic thickness measurement module;

[0007] Step 2: Synchronize and calibrate the structured light camera and the electromagnetic ultrasonic thickness measurement module before measurement;

[0008] Step 3: Using wall thickness data and point cloud data as input, perform data preprocessing and data fusion, and output high-precision fused point cloud;

[0009] Step 4: Design the functions of the control unit according to different measurement objects and measurement scenarios;

[0010] Step 5: Present the results on the user interface and provide corresponding interactive functions.

[0011] Preferably, step 1 includes: the structured light camera and the electromagnetic ultrasonic thickness measurement module are integrated at the end of a robotic arm to achieve synchronous measurement of the target thin-walled part; the robotic arm has at least six degrees of freedom and performs all-round measurement of the target thin-walled part from multiple angles and positions.

[0012] Preferably, the step 2 comprises: ensuring the consistency of the wall thickness data and the point cloud data in the three-dimensional space by implementing a spatial calibration process; obtaining a point cloud data set P after the structured light camera completes the point cloud data acquisition; i =(x i ,y i ,z i ),i∈[1,k], where x i ,y i ,z i , are the world coordinates of the X, Y, and Z of the acquisition point, respectively, and k is the number of measurement points; the robotic arm adjusts the electromagnetic ultrasonic thickness measurement module to the corresponding thickness measurement position according to the preset path to scan and obtain the thickness data set T i =(x,t i ,n),i∈[1,m], where t i is the thickness corresponding to the horizontal coordinate x obtained by a single scan, n is the serial number of the scanning point, and m is the number of measuring points.

[0013] Preferably, step 3 includes: using a point cloud data processing algorithm to perform denoising and segmentation, filtering the wall thickness data to reduce error terms; using calibration and synchronization technology to achieve accurate registration of the two measurement data; fusing the wall thickness data with the point cloud data to obtain the final fused point cloud;

[0014] In the data fusion process, the thickness measurement path and sampling frequency f are planned according to the sampling interval and required accuracy of the point cloud. The z-axis direction is scanned based on the x-coordinate. A single scan is performed by the same x-coordinate robot along the z-axis at a scanning speed v. The corresponding point z is calculated according to the scanning speed v, sampling frequency f and sampling point number n. i The z-axis coordinate is:

[0015] z i =z0+v*n / f

[0016] Among them, z0 is the initial coordinate of the corresponding point, and the thickness measurement point information (x, z i ,t i ), calculate (xi ,y i ,z i )’s actual corresponding point (x i ,y i -t i ,z i ), generate virtual points according to the required accuracy, and the thickness measurement data of the virtual points are consistent within the radius of the electromagnetic ultrasonic thickness measurement module. The calculated actual corresponding points and the generated virtual corresponding points are added as new point cloud data to the original point cloud data set to form a fused point cloud data set Q with thickness information i =(x i ,y i ,z i ),i∈[1,k+l], where l is the sum of the calculated actual corresponding points and the generated virtual corresponding points.

[0017] Preferably, step 4 includes: the control unit automatically adjusts the operating state of the measuring device according to the parameters set by the user, including the motion trajectory and speed of the robotic arm; the control unit monitors the measurement process in real time to ensure the consistency and accuracy of the collected data; once abnormal data or operation errors are detected, the control unit will trigger an early warning mechanism and execute preset safety response measures;

[0018] The step 5 includes: the user interface provides a clear operation guide, covering the measurement parameter configuration and the start and stop control function of the measurement process; the interface displays the measurement data and the three-dimensional reconstruction model in real time, so that the user can instantly view the measurement results; the interface supports the data export function, allowing the user to export the measurement results into multiple formats for subsequent analysis and archiving.

[0019] The large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasound provided by the present invention comprises:

[0020] Module M1: Integrate the structured light camera with the electromagnetic ultrasonic thickness measurement module;

[0021] Module M2: Synchronize and calibrate the structured light camera and the electromagnetic ultrasonic thickness measurement module before measurement;

[0022] Module M3: takes wall thickness data and point cloud data as input, performs data preprocessing and data fusion, and outputs high-precision fused point cloud;

[0023] Module M4: Design the functions of the control unit according to different measurement objects and measurement scenarios;

[0024] Module M5: Present the results on the user interface and provide corresponding interactive functions.

