Combined type photographing measurement device and method based on three-coordinate structure
By using a composite photogrammetric measuring device based on a three-coordinate structure, non-contact measurement is achieved using an industrial camera and a telecentric lens, which solves the problems of low measurement efficiency and wear of traditional three-coordinate measuring machines and realizes efficient and accurate micro-hole measurement.
Patent Information
- Application Number
- CN202511804994.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-02-24
AI Technical Summary
Traditional coordinate measuring machines (CMMs) have low measurement efficiency, cannot measure small holes, have easily worn contact probes, and cannot measure in confined spaces.
A composite photogrammetric device based on a three-coordinate structure is adopted, which uses an industrial camera and a telecentric lens for non-contact measurement. Combined with a commutator and motor system, it realizes multi-angle measurement. The hole contour is extracted by image algorithm and the mapping relationship between the camera field of view and CMM coordinates is established.
It achieves efficient and accurate non-contact measurement, supports micro-hole measurement, avoids wear, improves measurement efficiency and accuracy, and solves the limitations of traditional contact measurement.
Smart Images
Figure CN121557901A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of aerospace mechanical processing technology, specifically a composite photogrammetric device and method based on a three-coordinate structure. Background Technology
[0002] For the inspection of aerospace parts, traditional technology uses coordinate measuring machines (CMMs) with contact probes. With the deepening of intelligent manufacturing, industrial production places dual demands on measurement technology for both high precision and high efficiency. While traditional contact CMMs can achieve micron-level accuracy, their point-to-point contact measurement method is inefficient and cannot meet the needs of mass production.
[0003] Existing technologies have the following problems: low measurement efficiency, requiring multiple points to be drilled on the inner wall of each hole; inability to measure small holes; high limitations (such as the inability of probes to enter and measure in confined spaces); and contact probes are prone to wear and tear after prolonged use, leading to reduced accuracy and requiring frequent calibration. To address these issues, this invention proposes a composite photogrammetric device and method based on a three-coordinate structure. Summary of the Invention
[0004] Purpose of the invention: The invention provides a composite photographic measurement device and method based on a three-coordinate structure, which effectively solves the problems mentioned in the background art.
[0005] Technical solution: A composite photographic measuring device based on a three-coordinate structure includes a housing. A support plate is fixed to the top of the housing, and a left-right moving rail is fixed to the rear end of the support plate. Left-right moving ball nuts are slidably connected inside the left-right moving rails. A connecting strip is provided on the top of the left-right moving ball nuts. A front-back moving rail is fixed to the right end of the connecting strip. A lifting rail is provided to the right end of the front-back moving rail. A connecting rod is provided to the right end of the lifting rail. Two reversing slots are provided to the right end of the connecting rod. An adjusting slot is fixed to one end of each reversing slot, and a connecting block is fixed to the other end of each reversing slot. A reversing shaft rotatably connected inside each adjusting slot is fixedly connected to one end of a reversing disc. The reversing disc is horizontally mounted. The bottom is fixedly connected to the vertically installed connecting block. The right end of the vertically installed steering wheel is provided with a positioning plate. The positioning plate is rotatably connected to a main shift bar. A probe is fixed to the front end of the main shift bar. A secondary shift bar is fixed to the bottom of the main shift bar. A shift rod is also fixed to the right end of the positioning plate. An industrial camera is fixed to the bottom of the secondary shift bar. A telecentric lens is fastened to the bottom of the industrial camera through a flange. A ring light source is provided outside the telecentric lens. The support plate is provided with two adapter slots. An adapter rail is slidably connected inside each adapter slot. Two stabilizing rods are provided inside each adapter rail. An air pump is provided at the top of each stabilizing rod. A vacuum disc is fixed at the top of each air pump.
[0006] Preferably, the bottom of the box is fixed with several casters, and the bottom of the box is rotatably connected with several balance bolts. Each balance bolt has a balance block fixed to its bottom via a bearing. The box is also hinged with a door. A controller is fixed inside the box. A power supply is fixed to the right end of the controller. Two mutually perpendicular levels are provided at the front end of the controller. A calibration ball is also fixed to the top of the support plate.
[0007] Preferably, the front end of the support plate is provided with a stabilizing groove, and a balance bar is slidably connected inside the stabilizing groove. The balance bar is fixedly connected to the connecting strip at its top. The rear end of the connecting strip is fixedly connected to the left and right moving ball nut through a support rod. A left and right moving motor is fixed to the right end of the left and right moving rail. The left and right moving motor is rotatably connected to the left and right moving ball screw inside the left and right moving rail. The left and right moving ball screw is engaged with the left and right moving ball nut.
