Large-size curved surface component three-dimensional shape rapid measurement device and method and defect identification method

Abstract

The invention provides a large-size curved surface component three-dimensional shape rapid measurement device and method and a defect identification method. The device comprises a measurement space field, a measurement positioning target array, two gantry supports, two three-dimensional guide rails, two mechanical rotary tables, two laser three-dimensional scanning sensors, two image sensors, two collision detection sensors, a supporting table, a conveying guide rail and a computer provided with measurement analysis software. The two laser three-dimensional scanning sensors, the two image sensors and the two collision detection sensors are installed on the two mechanical rotary tables respectively and connected with a computer provided with measurement analysis software through power lines and signal transmission lines. The system can be widely applied to the field of field test, inspection and assembly of large-size structural members and parts, has the characteristics of high precision, high efficiency, high automation degree, unattended operation and high expandability, and can meet the requirement of rapid measurement and inspection of the geometric morphology of large-size structural member products in the aerospace field.

Description

Technical Field

[0001] The present invention belongs to the technical field of large-size curved surface component measurement, and in particular relates to a device and method for rapid measurement of three-dimensional morphology of large-size curved surface components and a defect identification method. Background Art

[0002] Large-sized curved surface structural parts are increasingly used in the aerospace field. These structural parts, such as rocket compartments, wall panels, aircraft wings, rudder surfaces, etc., are not only huge in size, but also complex in shape and varied in surface, which brings great challenges to their accurate measurement. Traditional measurement methods, such as contact measurement and plane projection measurement, have been unable to meet the needs of modern aerospace field for high-precision and high-efficiency measurement of large-sized curved surface structural parts.

[0003] In recent years, 3D shape measurement technology has developed rapidly, especially in the fields of machine vision, laser scanning, and computer graphics. These technologies have provided new ideas and methods for the 3D shape measurement of large-scale structural parts. Among them, the 3D measurement technology based on binocular vision has been widely used in the measurement of large-scale curved surface structural parts due to its advantages of non-contact, high speed, and high precision. However, due to the large size and complex shape of large-scale curved surface structural parts in aerospace, a single binocular vision measurement system is often difficult to cover the entire measurement area. With the increasing updating of intelligent production lines, new challenges have been raised to the accuracy, digitization, and efficiency of the measurement of large-scale structural parts.

[0004] Patent document CN103644860A discloses a "large-scale free-form surface measurement method". This method sets a large number of reflective marks on the measured surface and uses a digital photogrammetry system to measure the geometric dimensions of the measured surface. Since a large number of reflective marks need to be pasted on the measured object, the measurement efficiency is low and it is easy to affect the quality of the product itself, and it cannot meet the requirements of rapid measurement of products on industrial production lines.

[0005] Patent document CN106959080A discloses "a system and method for optical measurement of the three-dimensional morphology of large complex curved surface components". It is based on binocular grating projection measurement technology and uses a laser tracker and a corresponding target ball to obtain the point cloud pose of each station during multi-station measurement. The measurement accuracy of this method depends on the positioning accuracy of the robot end, and the accuracy is difficult to guarantee. Secondly, the use of the tracker and its target for global positioning can easily cause light path obstruction on the processing production line, which introduces large errors in coordinate conversion.

[0006] With the continuous updating of intelligent production lines, new challenges have been raised for the accuracy, digitization and efficiency of measuring large-size structural parts, which cannot be met by existing technologies. Summary of the invention

[0007] The technical problem solved by the present invention is: in view of the shortcomings of the existing large-scale three-dimensional morphology measurement technology, a rapid measurement device and defect identification method are provided to achieve a high-precision and high-efficiency on-site measurement. The measurement device and method are simple, fast, highly scalable, and highly digitized, meeting the production line detection and inspection needs of large-scale curved surface structural parts.