[0025] Preferably, the module M1 includes: the structured light camera and the electromagnetic ultrasonic thickness measurement module are integrated at the end of the robotic arm to achieve synchronous measurement of the target thin-walled part; the robotic arm has at least six degrees of freedom and can perform all-round measurement of the target thin-walled part from multiple angles and positions.

[0026] Preferably, the module M2 includes: ensuring the consistency of the wall thickness data and the point cloud data in the three-dimensional space by implementing a spatial calibration process; obtaining a point cloud data set P after the structured light camera completes the point cloud data acquisition; i =(x i ,y i ,z i ),i∈[1,k], where x i ,y i ,z i , are the world coordinates of the X, Y, and Z of the acquisition point, respectively, and k is the number of measurement points; the robotic arm adjusts the electromagnetic ultrasonic thickness measurement module to the corresponding thickness measurement position according to the preset path to scan and obtain the thickness data set T i =(x,t i ,n),i∈[1,m], where t i is the thickness corresponding to the horizontal coordinate x obtained by a single scan, n is the serial number of the scanning point, and m is the number of measuring points.

[0027] Preferably, the module M3 includes: using a point cloud data processing algorithm to perform denoising and segmentation, filtering the wall thickness data to reduce error terms; using calibration and synchronization technology to achieve accurate registration of the two measurement data; fusing the wall thickness data with the point cloud data to obtain the final fused point cloud;

[0028] In the data fusion process, the thickness measurement path and sampling frequency f are planned according to the sampling interval and required accuracy of the point cloud. The z-axis direction is scanned based on the x-coordinate. A single scan is performed by the same x-coordinate robot along the z-axis at a scanning speed v. The corresponding point z is calculated according to the scanning speed v, sampling frequency f and sampling point number n. i The z-axis coordinate is:

[0029] z i =z0+v*n / f

[0030] Among them, z0 is the initial coordinate of the corresponding point, and the thickness measurement point information (x, z i ,t i ), calculate (x i ,y i ,z i )’s actual corresponding point (x i ,y i -t i ,z i), generate virtual points according to the required accuracy, and the thickness measurement data of the virtual points are consistent within the radius of the electromagnetic ultrasonic thickness measurement module. The calculated actual corresponding points and the generated virtual corresponding points are added as new point cloud data to the original point cloud data set to form a fused point cloud data set Q with thickness information i =(x i ,y i ,z i ),i∈[1,k+l], where l is the sum of the calculated actual corresponding points and the generated virtual corresponding points.

[0031] Preferably, the module M4 comprises: a control unit automatically adjusts the operating state of the measuring device according to the parameters set by the user, including the motion trajectory and speed of the robotic arm; the control unit monitors the measuring process in real time to ensure the consistency and accuracy of the collected data; once abnormal data or operation errors are detected, the control unit will trigger an early warning mechanism and execute preset safety response measures;

[0032] The module M5 includes: a user interface that provides a clear operating guide, covering measurement parameter configuration and start and stop control functions of the measurement process; the interface displays measurement data and three-dimensional reconstruction models in real time, so that users can instantly view measurement results; the interface supports data export function, allowing users to export measurement results into multiple formats for subsequent analysis and archiving.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] (1) The present invention combines structured light camera and electromagnetic ultrasonic thickness measurement technology to achieve high-precision three-dimensional reconstruction of large thin-walled parts, and can simultaneously obtain external point cloud information and internal wall thickness data, significantly improving the comprehensiveness and accuracy of measurement, making product quality assessment more reliable;

[0035] (2) Through the flexible movement of the robotic arm and the synchronous calibration of multiple sensors, the present invention can automatically adjust the measurement path and parameters in complex environments, monitor the measurement process in real time, and ensure the consistency and accuracy of the data. This intelligent control function effectively reduces the risk of human operating errors and improves measurement efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0037] Figure 1 This is a schematic diagram of the integration of the structured light camera and the ultrasonic thickness measurement module of the present invention;

[0038] Figure 2 A schematic diagram of the scanning and calibration area of ​​the structured light camera of the present invention;

[0039] Figure 3a is the electromagnetic ultrasonic thickness measurement path, Figure 3b Thickness data of measuring point;

[0040] Figure 4 It is a flow chart of the overall system measurement of the present invention;