[0008] Preferably, the right end of the connecting bar is provided with a front-to-back moving motor fixedly connected to the front-to-back moving track. The front-to-back moving motor is rotatably connected to a front-to-back moving ball screw inside the front-to-back moving track. The front-to-back moving ball screw is engaged with a front-to-back moving ball nut. The front-to-back moving ball nut is fixedly connected to the lifting track at its right end. The top of the lifting track is fixedly provided with a lifting motor. The lifting motor is rotatably connected to a lifting ball screw inside the lifting track. The lifting ball screw is engaged with a lifting ball nut. The lifting ball nut is fixedly connected to the connecting rod.
[0009] Preferably, the right end of the connecting rod is fixedly connected to the horizontally installed connecting block. A reversing main gear is rotatably connected inside each reversing slot. A reversing motor is rotatably connected to one end of the shaft of each reversing main gear. Each reversing motor is fixedly connected to the reversing slot at one end. A connecting gear is meshed with each reversing main gear. A reversing gear is meshed with each connecting gear. The shaft of the connecting gear on each side and the outer side of the reversing shaft are fixedly connected to the reversing slot through a connecting plate.
[0010] Preferably, each of the reversing main gears is provided with a plurality of locking holes, each of the connecting plates is fixed with a locking rod on its inner side, each of the connecting plates is also fixed with a locking camera, each locking rod is tightly fitted with the locking hole on its inner side, each of the adjusting grooves is provided with two positioning grooves, each positioning groove is fixed with a pressure sensor at its end, each positioning groove is slidably connected with the positioning shaft inside it, and each positioning shaft is fixedly connected with the reversing disk at one end.
[0011] Preferably, a fixing block is fixed to the right end of the vertically installed steering wheel, and the fixing block is fixedly connected to the positioning plate at its front end. A shifting motor is fixed to the right end of the positioning plate. The shifting motor is rotatably connected to the main shifting bar and the secondary shifting bar via a rotating shaft. Shifting holes are provided on both the main shifting bar and the secondary shifting bar. A shifting bar is fixed to the inner side of the shifting rod and is slidably connected to the shifting hole. A probe camera is fixed to the top of the probe, and the bottom of the secondary shifting bar is fixedly connected to the ring light source via a fixing rod.
[0012] Preferably, the support plate is further fixed with an adapter motor at both ends, and an adapter ball screw is rotatably connected to the inner side of each adapter motor. Each adapter ball screw is meshed with the adapter rail outside it. Each adapter rail is fixed with a positioning motor at both ends, and each positioning motor is rotatably connected to the positioning ball screw inside one end of the adapter rail.
[0013] Preferably, each of the positioning ball screws is internally connected to a clamping plate, and a worm gear main motor is fixed to one end of each clamping plate. Each worm gear main motor is rotatably connected to a stabilizing rod inside the clamping plate at one end. A clamping block is fixed to the top of each stabilizing rod, and a worm gear auxiliary motor is fixed to one end of each clamping block. Each worm gear auxiliary motor is rotatably connected to a clamping rod inside the clamping block at one end. Each clamping rod is fixedly connected to an internal air pump, and a vacuum disc motor is also fixed to one end of each clamping rod.
