Method and system for measuring large thin-walled parts based on structured light scanning and electromagnetic ultrasound

Abstract

The application provides a large thin-walled part measurement method and system based on structured light scanning and electromagnetic ultrasonic waves, comprising the following steps: step 1, integrating a structured light camera with an electromagnetic ultrasonic thickness measurement module; step 2, synchronizing and calibrating the structured light camera and the electromagnetic ultrasonic thickness measurement module before measurement; step 3, taking the wall thickness data and the point cloud data as inputs, and performing data preprocessing and data fusion to output high-precision fused point clouds; step 4, designing the functions of a control unit according to different measured workpieces and measurement scenes; and step 5, presenting the results on a user interface and providing corresponding interactive functions. The application combines the structured light camera and the electromagnetic ultrasonic thickness measurement technology, realizes high-precision three-dimensional reconstruction of large thin-walled parts, can simultaneously obtain external point cloud information and internal wall thickness data, significantly improves the comprehensiveness and accuracy of measurement, and makes product quality evaluation more reliable.

Description

TECHNICAL FIELD

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

[0002] With the development of industrial automation and precision manufacturing technology, the measurement accuracy of large thin-walled parts is increasingly required. These parts are widely used in aerospace, automobile manufacturing and precision instruments, and their quality directly affects the safety and reliability of products. Traditional contact measurement methods are inefficient and can easily damage thin-walled parts, affecting their integrity and performance. Therefore, non-contact measurement technology has gradually emerged. Structured light cameras can provide high-precision external point cloud information, and by analyzing the deformation of the light pattern on the surface of the part, an accurate three-dimensional model can be constructed. However, relying solely on external contour information is not enough to meet the measurement needs of large thin-walled parts, as their internal structure and wall thickness are also important. Electromagnetic ultrasonic technology can non-destructively measure the thickness of the part, and by transmitting and receiving ultrasonic signals, accurate wall thickness information can be obtained.

[0003] For patent CN202411082387.X, the proposed pulse electromagnetic electromagnetic ultrasonic thickness gauge realizes non-contact high-precision measurement and has the convenience of operation, especially when the probe and the measured object are separated, reducing the force requirement. However, this patent has deficiencies in surface information acquisition, cannot provide detailed surface feature data, and has relatively single functions, limiting its applicability in certain applications. In addition, patent CN202211103848.8 realizes non-contact automatic scanning detection of engine shape through optical means, improving the safety and efficiency of detection. The system is mounted on a six-axis robot, realizing flexible automatic scanning, but also lacks the ability to acquire internal structural information, limiting its use in certain application scenarios. SUMMARY

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

[0005] The large thin-walled part measurement method based on structured light scanning and electromagnetic ultrasonic provided by the present application comprises:

[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: input wall thickness data and point cloud data, perform data preprocessing and data fusion, and output high-precision fused point cloud.

[0009] Step 4: Design the function of the control unit according to different measured workpieces and measurement scenes;

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

[0011] Preferably, the step 1 includes that the structured light camera and the electromagnetic ultrasonic thickness measurement module are integrated at the end of the mechanical arm to realize synchronous measurement of the target thin-walled workpiece; the mechanical arm has at least six degrees of freedom to measure the target thin-walled workpiece from multiple angles and positions.

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

[0013] Preferably, the step 3 includes that a point cloud data processing algorithm is used for denoising and segmentation, the wall thickness data is filtered to reduce error terms, calibration and synchronization technology is used to realize accurate registration of the two kinds of measurement data, and the wall thickness data and the point cloud data are fused to obtain the final fused point cloud.

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

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

[0016] wherein z0 is the initial coordinate of the corresponding point, and thus the thickness measurement point information (x, z i ,t i ) is obtained, and (xi y i z i ) of the actual corresponding point (x i y i -t i z i ), according to the required accuracy, the generation of virtual points, the thickness data of the virtual points are consistent within the radius range of the electromagnetic ultrasonic thickness measurement module, the calculated actual corresponding point and the generated virtual corresponding point are added to the original point cloud data set as new point cloud data, and the fused point cloud data set Q i = (x i y i z i ), i∈[1,k+l], wherein l is the total number of points of the calculated actual corresponding point and the generated virtual corresponding point.