[0008] In order to solve the above technical problems, the present invention provides a large-size curved surface component three-dimensional morphology rapid measurement device, characterized in that it includes a measurement space field, a measurement positioning target array, two gantry brackets, two three-dimensional guide rails, two mechanical turntables, two laser three-dimensional scanning sensors, two image sensors, two collision detection sensors, a support table, a transmission guide rail and a computer installed with measurement and analysis software;

[0009] The measuring space is a semi-enclosed space, the length, width and height of which are determined by the size of the curved surface structure to be measured, wherein the left side, right side, top surface and back are solid walls, and the front is an open space for loading and unloading the curved surface structure to be measured;

[0010] The measurement and positioning target array includes measurement and positioning targets and scale rods, wherein the measurement and positioning targets are evenly distributed on the left side, right side, upper top surface and rear solid wall of the measurement space field, the length of the scale rod is traced back to the upper level, and measurement and positioning targets are installed at both ends, and the scale rods are evenly distributed on the left side, right side, upper top surface and rear solid wall of the measurement space field;

[0011] The two gantry supports are fixed to the foundation and placed in the measurement space, and the distance between the two gantry supports is greater than 2 times the width of the curved surface structure to be measured;

[0012] The two three-dimensional guide rails are respectively placed on two gantry brackets, and the three-dimensional guide rails perform three-dimensional translation within the spatial range of the curved surface structure to be measured;

[0013] The two mechanical turntables are respectively fixedly mounted at the ends of the two three-dimensional guide rails, one end of the conveying guide rail is connected to the support platform, and the other end is a loading and unloading port for the tested parts, and the bottom surface of the support platform is firmly connected to the foundation;

[0014] The two laser three-dimensional scanning sensors, the two image sensors, and the two collision detection sensors are respectively installed on the two mechanical turntables, and are connected to a computer installed with measurement and analysis software via power lines and signal transmission lines.

[0015] Furthermore, it further includes a fixed tooling bracket, and the fixed tooling bracket includes a mounting tooling bracket for the laser three-dimensional scanning sensor and the image sensor and a mounting tooling bracket for the collision detection sensor.

[0016] Furthermore, the measurement and positioning targets are black or silver-gray target points that can be identified by a laser three-dimensional scanning sensor, and the number of the measurement and positioning targets on each wall is greater than or equal to 30.

[0017] Furthermore, the number of the ruler rods on each wall is greater than or equal to 3.

[0018] Furthermore, there are three scale rods on each wall, and the three scale rods are placed horizontally, vertically, and at a 45° angle to the horizontal.

[0019] Furthermore, the mechanical turntable can pitch and yaw within ±165° and roll within 300°.

[0020] Furthermore, the size of the top surface of the support platform is larger than the bottom surface area of ​​the measured object.

[0021] Furthermore, the computer is an industrial computer.

[0022] The present invention also provides a method for rapid measurement of the three-dimensional shape of a large-sized curved surface component, characterized in that it uses the above-mentioned rapid measurement device for the three-dimensional shape of a large-sized curved surface component, and comprises the following steps:

[0023] S1. The computer controls two laser 3D scanning sensors to scan the measurement and positioning target array, obtain the spatial position, and unify the two laser 3D scanning sensors into the same measurement coordinate system;

[0024] S2. The conveying rail conveys the curved surface structure to be measured to the support table for fixing, controls two 3D rails to drive two laser 3D scanning sensors to move to the measurement starting end of the curved surface structure to be measured, adjusts the field of view of the two laser 3D scanning sensors to face the curved surface structure to be measured, and keeps the front end between 200 mm and 300 mm from the curved surface structure to be measured;

[0025] S3. The two 3D guide rails move according to the pre-planned motion trajectory, driving the two laser 3D scanning sensors to synchronously scan the inner and outer surfaces of the curved structural parts to be measured from top to bottom and from left to right;

[0026] S4. After all the measured areas are scanned, the system is reset, and the measurement and analysis software processes and triangulates the collected point cloud data, and calculates the geometric morphology parameters of the measured curved surface structure.