[0014] This invention also provides a composite photogrammetric method based on a three-coordinate structure, which, based on the composite photogrammetric device based on a three-coordinate structure as described above, includes the following steps: Step 1: When using this device, the operator pushes the entire device to the required position, then rotates the balance bolts to support the entire device. At the same time, the operator monitors the level of the entire device using two levels and further adjusts the support plate to be level using the balance bolts. Step 2: The operator places the part to be tested on top of the support plate. At this time, the controller controls two adapter motors to rotate the adapter ball screw, thereby driving the adapter rail to move. The controller further controls several positioning motors to work together, thereby driving the positioning ball screw to rotate, thereby driving several clamping plates to move. The controller further controls the stabilizer bar, the worm gear main motor and the worm gear auxiliary motor to work together to make the vacuum disc tightly adhere to the part to be tested. At this time, the controller controls the worm gear main motor and the worm gear auxiliary motor to lock, and at the same time controls the air pump to make the vacuum disc stick tightly to the part to be tested, thereby ensuring the stability of the part to be tested. Step 3: The controller further controls the left and right moving motors, the front and back moving motors, and the lifting motor to make the two reversing slots movable, so that the reversing strip moves to the top of the calibration ball. At this time, the controller controls the industrial camera to focus until the outermost outline of the ball is clear, ensuring that the top of the ball is within the center area of the image field of view. The controller further uses the left and right moving motors, the front and back moving motors, the lifting motor, and the two reversing motors to move the industrial camera to different positions and directions to take pictures of the calibration ball. The edge contour of the ball in the image is further extracted, and after stitching, the pixel coordinates of the ball center and the focus status are fitted. The field of view center offset is calculated by combining the known physical coordinates of the ball center of the controller on the three coordinate measuring machine, and the parameters of the current angle image measurement module are corrected. Step 4: The controller further controls the left and right moving motors, forward and backward moving motors, lifting motors and two reversing motors to work together, and the repositioning motor makes the probe close to the part to be tested. The probe and the probe camera work together to move the probe on the part to be tested, thereby establishing a coarse reference. The controller further controls the repositioning motor to make the industrial camera face the part to be tested. Based on the coarse reference, the fine reference is established through automatic control, and the workpiece is accurately aligned. Step 5: The controller further controls the left and right moving motors, the forward and backward moving motors, and the lifting motor to move the industrial camera to the target hole area. The controller further adjusts the angle through two reversing motors so that the optical axis of the industrial camera is perpendicular to the hole plane. The industrial camera automatically focuses and turns on the ring light source to capture the hole features of the part under test. Step Six: Further extract the hole contour using image algorithms, fit the center pixel coordinates, and further utilize calibration parameters and the current focus state to convert the pixel coordinates into coordinates in the workpiece coordinate system by combining the rotation angles and focus distances of the two commutator motors. Here, by mapping the industrial camera calibration parameter information with the measurement, the image feature points measured by the industrial camera are equivalent to the touch points of a virtual probe in the CMM coordinate system. The theoretical value, actual measured value, and deviation value of the measured feature in the workpiece coordinate system are then output, which is the final measurement result.
[0015] Beneficial effects: (1) This device integrates a rotatable vision unit on the commutator to achieve non-contact multi-angle measurement. It uses an optical lens instead of a physical touch probe to avoid wear and supports the measurement of micro-holes. It is multi-angle adaptive. The rotation of the shafts of the two commutator motors drives the industrial camera to adapt to holes with different normals. There is no need to flip the workpiece. For the narrow space where the probe is inconvenient to enter and touch the measurement, this limitation can be solved by image shooting, which improves the measurement efficiency. The hole position and hole diameter information can be obtained in a single shot without point-by-point contact. The mapping relationship between the camera field of view and the CMM coordinate is established through standard ball calibration. It supports accurate compensation in two directions under the image coordinate system. The virtual rod mapping mechanism converts the coordinates of the image feature points into the equivalent contact point coordinates under the CMM coordinate system. The integrated measurement method of calibration, shooting and coordinate transformation solves the positioning and measurement problem of the vision measurement system in the global coordinate system in the three coordinate system. (2) This device uses left and right moving rails to position left and right moving ball nuts. The left and right moving motor can drive the left and right moving ball screw to rotate, thereby moving the left and right moving ball nuts, which in turn moves the connecting bar left and right. The front and back moving motor can drive the front and back moving ball screw to rotate, thereby moving the front and back moving ball nuts, which in turn moves the lifting rail back and forth. The lifting motor can drive the lifting ball screw to rotate, thereby moving the lifting ball nuts up and down, which in turn moves the connecting rod up and down, which in turn moves the reversing groove up and down, thus ensuring the accuracy of the measurement. (3) This device uses