[0017] Preferably, the step 4 comprises: 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 mechanical 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 error is detected, the control unit will trigger the early warning mechanism and execute the preset safety response measures;

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

[0019] The large thin-walled part measurement system based on structured light scanning and electromagnetic ultrasonic measurement provided by the application 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: input the wall thickness data and point cloud data, perform data preprocessing and data fusion, and output high-precision fused point cloud;

[0023] Module M4: design the functions of the control unit according to different measurement workpieces and measurement scenes;

[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 to perform omnidirectional measurement of the target thin-walled part from multiple angles and positions.

[0026] Preferably, module M2 includes: ensuring the consistency between wall thickness data and point cloud data in three-dimensional space by implementing a spatial calibration process; and obtaining a point cloud dataset P after the structured light camera completes point cloud data acquisition. i =(x i ,y i ,z i ), i∈[1,k], where x i ,y i ,z i , where X, Y, and Z are the world coordinates of the acquisition point, 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 dataset T. i =(x,t) i ,n),i∈[1,m], where,t i The x-coordinate represents the thickness obtained from a single scan, n is the index of the scan point, and m is the number of measurement points.

[0027] Preferably, the module M3 includes: using point cloud data processing algorithms for noise reduction and segmentation, filtering the wall thickness data to reduce error terms; using calibration and synchronization techniques to achieve accurate registration of the two measurement data; and fusing the wall thickness data and point cloud data to obtain the final fused point cloud.

[0028] During data fusion, the thickness measurement path and sampling frequency f are planned based on the sampling range and required accuracy of the point cloud. A scan along the z-axis is performed with the x-coordinate as the reference. Each scan involves the same x-coordinate robotic arm scanning along the z-axis at a scanning speed v. The corresponding point z is calculated based on the scanning speed v, sampling frequency f, and sampling point number n. i z-axis coordinate:

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

[0030] Where z0 is the initial coordinate of the corresponding point, thus obtaining the thickness measurement point information (x, z). i ,t i ), calculate (x i ,y i ,z i The actual corresponding point (x) i ,y i -t i ,z i), according to the required accuracy, the virtual point generation, the virtual point thickness data is consistent within the electromagnetic ultrasonic thickness module radius range, the calculated actual corresponding point and the generated virtual corresponding point are added to the original point cloud data set as new point cloud data, forming the fused point cloud data set Q with thickness information i =(x i ,y i ,z i ), i ∈ [1, k + l], wherein l is the total number of calculated actual corresponding points and generated virtual corresponding points.

[0031] Preferably, the module M4 includes: 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 mechanical 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;

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

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

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

[0035] (2) Through the flexible movement of the mechanical arm and the synchronous calibration of multiple sensors, the present application can automatically adjust the measurement path and parameters in complex environment, monitor the measurement process in real time, ensure the consistency and accuracy of the data, and effectively reduce the risk of human operation errors, improve the measurement efficiency and safety. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0038] Figure 2 is a schematic diagram of the scanning and calibration area of the structured light camera of the present application;

[0039] Figure 3a For electromagnetic ultrasonic thickness measurement path, Figure 3b For measuring point thickness data;

[0040] Figure 4 For the whole system of the present application, the measurement flow chart;

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

[0042] The present application will be described in detail below with specific embodiments. The following examples will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These are within the scope of the present application.