[0027] The present invention also provides a method for quickly measuring the three-dimensional shape of a large-sized curved surface component and identifying defects, which is characterized in that it uses the above-mentioned device for quickly measuring the three-dimensional shape of a large-sized curved surface component and comprises the following steps:

[0028] A1. The conveyor rail conveys the curved surface structure to be measured to the support table for fixing. The two 3D rails are controlled to drive the two laser 3D scanning sensors and the image sensor to move to the measurement starting end of the curved surface structure to be measured. The fields of view of the two laser 3D scanning sensors are adjusted to face the curved surface structure to be measured, and the front end is kept between 200mm and 300mm away from the curved surface structure to be measured.

[0029] A2. Two 3D guide rails move according to the pre-planned motion trajectory, driving two laser 3D scanning sensors to synchronously scan the inner and outer surfaces of the curved structural parts to be measured from top to bottom and from left to right;

[0030] A3. After completing the 3D scanning of all the measured areas, the two 3D guide rails are reset, and the two mechanical turntables are rotated 90° at the same time, so that the image sensor field of view faces the measured curved surface structure, and the visual shooting is started. The two 3D guide rails move according to the pre-planned motion trajectory, driving the two image sensors to take images of the inner and outer surfaces of the measured curved surface structure from top to bottom and from left to right in different areas;

[0031] A4. After the image is taken, the measurement and analysis software will process and triangulate the collected point cloud data, and calculate the geometric morphology parameters of the measured curved surface structure. The defect recognition software processes the actual image taken, calls the deep learning algorithm, and identifies the surface defects, scratches and pits of the measured curved surface structure.

[0032] The present invention has the following advantages:

[0033] The present invention adopts multi-channel laser scanning and image recognition methods, and realizes on-site rapid measurement and inspection of large-sized curved surface structural parts by constructing a spatial measurement field and a three-dimensional motion mechanism, forming a complete on-site measurement method and system. The technical method adopted by the present invention and the constructed system can be applied to the on-site measurement, inspection, and assembly of other large-sized structural parts. The measurement system and measurement method have the characteristics of high precision, high efficiency, high degree of automation, unattended operation, strong scalability, etc., and can meet the rapid measurement and inspection of the geometric morphology of large structural parts in the fields of aerospace and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that for the sake of clarity and ease of description, the drawings are not necessarily drawn to scale.

[0035] Figure 1It is a schematic diagram of the overall layout of the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention;

[0036] Figure 2 It is a front view of the overall layout of the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention;

[0037] Figure 3 It is a schematic diagram of the gantry and three-dimensional guide rail structure of the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention;

[0038] Figure 4 This is a schematic diagram of the measurement and positioning target array of the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention.

[0039] Description of reference numerals:

[0040] 1-measurement space field, 2-measurement and positioning target array, 9-support table, 10-transmission guide rail, 11-signal transmission route, 12-computer, 31-left gantry bracket, 32-right left gantry bracket, 41-left three-dimensional guide rail, 42-right three-dimensional guide rail, 51-left laser three-dimensional scanning sensor, 52-right laser three-dimensional scanning sensor, 61-left image sensor, 62-right image sensor, 71-left mechanical turntable, 72-right mechanical turntable, 81-left collision detection sensor, 82-right collision detection sensor, 201-first scale rod, 202-second scale rod, 203-third scale rod, 401-left X-axis motion axis, 402-left Y-axis motion axis, 403-left Z-axis motion axis, 404-right X-axis motion axis, 405-right Y-axis motion axis, 406-right Z-axis motion axis. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] Figure 1 It is a schematic diagram of the overall layout of the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention. Figure 2 This is a front view of the overall layout of the large-scale curved surface component three-dimensional morphology rapid measurement device of the present invention. Figures 1-2As shown, the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention comprises a measurement space field 1, a measurement positioning target array 2, two gantry brackets (left gantry bracket 31 and right left gantry bracket 32), two three-dimensional guide rails (left three-dimensional guide rail 41 and right three-dimensional guide rail 42), two laser three-dimensional scanning sensors (left laser three-dimensional scanning sensor 51 and right laser three-dimensional scanning sensor 52), two image sensors (left image sensor 61 and right image sensor 62), two mechanical turntables (left mechanical turntable 71 and right mechanical turntable 72), two collision detection sensors (left collision detection sensor 81 and right collision detection sensor 82), a support table 9, a transmission guide rail 10, a signal transmission line 11, a computer 12 installed with measurement and analysis software, and a fixed tooling bracket. During measurement, the three-dimensional geometric morphology of the curved surface structure to be measured is scanned by the laser three-dimensional scanning sensor, and the surface defects of the curved surface structure to be measured are photographed and identified by the image sensor. The fixed fixture bracket includes a mounting fixture bracket for the laser three-dimensional scanning sensor and the image sensor and a mounting fixture bracket for the collision detection sensor.