a reversing slot to position the reversing main gear. The reversing motor can drive the reversing main gear to rotate, thereby driving the connecting gear to rotate, which in turn drives the reversing gear to rotate, thereby driving the reversing shaft to rotate, which in turn drives the reversing disc to rotate. This makes it convenient to adjust the angle of the vertically installed reversing slot and the angle of the positioning plate, thus ensuring the accuracy of the measurement. The number of teeth of the reversing main gear in this device is much less than the number of teeth of the connecting gear, and the number of teeth of the connecting gear is much less than the number of teeth of the reversing gear. This makes the connecting gear rotate a smaller angle when the reversing main gear rotates one revolution, thus ensuring the accuracy of the angle adjustment, thereby improving the angle adjustment efficiency, and thus ensuring the angle adjustment effect. The locking hole and locking rod cooperate to lock the reversing main gear, thus ensuring the stability during measurement. (4) This device can lock the main bar and the secondary bar by extending and retracting the shifting rod, which makes it convenient to establish a benchmark and to measure at the same time, while ensuring the stability during measurement. At the same time, the device can drive the balance block to rise and fall by rotating the balance bolt, thus ensuring the stability of the entire device. The angle of the box can be adjusted to keep the support plate horizontal, thus ensuring the accuracy of the measurement. (5) This device uses an adapter slot to position the adapter rail. The adapter motor can drive the adapter ball screw to rotate, thereby moving the adapter rail. At the same time, the positioning motor can drive the positioning ball screw to rotate, thereby moving the clamping plate. The extension and retraction of the stabilizing rod can move the clamping block. The worm gear main motor and the worm gear auxiliary motor can cooperate to make the clamping rod rotate, thereby ensuring that the vacuum disk is in close contact with the part to be tested, thus ensuring the stability of the part to be tested. At the same time, the air pump can evacuate the vacuum disk and the part to be tested, thereby ensuring the stability of the part to be tested during measurement. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the overall device; Figure 2 This is a schematic diagram of the interior of the device's housing; Figure 3 This is a schematic diagram of the bottom of the device's housing; Figure 4 This is a schematic diagram of the top of the support plate of this device; Figure 5 This is a schematic diagram of the top of the adapter rail for this device; Figure 6 This is a schematic diagram of the interior of the adapter slot for this device; Figure 7 This is a schematic diagram of the internal structure of the adapter rail for this device; Figure 8 This is a schematic diagram of the top of the stabilizer bar of this device; Figure 9 This is a schematic diagram of the right end of the connecting strip of this device; Figure 10 This is a schematic diagram of the right end of the lifting track of this device; Figure 11 This is a schematic diagram of the right end of the connecting rod of this device; Figure 12 This is a schematic cross-sectional view of the reversing slot of this device; Figure 13 This is a schematic diagram of the interior of the reversing slot of this device; Figure 14 This is a schematic diagram of the front end of the fixing block of this device; Figure 15 This is a schematic diagram of the right end of the positioning plate of this device.
[0018] In the diagram: 1-Box body; 2-Left and right movement motor; 3-Front and rear movement rail; 4-Lifting rail; 5-Connecting rod; 6-Reversing groove; 7-Fixing block; 8-Adaptor rail; 9-Stabilizing bar; 101-Universal wheel; 102-Balance bolt; 103-Balance block; 104-Box door; 105-Support plate; 106-Calibration ball; 107-Controller; 108-Power supply; 109-Level; 201-Left and right movement rail; 202-Stabilizing groove; 203 - Balance bar; 204 - Support rod; 205 - Connecting bar; 206 - Left / right movement ball screw; 207 - Left / right movement ball nut; 301 - Front / back movement motor; 302 - Front / back movement ball screw; 303 - Front / back movement ball nut; 401 - Lifting motor; 402 - Lifting ball screw; 403 - Lifting ball nut; 601 - Adjusting groove; 602 - Connecting plate; 603 - Reversing motor; 604 - Reversing disc; 605 - Reversing gear 606-Connecting gear; 607-Reversing main gear; 608-Positioning shaft; 609-Positioning groove; 610-Locking hole; 611-Locking rod; 612-Locking camera; 613-Reversing shaft; 614-Connecting block; 615-Pressure sensor; 701-Positioning plate; 702-Reversing main bar; 703-Reversing secondary bar; 704-Reversing motor; 705-Probe; 706-Probe camera; 707-Industrial camera; 708-Telecentric lens Head; 709-Ring light source; 710-Transfer hole; 711-Transfer rod; 712-Transfer bar; 801-Adaptor motor; 802-Adaptor slot; 803-Positioning motor; 804-Adaptor ball screw; 805-Positioning ball screw; 901-Clamping plate; 902-Clamping block; 903-Clamping rod; 904-Air pump; 905-Vacuum disc; 906-Vacuum disc motor; 907-Worm gear main motor; 908-Worm gear auxiliary motor. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced without requiring some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setups and methods set forth below, but covers any improvements, substitutions, and modifications to structures, methods, and devices without departing from the spirit of the invention. Well-known structures and techniques are not shown in the drawings and the following description to avoid unnecessarily obscuring the invention.
[0021] In the description of this invention, it should be noted that the directions or positional relationships indicated by terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing and simplifying the invention, and should not be construed as limiting the invention. Furthermore, the use of ordinal numbers (e.g., "first and second," etc.) is for distinguishing objects and is not limited to this order, and should not be construed as indicating or implying relative importance.
[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, encompassing both direct connection and indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.
[0023] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0024] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.