[0041] Figure numerals: 1-structured light camera; 2-electromagnetic ultrasonic thickness measurement module; 3-mechanical arm. DETAILED DESCRIPTION

[0042] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0043] Example 1

[0044] like Figure 4 As shown, the present invention provides a large thin-walled parts measuring device based on the combination of structured light scanning and electromagnetic ultrasonic thickness measurement technology, the device includes a structured light camera module, an electromagnetic ultrasonic thickness measurement module, a data processing unit, a control unit and a user interface. The structured light camera module is used to capture the external point cloud data of the part, while the electromagnetic ultrasonic thickness measurement module is used to measure the thickness information of the part. The data processing unit is responsible for integrating these two types of data and performing three-dimensional reconstruction. The control unit is used to manage the entire measurement process, while the user interface provides operation instructions and result display. The measuring device of the present invention can achieve accurate three-dimensional reconstruction of large thin-walled parts, improve measurement accuracy, optimize quality control processes, and simplify operations. As shown Figure 1 As shown, the present invention provides an integrated measurement method, which combines a structured light camera with an electromagnetic ultrasonic thickness measurement module, and can perform synchronous measurement and data processing in a spatial coordinate system through the flexible movement of a robotic arm.

[0045] 1. Equipment composition

[0046] In this embodiment, the integrated measurement system includes a structured light camera, an electromagnetic ultrasonic thickness measurement module, a robotic arm, a data processing unit and a control unit. The structured light camera is used to obtain external point cloud data of the target thin-walled part, and the electromagnetic ultrasonic thickness measurement module is used to measure the internal wall thickness information in real time.

[0047] 2. System Integration

[0048] The structured light camera and electromagnetic ultrasonic thickness measurement module are integrated at the end of the robotic arm to ensure the synchronous measurement capability of the two. The robotic arm is designed to have at least six degrees of freedom to adapt to thin-walled parts of different shapes and positions.

[0049] 3. Measurement process

[0050] Before officially starting the measurement, we first implement an accurate spatial calibration process to ensure the consistency of ultrasonic thickness measurement data and point cloud data in three-dimensional space. Figure 2 As shown in the figure, the main process is as follows: first, the field of view of the structured light scan is obtained. After the actual scanning range is obtained, the electromagnetic ultrasonic thickness measurement path is planned according to the point cloud scanning area as shown in Figure 3, and the corresponding robot arm movement speed is set according to the required measurement accuracy and efficiency; after the structured light camera completes the point cloud data acquisition, the point cloud data set is obtained as P i =(x i ,y i ,z i ),i∈[1,k], where x i ,y i ,z i , respectively, are the world coordinates of the X, Y, and Z of the acquisition point, and k is the number of measurement points; the robotic arm quickly adjusts the electromagnetic ultrasonic thickness measurement module to the corresponding thickness measurement position according to the preset path to quickly scan and obtain the thickness data set T i =(x,t i ,n),i∈[1,m], where x,t i ,n, respectively, are the corresponding thickness t under the X-axis obtained by a single scan i , n is the serial number of the scanning point, and m is the number of measuring points.

[0051] 4. Data processing and fusion

[0052] The data processing unit uses an efficient point cloud processing algorithm for denoising and segmentation, and filters the ultrasonic thickness measurement data to reduce error terms. After data preprocessing, more accurate point cloud data and thickness measurement data are obtained. In the data fusion process, the point cloud data set information P is measured in real time. i =(x i ,y i ,z i ) and the wall thickness information of the measuring point to obtain the wall thickness data set T i =(x,t i ,n), where due to the inconsistency between the sampling range of the point cloud and the thickness measurement range, data acquisition calibration and synchronization are required; specifically, the thickness measurement path and sampling frequency f are planned according to the sampling interval of the point cloud and the required accuracy, and the z-axis direction is scanned based on the x-coordinate. A single scan is performed for the same x-coordinate. The robot arm scans along the z-axis at a scanning speed v. According to the scanning speed v, the sampling frequency f and the sampling point number n, the corresponding point z can be calculated i The z-axis coordinate: z i =z0+v*n / f;

[0053] From this, we can get the thickness measurement point information (x, z i ,t i ).