[0043] Example 1

[0044] As Figure 4 shown, the present application provides a large thin-walled part 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 the 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 guidance and result display. The measuring device of the present application can realize accurate three-dimensional reconstruction of large thin-walled parts, improve measurement accuracy, optimize quality control process and simplify operation. As Figure 1 shown, the present application provides an integrated measurement method combining structured light camera and electromagnetic ultrasonic thickness measurement module, which can perform synchronous measurement and data processing in the spatial coordinate system through flexible movement of the mechanical 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 mechanical arm, a data processing unit and a control unit. The structured light camera is used to obtain the 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 the electromagnetic ultrasonic thickness measurement module are integrated at the end of the mechanical arm to ensure the synchronous measurement capability of the two. The mechanical 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 commencing measurements, a precise spatial calibration process is first implemented to ensure the consistency between ultrasonic thickness measurement data and point cloud data in three-dimensional space. For example... Figure 2 As shown in Figure 3, the main process is as follows: First, the field of view of the structured light scanning is obtained. After obtaining the actual scanning range, the electromagnetic ultrasonic thickness measurement path is planned based on the point cloud scanning area, as shown in Figure 3, and the corresponding robotic 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 dataset P is obtained. i =(x i ,y i ,z i ), i∈[1,k], where x i ,y i ,z i , where X, Y, and Z are the world coordinates 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 dataset T. i =(x,t) i ,n),i∈[1,m],wherex,t i n, where t represents the thickness t corresponding to the x-axis obtained from a single scan. i n is the index of the scanning point, and m is the number of measurement points.

[0051] 4. Data Processing and Fusion

[0052] The data processing unit employs efficient point cloud processing algorithms for denoising and segmentation, and filters the ultrasonic thickness measurement data to reduce error terms. After data preprocessing, more accurate point cloud and thickness measurement data are obtained. During data fusion, the point cloud dataset information P is measured in real time. i =(x i ,y i ,z i The wall thickness dataset T is obtained by combining the wall thickness information of the measurement points. i =(x,t) i The thickness measurement path and sampling frequency f are planned according to the sampling range and required accuracy of the point cloud. The x-coordinate is used as a reference for scanning along the z-axis. Each scan involves the same x-coordinate robotic arm scanning along the z-axis at a scanning speed v. Based on the scanning speed v, the sampling frequency f, and the sampling point number n, the corresponding point z can be calculated. i z-axis coordinate: z i =z0 + v*n / f;

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

[0054] 5. Point cloud generation after data fusion

[0055] Calculate (x) i ,y i ,z i The actual corresponding point of (x) i ,y i -t i ,z i Since the density of the thickness measurement points is inconsistent with that of the actual point cloud points, it is necessary to generate virtual points according to the required accuracy. The thickness data of the generated target points are consistent with the thickness of the points within the radius of the electromagnetic ultrasonic thickness measurement module. The calculated actual corresponding points and the generated virtual corresponding points are added to the original point cloud dataset as new point cloud data to form a fused point cloud dataset Q with thickness information. i =(x i ,y i ,z i ), i∈[1,k+l], where x i ,y i ,z i , where X, Y, and Z are the coordinates of a 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 Presentation and Control

[0057] The measurement results are displayed through a user interface, providing real-time data and a 3D reconstruction model for immediate review. The control unit automatically adjusts the operating status of the measuring device based on user-defined parameters and monitors the measurement process in real time to ensure the consistency and accuracy of the collected data. Through this implementation scheme, the present invention can accurately achieve 3D reconstruction and wall thickness measurement of large, thin-walled components in complex industrial environments, significantly improving product quality and safety.

[0058] Example 2

[0059] The application provides a multi-sensor integrated measurement system aiming to realize high-precision three-dimensional reconstruction of large thin-walled parts. The system combines a structured light camera and an electromagnetic ultrasonic thickness measurement module to realize synchronous measurement of target workpieces through flexible movement of a mechanical arm. Specifically, the structured light camera is used to obtain high-precision external point cloud data of the target thin-walled part, and a three-dimensional model is constructed 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, ensuring accurate acquisition of internal structural information. Before measurement, the system completes synchronization and calibration of multiple sensors, real-time acquisition of external point cloud data and internal wall thickness data, and pre-processing and fusion of the data using a data processing unit applying efficient algorithms, finally outputting a high-precision three-dimensional reconstruction model, significantly improving the reliability and accuracy of product quality evaluation.