[0025] Example 1, by Figure 1 , Figure 4 , Figure 6 , Figure 9 , Figure 11 , Figure 14The present invention discloses a composite photographic measuring device based on a three-coordinate structure, comprising a housing 1 made of alloy material, the housing 1 supporting the entire device, a support plate 105 made of marble fixed to the top of the housing 1, the support plate 105 supporting the part to be measured, and a left-right moving rail 201 made of alloy material fixed to the rear end of the support plate 105 for positioning left-right moving ball nuts 207, the left-right moving ball nuts 207 being slidably connected inside the left-right moving rail 201 for supporting the support rod 204. The top of 207 is provided with a connecting strip 205, which is made of alloy material. The connecting strip 205 is used to position the front and rear moving rails 3. The right end of the connecting strip 205 is fixed with the front and rear moving rails 3, which is used to position the front and rear moving ball nuts 303. The right end of the front and rear moving rails 3 is provided with a lifting rail 4, which is used to position the lifting ball nuts 403. The right end of the lifting rail 4 is provided with a connecting rod 5, which is made of alloy material. The connecting rod 5 is used to position the horizontally installed connecting block 614. The right end of the connecting rod 5 is provided with two reversing grooves 6, which are made of alloy material and are used to position the reversing main gear. 607. Each of the reversing slots 6 has an adjusting groove 601 fixed at one end. The adjusting groove 601 is made of alloy material and is used to position the reversing gear 605. A connecting block 614, also made of alloy material, is fixed at the other end of each reversing slot 6. The connecting block 614 is used to fix the reversing slot 6. A reversing shaft 613 rotatably connected inside each adjusting slot 601 has a reversing disc 604 fixedly connected at one end. The reversing disc 604 is made of alloy material and is easy to rotate. The bottom of the horizontally installed reversing disc 604 is fixedly connected to the vertically installed connecting block 614. The right end of the vertically installed reversing disc 604 is provided with a positioning plate 701. The positioning plate 701 is made of alloy material and is used to position the main transposition bar 702 and the secondary transposition bar 703. The main transposition bar 702, also made of alloy material, is rotatably connected inside the positioning plate 701 and is used to position the probe 705. The probe 705 is fixed to the front end of the main transposition bar 702 and is used to establish a coarse reference. The secondary transposition bar 703 is fixed to the bottom of the main transposition bar 702 and is used to fix the industrial camera 707. A transposition rod 711 is also fixed to the right end of the positioning plate 701. The transposition rod 711 is retractable, thereby locking the main transposition bar 702 and the secondary transposition bar 703.This facilitates both benchmark establishment and measurement, while ensuring stability during measurement. An industrial camera 707 is fixed to the bottom of the transposition strip 703. A telecentric lens 708 is fastened to the bottom of the industrial camera 707 via a flange. A ring light source 709 is provided outside the telecentric lens 708. The industrial camera 707, telecentric lens 708, and ring light source 709 work together to facilitate measurement. Two adapter slots 802 are provided on the support plate 105. The adapter slots 802 are used to position the adapter rail 8. Each of the... An adapter rail 8, made of alloy material, is slidably connected inside the adapter slot 802. The adapter rail 8 is used to position the clamping plate 901. Two stabilizing rods 9 are provided on the inner side of each adapter rail 8. The stabilizing rods 9 are telescopic, thereby moving the clamping block 902. An air pump 904 is located at the top of each stabilizing rod 9, and a vacuum disk 905 is fixed to the top of each air pump 904. The air pump 904 can evacuate the vacuum disk 905 between it and the part under test, thereby ensuring the stability of the part under test during measurement.