[0044] like Figure 2 As shown, two laser 3D scanning sensors (left laser 3D scanning sensor 51 and right laser 3D scanning sensor 52), two image sensors (left image sensor 61 and right image sensor 62), and two collision detection sensors (left collision detection sensor 81 and right collision detection sensor 82) are respectively mounted on mechanical turntables (left mechanical turntable 71 and right mechanical turntable 72), and the mechanical turntables (left mechanical turntable 71 and right mechanical turntable 72) are respectively fixed at the ends of two 3D guide rails (left 3D guide rail 41 and right 3D guide rail 42). The mechanical turntables (left mechanical turntable 71 and right mechanical turntable 72) can pitch and yaw within ±165°, and roll within 300°.

[0045] Figure 3 This is a schematic diagram of the gantry and three-dimensional guide rail structure of the large-size curved surface component three-dimensional morphology rapid measurement device of the present invention. Figure 3 As shown, the left three-dimensional guide rail 41 includes three axial motion axes: a left X-axis motion axis 401, a left Y-axis motion axis 402, and a left Z-axis motion axis 403; the right three-dimensional guide rail 42 includes three axial motion axes: an X-axis right X-axis motion axis 404, a Y-axis right Y-axis motion axis 405, and a Z-axis right Z-axis motion axis 406.

[0046] The measuring space field 1 is a semi-enclosed space, and its length, width and height are determined by the size of the curved surface structure to be measured, wherein the left side, right side, top surface and back are solid walls, and the front is an open space for loading and unloading the curved surface structure to be measured.

[0047] Figure 4This is a schematic diagram of the measurement and positioning target array of the large-scale curved surface component three-dimensional morphology rapid measurement device of the present invention. Figure 4 As shown, the measuring and positioning target array 2 includes measuring and positioning targets and scale rods, wherein the measuring and positioning targets are evenly distributed on the left side, right side, upper top and rear solid wall of the measuring space field 1, the length of the scale rods is traced back to the upper level, targets are installed at both ends, and the scale rods are evenly distributed on the left side, right side, upper top and rear solid wall of the space field.

[0048] The measurement and positioning targets are black or silver-grey target points that can be identified by a laser three-dimensional scanning sensor. The number of the measurement and positioning targets on each wall is greater than or equal to 30.

[0049] The number of the scale rods on each wall is greater than or equal to 3, Figure 4 Three scale rods are shown, namely the first scale rod 201, the second scale rod 202, and the third scale rod 203. The three scale rods are not parallel to each other. Preferably, the three scale rods are placed horizontally, vertically, and at a 45° angle to the horizontal.

[0050] The two gantry supports (left gantry support 31 and right-left gantry support 32) are fixed to the foundation and placed in the measurement space, and the distance between the two gantry supports (left gantry support 31 and right-left gantry support 32) is greater than 2 times the width of the curved surface structure to be measured.

[0051] The two three-dimensional guide rails (left three-dimensional guide rail 41 and right three-dimensional guide rail 42) are respectively placed on two gantry brackets (left gantry bracket 31 and right-left gantry bracket 32), and the three-dimensional guide rails (left three-dimensional guide rail 41 and right three-dimensional guide rail 42) can perform three-dimensional translation within the spatial range of the curved surface structure to be measured.