[0060] The application provides an integrated measurement system, which comprises a structured light camera 1, an electromagnetic ultrasonic thickness measurement module 2, and a mechanical arm 3, as shown in the figure. Figure 1 The structured light camera 1 is integrated at the end of the mechanical arm 3 and is used to obtain 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 mechanical arm 3 and is responsible for real-time measurement of internal wall thickness information. The mechanical arm 3 has at least six degrees of freedom to ensure all-around measurement of the thin-walled part from different angles; the data processing unit is used to integrate data from the structured light camera 1 and the electromagnetic ultrasonic thickness measurement module 2, and to apply efficient algorithms for data pre-processing and fusion; the control unit monitors the measurement process in real time, automatically adjusts the motion trajectory and speed of the mechanical arm 3 according to user-set parameters, and ensures the consistency and accuracy of the collected data. The system realizes 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 connected to the structured light camera 1, the electromagnetic ultrasonic thickness measurement module 2, and the mechanical arm 3.

[0061] The software and hardware combined workflow of the integrated measurement method and system of the application is shown in the figure. Figure 1 The method comprises 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 mechanical arm 3, and perform position correction before system startup to ensure the measurement accuracy of the two.

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

[0064] Step 3: Run the numerical control program to control the mechanical arm 3 to move according to the set trajectory. During the movement, the data processing unit collects 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 in real time.

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

[0066] Step 5: Run the numerical control program again to control the mechanical arm 3 to move along the same trajectory, and in the process, collect new point cloud data and wall thickness data 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 three-dimensional model with the theoretical model, the data processing unit analyzes and evaluates the quality and precision of the workpiece, and generates a corresponding quality evaluation report.

[0069] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0070] Those skilled in the art know that in addition to implementing the system, device and each module thereof provided by the present application in the form of pure computer readable program code, the same program can also be realized by logically programming the method steps to make the system, device and each module thereof provided by the present application in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers. Therefore, the system, device and each module thereof provided by the present application 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 methods and structures within hardware components.

[0071] The specific embodiments of the present application have been described above. It should be understood that the present application 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 essential content of the present application. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A method for measuring large thin-walled components 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 to output a high-precision fused point cloud; Step 4: Design the functions of the control unit according to different workpieces and measurement scenarios; Step 5: Present the results on the user interface and provide corresponding interactive functions; Step 3 includes: using point cloud data processing algorithms for noise reduction and segmentation, filtering the wall thickness data to reduce error terms; using calibration and synchronization techniques to achieve accurate registration of the two types of measurement data; and fusing the wall thickness data and point cloud data to obtain the final fused point cloud. During data fusion, the thickness measurement path and sampling frequency f are planned based on the sampling range and required accuracy of the point cloud. A scan along the z-axis is performed with the x-coordinate as the reference. Each scan involves the same x-coordinate robotic arm scanning along the z-axis at a scanning speed v. The corresponding point z is calculated based on the scanning speed v, sampling frequency f, and sampling point number n. i z-axis coordinate: z i =z0+v*n / f Where z0 is the initial coordinate of the corresponding point, thus obtaining the thickness measurement point information (x, z). i ,t i ), calculate (x i ,y i ,z i The actual corresponding point (x) i ,y i -t i ,z i Virtual points are generated according to the required accuracy. 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 to the original point cloud dataset as new point cloud data to form a fused point cloud dataset Q with thickness information. i =x i ,y i ,z i ), i∈[1,k+|], where I is the sum of the actual corresponding points calculated and the virtual corresponding points generated.

2. The method for measuring large thin-walled components based on structured light scanning and electromagnetic ultrasound according to claim 1, characterized in that, 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 to perform omnidirectional measurement of the target thin-walled part from multiple angles and positions.