[0026] Example 2, based on Example 1, is... Figures 2-3 , Figure 5The box 1 is provided with several casters 101 fixed to its bottom, which facilitates the movement of the entire device. Several balance bolts 102 are rotatably connected to the bottom of the box 1. The balance bolts 102, by rotating, can raise and lower the balance blocks 103, thereby adjusting the level of the entire device. Each balance bolt 102 has a balance block 103 fixed to its bottom via a bearing, which supports the entire device. A door 104 is also hinged to the box 1, facilitating its opening. A controller 107 is fixed inside the box 1, which controls the entire device. A power supply 108 is fixed to the right end of the controller 107, which powers the entire device. The controller 107 provides the required electrical energy. Two mutually perpendicular levels 109 are located at the front end of the controller 107. These levels 109 monitor the levelness of the entire device. A calibration ball 106, made of alloy material, is fixed to the top of the support plate 105 for easy calibration. A stabilizing groove 202 is located at the front end of the support plate 105. This groove positions the balance bar 203, which is slidably connected inside the groove. The balance bar 203, also made of alloy material, ensures the stability of the support plate 105 during movement. The balance bar 203 is fixedly connected to the connecting strip 205 at its top, with the rear end of the connecting strip 205 extending outwards. The support rod 204 is fixedly connected to the left and right movable ball nut 207. The support rod 204 is made of alloy material. A left and right movable motor 2 is fixed to the right end of the left and right movable rail 201. The left and right movable motor 2 can drive the left and right movable ball screw 206 to rotate, thereby driving the left and right movable ball nut 207 to move. The left and right movable motor 2 is rotatably connected to the left and right movable ball screw 206 inside the left and right movable rail 201. The left and right movable ball screw 206 is engaged with the left and right movable ball nut 207. A front and rear movable motor 301 is provided at the right end of the connecting strip 205 and is fixedly connected to the front and rear movable rail 3. The front and rear movable motor 301 can drive the front and rear movable ball screw 302 to rotate. The motor 401 moves, thereby moving the forward and backward moving ball screw 302 inside the forward and backward moving track 4. The forward and backward moving ball screw 302 is engaged with the forward and backward moving ball screw 303. The forward and backward moving ball screw 302 is fixedly connected to the right end of the lifting track 4. The lifting track 401 is fixedly mounted on the top of the lifting track 4. The lifting motor 401 can drive the lifting ball screw 402 to rotate, thereby driving the lifting ball screw 403 to rise and fall, and thus driving the connecting rod 5 to rise and fall. The lifting motor 401 is rotatably connected to the lifting ball screw 402 inside the lifting track 4.The lifting ball screw 402 is engaged with a lifting ball nut 403, and the lifting ball nut 403 is fixedly connected to the connecting rod 5. When using this device, the operator moves the entire device to the desired position. Then, the operator rotates the balance bolt 102 to support the entire device. Simultaneously, the two levels 109 monitor the levelness of the entire device. Further rotation of the balance bolt 102 ensures the balance block 103 is firmly against the ground while supporting the housing 1. The levelness of the support plate 105 can be adjusted to ensure measurement accuracy. At this time, the controller 107 controls the left-right movement motor 2, which drives the left-right movement ball screw 206 to rotate, thereby moving the left-right movement ball nut 207 and thus the support rod. 204 moves. At this time, the stability of the connecting bar 205 is ensured by the stabilizing groove 202 and the balance bar 203. Furthermore, the controller 107 controls the front and rear moving motor 301 to work, which drives the front and rear moving ball screw 302 to rotate, thereby driving the front and rear moving ball nut 303 to move back and forth, thereby driving the lifting track 4 to move back and forth. Furthermore, the controller 107 controls the lifting motor 401 to work, which drives the lifting ball screw 402 to rotate, thereby driving the lifting ball nut 403 to rise and fall, thereby driving the connecting rod 5 to rise and fall, thereby driving the reversing groove 6 to move to the required position.
[0027] Example 3, based on Example 1, is... Figure 10 , Figures 12-13 , Figure 15As shown, the right end of the connecting rod 5 is fixedly connected to the horizontally installed connecting block 614. A reversing main gear 607 is rotatably connected inside each reversing slot 6. A reversing motor 603 is rotatably connected to one end of the shaft of each reversing main gear 607. Each reversing motor 603 is fixedly connected to one end of the reversing slot 6. Each reversing main gear 607 is meshed with a connecting gear 606, and each connecting gear 606 is meshed with a reversing gear 605. The number of teeth on the reversing main gear 607 is much less than the number of teeth on the connecting gear 606, and the number of teeth on the connecting gear 606 is much less than the number of teeth on the reversing gear 605. This results in the connecting gear 606 rotating less when the reversing main gear 607 rotates one revolution. A small angle is used to ensure the accuracy of angle adjustment, thereby improving the efficiency and effectiveness of angle adjustment. The reversing main gear 607 can drive the connecting gear 606 to rotate, which in turn drives the reversing gear 605 to rotate, thereby driving the reversing shaft 613 to rotate, and thus driving the reversing disc 604 to rotate. This facilitates the adjustment of the angle of the vertically installed reversing slot 6 and the angle of the positioning plate 701, thus ensuring the accuracy