[0052] The bottom surface of the support platform 9 is firmly connected to the foundation. The top surface size of the support platform 9 is larger than the bottom envelope area of ​​the tested object.

[0053] The three-dimensional scanning sensor (left laser three-dimensional scanning sensor 51 and right laser three-dimensional scanning sensor 52), image sensor (left image sensor 61 and right image sensor 62), collision detection sensor (left collision detection sensor 81 and right collision detection sensor 82) are respectively installed on the mechanical turntable (left mechanical turntable 71 and right mechanical turntable 72), and connected to the computer 12 installed with measurement and analysis software by power line and data line (signal transmission line 11). The computer is an industrial computer.

[0054] One end of the conveying guide rail 10 is connected to the support platform 9, and the other end is a loading and unloading port for the tested parts.

[0055] The method for rapid measurement of the three-dimensional morphology of a large-sized curved surface structural part of the present invention is as follows:

[0056] During the first on-site measurement, the computer 12 controls two laser 3D scanning sensors (the left laser 3D scanning sensor 51 and the right laser 3D scanning sensor 52) to scan the measurement and positioning target array 2 (including the first scale bar 201, the second scale bar 202, and the third scale bar 203), obtains the spatial position, and unifies the two laser 3D scanning sensors (the left laser 3D scanning sensor 51 and the right laser 3D scanning sensor 52) into the same measurement coordinate system;

[0057] The conveying guide rail 10 conveys the curved surface structure to be measured to the support table 9 for fixing; the system is started to reset, and the two three-dimensional guide rails (the left three-dimensional guide rail 41 and the right three-dimensional guide rail 42) are controlled to drive the two laser three-dimensional scanning sensors (the left laser three-dimensional scanning sensor 51 and the right laser three-dimensional scanning sensor 52) installed at the ends thereof to move to the measurement starting end of the curved surface structure to be measured, preferably, the upper left position of the structure, and the two laser three-dimensional scanning sensors (the left laser three-dimensional scanning sensor 51 and the right laser three-dimensional scanning sensor 52) are adjusted so that the field of view is facing the curved surface structure to be measured, and the front end is kept between 200 mm and 300 mm from the curved surface structure to be measured;

[0058] After the measurement starts, the two 3D guide rails (the left 3D guide rail 41 and the right 3D guide rail 42) will move according to the pre-planned motion trajectory, driving the two laser 3D scanning sensors (the left laser 3D scanning sensor 51 and the right laser 3D scanning sensor 52) installed at their ends to perform synchronous scanning of the inner and outer surfaces of the curved surface structure to be measured from top to bottom and from left to right;

[0059] After all the measured areas are scanned, the system is reset; the measurement and analysis software processes and triangulates the collected point cloud data, and calculates the geometric morphology parameters of the measured curved surface structure, such as thickness, height, and diameter.

[0060] The method for rapid measurement and defect identification of three-dimensional morphology of large-size curved surface structural parts of the present invention is as follows:

[0061] During on-site measurement, the conveying guide rail 10 conveys the curved surface structure to be measured to the support table 9 for fixing; the system reset is started, and the two three-dimensional guide rails (left three-dimensional guide rail 41 and right three-dimensional guide rail 42) including two laser three-dimensional scanning sensors (left laser three-dimensional scanning sensor 51 and right laser three-dimensional scanning sensor 52) and image sensors (left image sensor 61 and right image sensor 62) installed at their ends are controlled to move to the measurement starting end of the curved surface structure to be measured, preferably, the upper left position of the structure, and the field of view of the two laser three-dimensional scanning sensors (left laser three-dimensional scanning sensor 51 and right laser three-dimensional scanning sensor 52) is adjusted to face the curved surface structure to be measured, and the front end is kept between 200mm and 300mm away from the curved surface structure to be measured;