3. The method for measuring large thin-walled components based on structured light scanning and electromagnetic ultrasound according to claim 1, characterized in that, Step 2 includes: ensuring the consistency between wall thickness data and point cloud data in three-dimensional space by implementing a spatial calibration process; obtaining the point cloud dataset P after the structured light camera completes point cloud data acquisition. i =(x i ,y i ,z i ), i∈[1,k], where x i ,y i ,z i , where X, Y, and Z are the world coordinates of the acquisition point, 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 dataset T. i =x,t i ,n),i∈[1,m], where,t i denoted as x, where x is the thickness corresponding to the x-coordinate obtained from a single scan, n is the sequence number of the scan point, and m is the number of measurement points.

4. The method for measuring large thin-walled components based on structured light scanning and electromagnetic ultrasound according to claim 1, characterized in that, Step 4 includes: the control unit automatically adjusts the operating status of the measuring device according to the parameters set by the user, including the movement 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 operational errors are detected, the control unit will trigger an early warning mechanism and execute preset safety response measures. Step 5 includes: the user interface provides a clear operation guide, covering measurement parameter configuration and start / stop control functions of the measurement process; the interface displays measurement data and 3D reconstruction model in real time so that users can view the measurement results immediately; the interface supports data export function, allowing users to export measurement results in multiple formats for subsequent analysis and archiving.

5. A measurement system for large thin-walled components based on structured light scanning and electromagnetic ultrasound, characterized in that, include: Module M1: Integrates the structured light camera with the electromagnetic ultrasonic thickness measurement module; Module M2: Synchronizes and calibrates 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: The control unit functions are designed according to different workpieces and measurement scenarios; Module M5: Presents the results on the user interface and provides corresponding interactive functions; The module M3 includes: using point cloud data processing algorithms for noise reduction and segmentation; filtering the wall thickness data to reduce error terms; using calibration and synchronization techniques to achieve accurate registration of the two types of measurement data; and fusing the wall thickness data and point cloud data to obtain the final fused point cloud. During data fusion, the thickness measurement path and sampling frequency f are planned based on the sampling range and required accuracy of the point cloud. A scan along the z-axis is performed with the x-coordinate as the reference. Each scan involves the same x-coordinate robotic arm scanning along the z-axis at a scanning speed v. The corresponding point z is calculated based on the scanning speed v, sampling frequency f, and sampling point number n. i z-axis coordinate: z i =z0+v*n / f Where z0 is the initial coordinate of the corresponding point, thus obtaining the thickness measurement point information (x, z). i ,t i ), calculate (x i ,y i ,z i The actual corresponding point (x) i ,y i -t i ,z i Virtual points are generated according to the required accuracy. 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 to the original point cloud dataset as new point cloud data to form a fused point cloud dataset Q with thickness information. i =x i ,y i ,z i ), i∈[1,k+I], where I is the sum of the actual corresponding points calculated and the virtual corresponding points generated.

6. The large thin-walled component measurement system based on structured light scanning and electromagnetic ultrasound according to claim 5, 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 to perform omnidirectional measurement of the target thin-walled part from multiple angles and positions.

7. The large thin-walled component measurement system based on structured light scanning and electromagnetic ultrasound according to claim 5, characterized in that, The module M2 includes: ensuring the consistency between wall thickness data and point cloud data in three-dimensional space by implementing a spatial calibration process; and obtaining a point cloud dataset P after the structured light camera completes point cloud data acquisition. i =x i ,y i ,z i ), i∈[1,k], where x i ,y i ,z i , where X, Y, and Z are the world coordinates of the acquisition point, 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 dataset T. i =(x,t) i ,n),i∈[1,m], where,t i denoted as x, where x is the thickness corresponding to the x-coordinate obtained from a single scan, n is the sequence number of the scan point, and m is the number of measurement points.

8. The large thin-walled component measurement system based on structured light scanning and electromagnetic ultrasound according to claim 5, characterized in that, The module M4 includes: a control unit that automatically adjusts the operating status of the measuring device according to user-defined parameters, including the movement 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 operational 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 operation guide, covering measurement parameter configuration and start / stop control functions for the measurement process; a user interface that displays measurement data and a 3D reconstruction model in real time, allowing users to view measurement results immediately; and a user interface that supports data export, allowing users to export measurement results in multiple formats for subsequent analysis and archiving.

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