of measurement. The rotating shaft of the connecting gear 606 on each side and the outer side of the reversing shaft 613 are fixedly connected to the reversing slot 6 through the connecting plate 602. The connecting plate 602 is made of alloy material. Each reversing main gear 607 is provided with several locking holes 610. The locking hole 610 and the locking rod 611 cooperate to easily lock the reversing main gear 607, thereby ensuring stability during measurement. A locking rod 611 is fixed to the inner side of each connecting plate 602. The locking rod 611 is telescopic, allowing it to fit tightly against the locking hole 610. A locking camera 612 is also fixed to the inner side of each connecting plate 602. The locking camera 612 is used to monitor the position of the locking rod 611. Each locking rod 611 fits tightly against its inner locking hole 610. Each adjusting groove 601 has two positioning grooves 609. A pressure sensor 615 is fixed to the end of each positioning groove 609. The pressure sensor 615 is used to monitor whether the positioning shaft 608 has rotated completely. This facilitates rotation and prevents damage to the positioning shaft 608. Each positioning groove 609 is slidably connected to the positioning shaft 608 inside it. The cooperation between the positioning shaft 608 and the positioning groove 609 ensures the stability of the commutator 604. Each positioning shaft 608 is fixedly connected to one end of the commutator 604. A fixing block 7, made of alloy material, is fixed to the right end of the vertically installed commutator 604. The fixing block 7 is used to position the positioning plate 701 and is fixedly connected to the positioning plate 701 at its front end. A shifting motor 704 is fixed to the right end of the positioning plate 701. The shifting motor 704 can drive the shifting main bar 702 and the shifting secondary bar 703 to rotate.The transposition motor 704 is rotatably connected to the transposition main bar 702 and the transposition secondary bar 703 via a rotating shaft. Both the transposition main bar 702 and the transposition secondary bar 703 are provided with transposition holes 710, which are used to position the transposition bar 712, thereby locking the transposition main bar 702 and the transposition secondary bar 703 to ensure stability during measurement. A transposition bar 712, made of alloy material, is fixedly fixed to the inner side of the transposition rod 711. The transposition bar 712 is slidably connected to the transposition hole 710. A probe camera 706 is fixed to the top of the probe 705 for monitoring its position. The bottom of the transposition secondary bar 703 is fixedly connected to the ring light source 709 via a fixing rod. The ring light source 709 facilitates measurement by the industrial camera 707. Furthermore, the controller 107 controls the left-right moving motor 2, the front-back moving motor 301, and the lifting motor 401 to enable the two reversing slots 6 to move, thereby moving the repositioning sub-bar 703 to the top of the calibration sphere 106. At this time, the controller 107 controls the industrial camera 707 to focus until the outermost outline of the sphere is clear, ensuring that the top of the sphere is within the center area of the image field of view. Furthermore, the controller 107, through the cooperation of the left-right moving motor 2, the front-back moving motor 301, the lifting motor 401, and the two reversing motors 603, enables the industrial camera 707 to move to different positions. The calibration sphere 106 is photographed from different directions, and the edge contour of the sphere is further extracted from the image. After stitching, the pixel coordinates of the sphere's center and the focus state are fitted. The field of view center offset is calculated by combining the known physical coordinates of the sphere's center on the three-coordinate system with those of the controller 107, and the parameters of the current angle image measurement module are corrected. Furthermore, the controller 107 controls the left and right moving motor 2, the front and back moving motor 301, the lifting motor 401, and the two reversing motors 603 to work together, and simultaneously uses the repositioning motor 704 to make the probe 705 closely contact the part to be measured. Furthermore, the probe 705 and the probe camera 706 work together to make the probe 705 closely contact the part to be measured. 5. The camera moves on the part to be tested to establish a coarse reference. Further, the controller 107 controls the shifting motor 704 to position the industrial camera 707 directly on the part to be tested. Based on the coarse reference, a fine reference is established through automatic control, achieving precise workpiece alignment. Further, the controller 107 controls the left-right movement motor 2, the forward-backward movement motor 301, and the lifting motor 401 to move the industrial camera 707 to the target hole area. Further, the controller 107 adjusts the angle through the two reversing motors 603 to make the optical axis of the industrial camera 707 perpendicular to the hole plane. Further, the industrial camera 707 automatically... The ring light source 709 is focused and turned on to capture the hole features of the part under test. The hole contour is further extracted through image algorithm, and the center pixel coordinates are fitted. The pixel coordinates are then converted into coordinates in the workpiece coordinate system by combining the current rotation angle and focusing distance of the two commutator motors 603 with the calibration parameters and the current focusing state. Here, the calibration parameter information of the industrial camera 707 is mapped to the measurement, so that the image feature points measured by the industrial camera 707 are equivalent to the touch points of a virtual probe in the CMM coordinate system. The theoretical value, actual measured value and deviation value of the measured feature in the workpiece coordinate system are then output, which is the final measurement result.