[0062] After the measurement starts, the two 3D guide rails (the left 3D guide rail 41 and the right 3D guide rail 42) will move according to the pre-planned motion trajectory, and the two laser 3D scanning sensors (the left laser 3D scanning sensor 51 and the right laser 3D scanning sensor 52) installed at their ends will scan the inner and outer surfaces of the curved surface structure to be measured from top to bottom and from left to right in different regions;

[0063] After completing the three-dimensional scanning of all the areas to be measured, the two three-dimensional guide rails (the left three-dimensional guide rail 41 and the right three-dimensional guide rail 42) are reset, and at the same time, the two mechanical turntables, the left mechanical turntable 71 and the right mechanical turntable 72, are rotated 90°, so that the image sensor (the left image sensor 61 and the right image sensor 62) field of view faces the curved surface structure to be measured; start visual shooting, the two three-dimensional guide rails (the left three-dimensional guide rail 41 and the right three-dimensional guide rail 42) will move according to the pre-planned motion trajectory, and the image sensors (the left image sensor 61 and the right image sensor 62) will respectively capture images of the inner and outer surfaces of the curved surface structure to be measured from top to bottom and from left to right in different regions;

[0064] After the image is taken, the system is reset; the measurement and analysis software 12 processes and triangulates the collected point cloud data, and calculates the geometric morphology parameters of the measured curved surface structure, such as thickness, height, and diameter. The defect recognition software processes the actual image taken, calls the deep learning algorithm, and identifies the surface defects, scratches, and pits of the measured curved surface structure.

[0065] The device and method for rapid measurement of the three-dimensional morphology of large-size curved surface components provided by the present invention can be widely used in the fields of on-site testing, inspection, and assembly of large-size structural parts and components. It has the characteristics of high precision, high efficiency, high degree of automation, unmanned operation, and strong scalability, and can meet the needs of rapid measurement and inspection of the geometric morphology of large structural parts in the aerospace field.

[0066] Although the present invention has been disclosed as a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the above disclosed methods and technical contents without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention. The contents not described in detail in the specification of the present invention belong to the known technology of professional and technical personnel in this field.

Claims

1. A device for rapid measurement of three-dimensional morphology of large-sized curved surface components, characterized in that: It includes a measurement space field, a measurement positioning target array, two gantry supports, two 3D guide rails, two mechanical turntables, two laser 3D scanning sensors, two image sensors, two collision detection sensors, a support table, a conveyor guide rail and a computer with measurement and analysis software installed; The measuring space is a semi-enclosed space, the length, width and height of which are determined by the size of the curved surface structure to be measured, wherein the left side, right side, top surface and back are solid walls, and the front is an open space for loading and unloading the curved surface structure to be measured; The measurement and positioning target array includes measurement and positioning targets and scale rods, wherein the measurement and positioning targets are evenly distributed on the left side, right side, upper top surface and rear solid wall of the measurement space field, the length of the scale rod is traced back to the upper level, and measurement and positioning targets are installed at both ends, and the scale rods are evenly distributed on the left side, right side, upper top surface and rear solid wall of the measurement space field; The two gantry supports are fixed to the foundation and placed in the measurement space, and the distance between the two gantry supports is greater than 2 times the width of the curved surface structure to be measured; The two three-dimensional guide rails are respectively placed on two gantry brackets, and the three-dimensional guide rails perform three-dimensional translation within the spatial range of the curved surface structure to be measured; The two mechanical turntables are respectively fixedly mounted at the ends of the two three-dimensional guide rails, one end of the conveying guide rail is connected to the support platform, and the other end is a loading and unloading port for the tested parts, and the bottom surface of the support platform is firmly connected to the foundation; The two laser three-dimensional scanning sensors, the two image sensors, and the two collision detection sensors are respectively installed on the two mechanical turntables, and are connected to a computer installed with measurement and analysis software via power lines and signal transmission lines.

2. A device for rapid measurement of three-dimensional morphology of large-size curved surface components as claimed in claim 1, characterized in that: It further includes a fixed tooling bracket, which includes a mounting tooling bracket for the laser three-dimensional scanning sensor and the image sensor and a mounting tooling bracket for the collision detection sensor.