[0054] 5. Point cloud generation after data fusion

[0055] Calculate (x i ,y i ,z i )’s actual corresponding point: (x i ,y i -t i ,z i ), since the density of the thickness measurement points is inconsistent with the actual point cloud points, it is also necessary to generate virtual points according to the required accuracy, and the thickness of the generated target point is consistent with the point thickness within the radius of the electromagnetic ultrasonic thickness measurement module. The calculated actual corresponding points and the generated virtual corresponding points are added as new point cloud data to the original point cloud data set to form a fused point cloud data set Q with thickness information. i =(x i ,y i ,z i ),i∈[1,k+l], where x i ,y i ,z i are the X, Y, and Z coordinates of the point in the point cloud, k is the number of points in the original point cloud, and l is the sum of the calculated actual corresponding points and the generated virtual corresponding points.

[0056] 6. Results display and control

[0057] The measurement results are displayed through the user interface, providing real-time data and 3D reconstruction models so that users can view the measurement results immediately. The control unit automatically adjusts the operating status of the measuring device according to the parameters set by the user, and monitors the measurement process in real time to ensure the consistency and accuracy of the collected data. Through the above implementation scheme, the present invention can accurately realize the 3D reconstruction and wall thickness measurement of large thin-walled parts in a complex industrial environment, significantly improving the quality and safety of the product.

[0058] Example 2

[0059] The present invention provides a multi-sensor integrated measurement system, which is designed to achieve high-precision three-dimensional reconstruction of large thin-walled parts. The system combines a structured light camera and an electromagnetic ultrasonic thickness measurement module, and realizes synchronous measurement of the target workpiece through the flexible movement of the robotic arm. Specifically, the structured light camera is used to obtain high-precision external point cloud data of the target thin-walled part, and construct a three-dimensional model by analyzing the deformation of the light pattern; while the electromagnetic ultrasonic thickness measurement module realizes non-destructive real-time measurement of the wall thickness of the workpiece to ensure the accurate acquisition of internal structural information. Before measurement, the system completes the synchronization and calibration of multiple sensors, collects external point cloud data and internal wall thickness data in real time, and uses the data processing unit to apply efficient algorithms for preprocessing and fusion, and finally outputs a high-precision three-dimensional reconstruction model, which significantly improves the reliability and accuracy of product quality assessment.

[0060] The present invention provides an integrated measurement system, comprising a structured light camera 1, an electromagnetic ultrasonic thickness measurement module 2, and a mechanical arm 3. Figure 1 As shown. The structured light camera 1 is integrated at the end of the robot arm 3 to obtain the external point cloud data of the target thin-walled part; the electromagnetic ultrasonic thickness measurement module 2 is also installed at the end of the robot arm 3, responsible for real-time measurement of the internal wall thickness information. The robot arm 3 has at least six degrees of freedom to ensure all-round measurement of thin-walled parts from different angles; the data processing unit is used to integrate the data from the structured light camera 1 and the electromagnetic ultrasonic thickness measurement module 2, and apply efficient algorithms to pre-process and fuse the data; the control unit monitors the measurement process in real time, automatically adjusts the motion trajectory and speed of the robot arm 3 according to the user-set parameters, and ensures the consistency and accuracy of the collected data. The system achieves high-precision three-dimensional reconstruction of large thin-walled parts through the collaborative work of the structured light camera 1 and the electromagnetic ultrasonic thickness measurement module 2. It also includes a data processing system, which connects the structured light camera 1, the electromagnetic ultrasonic thickness measurement module 2 and the robot arm 3.

[0061] The integrated measurement method of the present invention combines the software and hardware of the system with the workflow, such as Figure 1 As shown, it is characterized in that it includes the following steps:

[0062] Step 1: Integrate the structured light camera 1 and the electromagnetic ultrasonic thickness measurement module 2 at the end of the robot arm 3, and perform position calibration before starting the system to ensure the measurement accuracy of both.

[0063] Step 2: Write a NC program to make the robot arm 3 move according to the set trajectory, and import the NC program into the control unit.

[0064] Step 3: Run the numerical control program to control the robot arm 3 to move along the set trajectory. During the movement, the point cloud data obtained by the structured light camera 1 and the wall thickness data measured by the electromagnetic ultrasonic thickness measurement module 2 are collected in real time through the data processing unit.

[0065] Step 4: During the measurement process, the measuring position or angle of the electromagnetic ultrasonic thickness measuring module 2 is adjusted according to different workpiece characteristics, and recalibrated after completion to ensure the accuracy of the measurement data.

[0066] Step 5: Run the CNC program again to control the robot arm 3 to move along the same trajectory. During the operation, new point cloud data and wall thickness data are collected through the data processing unit.

[0067] Step 6: The data processing unit processes the point cloud data and wall thickness data under different measurement conditions to obtain a fused high-precision three-dimensional model.

[0068] Step 7: By comparing the final generated 3D model with the theoretical model, the data processing unit analyzes and evaluates the quality and accuracy of the workpiece and generates a corresponding quality assessment report.

[0069] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0070] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0071] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for measuring large thin-walled parts based on structured light scanning and electromagnetic ultrasound, characterized in that: include: Step 1: Integrate the structured light camera with the electromagnetic ultrasonic thickness measurement module; Step 2: Synchronize and calibrate the structured light camera and the electromagnetic ultrasonic thickness measurement module before measurement; Step 3: Using wall thickness data and point cloud data as input, perform data preprocessing and data fusion, and output high-precision fused point cloud; Step 4: Design the functions of the control unit according to different measurement objects and measurement scenarios; Step 5: Present the results on the user interface and provide corresponding interactive functions.

2. The large thin-walled part measurement method based on structured light scanning and electromagnetic ultrasound according to claim 1 is characterized in that: The step 1 includes: the structured light camera and the electromagnetic ultrasonic thickness measurement module are integrated at the end of the robotic arm to achieve synchronous measurement of the target thin-walled part; the robotic arm has at least six degrees of freedom and performs all-round measurement of the target thin-walled part from multiple angles and positions.

3. The large thin-walled part measurement method based on structured light scanning and electromagnetic ultrasound according to claim 1 is characterized in that: The step 2 includes: ensuring the consistency of the wall thickness data and the point cloud data in the three-dimensional space by implementing a spatial calibration process; obtaining a point cloud data set P after the structured light camera completes the point cloud data acquisition. i =(x i ,y i ,z i ),i∈[1,k], where x i ,y i ,z i , are the world coordinates of the X, Y, and Z of the acquisition point, respectively, and k is the number of measurement points; the robotic arm adjusts the electromagnetic ultrasonic thickness measurement module to the corresponding thickness measurement position according to the preset path to scan and obtain the thickness data set T i =(x,t i ,n),i∈[1,m], where t i is the thickness corresponding to the horizontal coordinate x obtained by a single scan, n is the serial number of the scanning point, and m is the number of measuring points.

4. The large thin-walled part measurement method based on structured light scanning and electromagnetic ultrasound according to claim 3 is characterized in that: The step 3 includes: using a point cloud data processing algorithm to perform denoising and segmentation, filtering the wall thickness data to reduce error terms; using calibration and synchronization technology to achieve accurate registration of the two measurement data; fusing the wall thickness data with the point cloud data to obtain the final fused point cloud; In the data fusion process, the thickness measurement path and sampling frequency f are planned according to the sampling interval and required accuracy of the point cloud. The z-axis direction is scanned based on the x-coordinate. A single scan is performed by the same x-coordinate robot along the z-axis at a scanning speed v. The corresponding point z is calculated according to the scanning speed v, sampling frequency f and sampling point number n. i The z-axis coordinate is: z i =z0+v*n / f Among them, z0 is the initial coordinate of the corresponding point, and the thickness measurement point information (x, z i ,t i ), calculate (x i ,y i ,z i )’s actual corresponding point (x i ,y i -t i ,z i ), generate virtual points according to the required accuracy, and the thickness measurement data of the virtual points are consistent within the radius of the electromagnetic ultrasonic thickness measurement module. The calculated actual corresponding points and the generated virtual corresponding points are added as new point cloud data to the original point cloud data set to form a fused point cloud data set Q with thickness information i =(x i ,y i ,z i ),i∈[1,k+l], where l is the sum of the calculated actual corresponding points and the generated virtual corresponding points.