3. A device for rapid measurement of three-dimensional morphology of large-sized curved surface components as claimed in claim 1, characterized in that: The measurement and positioning targets are black or silver-gray target points that can be identified by a laser three-dimensional scanning sensor. The number of the measurement and positioning targets on each wall is greater than or equal to 30.

4. A device for rapid measurement of three-dimensional morphology of large-sized curved surface components as claimed in claim 1, characterized in that: The number of the ruler rods on each wall is greater than or equal to 3.

5. The device for rapid measurement of three-dimensional morphology of large-sized curved surface components according to claim 1, characterized in that: There are three ruler rods on each wall, and the three ruler rods are placed horizontally, vertically, and at a 45° angle to the horizontal.

6. The device for rapid measurement of three-dimensional morphology of large-sized curved surface components according to claim 1, characterized in that: The mechanical turntable can pitch and yaw within ±165° and roll within 300°.

7. The device for rapid measurement of three-dimensional morphology of large-sized curved surface components according to claim 1, characterized in that: The size of the top surface of the support platform is larger than the bottom surface area of ​​the tested object.

8. The device for rapid measurement of three-dimensional morphology of large-sized curved surface components according to claim 1, characterized in that: The computer is an industrial computer.

9. A method for rapid measurement of three-dimensional morphology of large-scale curved surface components, characterized in that: The device for rapid measurement of three-dimensional morphology of large-size curved surface components according to any one of claims 1 to 8 comprises the following steps: S1. The computer controls two laser 3D scanning sensors to scan the measurement and positioning target array, obtain the spatial position, and unify the two laser 3D scanning sensors into the same measurement coordinate system; S2. The conveying rail conveys the curved surface structure to be measured to the support table for fixing, controls two 3D rails to drive two laser 3D scanning sensors to move to the measurement starting end of the curved surface structure to be measured, adjusts the field of view of the two laser 3D scanning sensors to face the curved surface structure to be measured, and keeps the front end between 200 mm and 300 mm from the curved surface structure to be measured; S3. The two 3D guide rails move according to the pre-planned motion trajectory, driving the two laser 3D scanning sensors to synchronously scan the inner and outer surfaces of the curved structural parts to be measured from top to bottom and from left to right; S4. After all the measured areas are scanned, the system is reset, and the measurement and analysis software processes and triangulates the collected point cloud data, and calculates the geometric morphology parameters of the measured curved surface structure.

10. A method for rapid measurement and defect identification of three-dimensional morphology of large-scale curved surface components, characterized in that: The device for rapid measurement of three-dimensional morphology of large-size curved surface components according to any one of claims 1 to 8 comprises the following steps: A1. The conveyor rail conveys the curved surface structure to be measured to the support table for fixing. The two 3D rails are controlled to drive the two laser 3D scanning sensors and the image sensor to move to the measurement starting end of the curved surface structure to be measured. The fields of view of the two laser 3D scanning sensors are adjusted to face the curved surface structure to be measured, and the front end is kept between 200mm and 300mm away from the curved surface structure to be measured. A2. Two 3D guide rails move according to the pre-planned motion trajectory, driving two laser 3D scanning sensors to synchronously scan the inner and outer surfaces of the curved structural parts to be measured from top to bottom and from left to right; A3. After completing the 3D scanning of all the measured areas, the two 3D guide rails are reset, and the two mechanical turntables are rotated 90° at the same time, so that the image sensor field of view faces the measured curved surface structure, and the visual shooting is started. The two 3D guide rails move according to the pre-planned motion trajectory, driving the two image sensors to take images of the inner and outer surfaces of the measured curved surface structure from top to bottom and from left to right in different areas; A4. After the image is taken, the measurement and analysis software will process and triangulate the collected point cloud data, and calculate the geometric morphology parameters of the measured curved surface structure. The defect recognition software processes the actual image taken, calls the deep learning algorithm, and identifies the surface defects, scratches and pits of the measured curved surface structure.

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