5. The large thin-walled part measurement method based on structured light scanning and electromagnetic ultrasound according to claim 1 is characterized in that: The step 4 includes: the control unit automatically adjusts the operating state of the measuring device according to the parameters set by the user, including the motion trajectory and speed of the robot arm; the control unit monitors the measurement process in real time to ensure the consistency and accuracy of the collected data; once abnormal data or operation errors are detected, the control unit will trigger the early warning mechanism and execute the preset safety response measures; The step 5 includes: the user interface provides a clear operation guide, covering the measurement parameter configuration and the start and stop control function of the measurement process; the interface displays the measurement data and the three-dimensional reconstruction model in real time, so that the user can instantly view the measurement results; the interface supports the data export function, allowing the user to export the measurement results into multiple formats for subsequent analysis and archiving.

6. A large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasound, characterized in that: include: Module M1: Integrate the structured light camera with the electromagnetic ultrasonic thickness measurement module; Module M2: Synchronize and calibrate the structured light camera and the electromagnetic ultrasonic thickness measurement module before measurement; Module M3: takes wall thickness data and point cloud data as input, performs data preprocessing and data fusion, and outputs high-precision fused point cloud; Module M4: Design the functions of the control unit according to different measurement objects and measurement scenarios; Module M5: Present the results on the user interface and provide corresponding interactive functions.

7. The large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasound according to claim 6, characterized in that: The module M1 includes: the structured light camera and the electromagnetic ultrasonic thickness measurement module are integrated at the end of the robotic arm to achieve synchronous measurement of the target thin-walled part; the robotic arm has at least six degrees of freedom and performs all-round measurement of the target thin-walled part from multiple angles and positions.

8. The large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasound according to claim 6, characterized in that: The module M2 includes: ensuring the consistency of the wall thickness data and the point cloud data in the three-dimensional space by implementing a spatial calibration process; obtaining a point cloud data set P after the structured light camera completes the point cloud data acquisition; i =(x i ,y i ,z i ),i∈[1,k], where x i ,y i ,z i , are the world coordinates of the X, Y, and Z of the acquisition point, respectively, and k is the number of measurement points; the robotic arm adjusts the electromagnetic ultrasonic thickness measurement module to the corresponding thickness measurement position according to the preset path to scan and obtain the thickness data set T i =(x,t i ,n),i∈[1,m], where t i is the thickness corresponding to the horizontal coordinate x obtained by a single scan, n is the serial number of the scanning point, and m is the number of measuring points.

9. The large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasound according to claim 8, characterized in that: The module M3 includes: using a point cloud data processing algorithm to perform denoising and segmentation, filtering the wall thickness data to reduce error terms; using calibration and synchronization technology to achieve accurate registration of the two measurement data; fusing the wall thickness data with the point cloud data to obtain the final fused point cloud; In the data fusion process, the thickness measurement path and sampling frequency f are planned according to the sampling interval and required accuracy of the point cloud. The z-axis direction is scanned based on the x-coordinate. A single scan is performed by the same x-coordinate robot along the z-axis at a scanning speed v. The corresponding point z is calculated according to the scanning speed v, sampling frequency f and sampling point number n. i The z-axis coordinate is: z i =z0+v*n / f Among them, z0 is the initial coordinate of the corresponding point, and the thickness measurement point information (x, z i ,t i ), calculate (x i ,y i ,z i )’s actual corresponding point (x i ,y i -t i ,z i ), generate virtual points according to the required accuracy, and the thickness measurement data of the virtual points are consistent within the radius of the electromagnetic ultrasonic thickness measurement module. The calculated actual corresponding points and the generated virtual corresponding points are added as new point cloud data to the original point cloud data set to form a fused point cloud data set Q with thickness information i =(x i ,y i ,z i ),i∈[1,k+l], where l is the sum of the calculated actual corresponding points and the generated virtual corresponding points.

10. The large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasound according to claim 6, characterized in that: The module M4 includes: a control unit that automatically adjusts the operating state of the measuring device according to the parameters set by the user, including the motion trajectory and speed of the robot arm; the control unit monitors the measurement process in real time to ensure the consistency and accuracy of the collected data; once abnormal data or operation errors are detected, the control unit will trigger an early warning mechanism and execute preset safety response measures; The module M5 includes: a user interface that provides a clear operating guide, covering measurement parameter configuration and start and stop control functions of the measurement process; the interface displays measurement data and three-dimensional reconstruction models in real time, so that users can instantly view measurement results; the interface supports data export function, allowing users to export measurement results into multiple formats for subsequent analysis and archiving.

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