[0028] Example 4, based on Example 1, by Figures 7-8The support plate 105 is provided with adapter motors 801 fixed at both ends. The adapter motors 801 can drive the adapter ball screws 804 to rotate. Each adapter motor 801 has an adapter ball screw 804 rotatably connected to its inner side. The adapter ball screws 804, by rotating, can drive the adapter rail 8 to move. Each adapter ball screw 804 is meshed with the adapter rail 8 externally. Each adapter rail 8 has positioning motors 803 fixed at both ends. The positioning motors 803 can drive the positioning ball screws 805 to rotate. Each positioning motor 803 is rotatably connected to the positioning ball screw 805 inside one end of the adapter rail 8. Each positioning ball screw 805 has a clamping plate 901 meshing with its interior. The clamping plate 901 is used to position the stabilizing rod 9. Each clamping plate 901 has a fixed end. A worm gear main motor 907 drives the stabilizer 9 to rotate. Each worm gear main motor 907 is rotatably connected to the stabilizer 9 inside the clamping plate 901 at one end. A clamping block 902 is fixed to the top of each stabilizer 9, and the clamping block 902 is used to position the clamping rod 903. A worm gear auxiliary motor 908 is fixed to one end of each clamping block 902, and the worm gear auxiliary motor 908 drives the clamping rod 903 to rotate. Each worm gear auxiliary motor 908 is rotatably connected to the clamping rod 903 inside the clamping block 902 at one end. Each clamping rod 903 is fixedly connected to the air pump 904 inside it. A vacuum disk motor 906 is also fixed to one end of each clamping rod 903, and the vacuum disk motor 906 is used to monitor the position of the vacuum disk 905. When the entire device is kept horizontal, the operator places the part to be tested on top of the support plate 105. At this time, the controller 107 controls the two adapter motors 801 to rotate the adapter ball screw 804, thereby driving the adapter rail 8 to move. Furthermore, the controller 107 controls several positioning motors 803 to work together, thereby driving the positioning ball screw 805 to rotate, thereby driving several clamping plates 901 to move. Furthermore, the controller 107 controls the extension and retraction of the stabilizing rod 9, which can drive the clamping block 902 to move. At the same time, through the cooperation of the worm gear main motor 907 and the worm gear auxiliary motor 908, the clamping rod 903 can be rotated, thereby making the vacuum disk 905 tightly adhere to the part to be tested. At this time, the controller 107 controls the worm gear main motor 907 and the worm gear auxiliary motor 908 to lock, and at the same time controls the air pump 904 to make the vacuum disk 905 tightly adhere to the part to be tested, thereby ensuring the stability of the part to be tested.
[0029] This embodiment of a composite photogrammetric method based on a three-coordinate structure, using the composite photogrammetric device based on a three-coordinate structure as described above, includes the following steps: Step 1: When using this device, the operator pushes the entire device to the required position, and then rotates the balance bolt 102 to support the entire device. At the same time, the operator monitors the level of the entire device through two levels 109, and then adjusts the support plate 105 to be level through the balance bolt 102. Step 2: The operator places the part to be tested on top of the support plate 105. At this time, the controller 107 controls two adapter motors 801 to rotate the adapter ball screw 804, thereby driving the adapter rail 8 to move. Furthermore, the controller 107 controls several positioning motors 803 to work together, thereby driving the positioning ball screw 805 to rotate, thereby driving several clamping plates 901 to move. Furthermore, the controller 107 controls the stabilizing rod 9, the worm gear main motor 907 and the worm gear auxiliary motor 908 to work together to make the vacuum disk 905 tightly adhere to the part to be tested. At this time, the controller 107 controls the worm gear main motor 907 and the worm gear auxiliary motor 908 to lock, and at the same time controls the air pump 904 to make the vacuum disk 905 tightly adhere to the part to be tested, thereby ensuring the stability of the part to be tested. Step 3: Further, the controller 107 controls the left and right moving motor 2, the front and back moving motor 301, and the lifting motor 401 to make the two reversing slots 6 movable, so that the reversing sub-bar 703 moves to the top of the calibration ball 106. At this time, the controller 107 controls the industrial camera 707 to focus until the outermost outline of the ball is clear, ensuring that the top of the ball is within the center area of the image field of view. Further, the controller 107, through the cooperation of the left and right moving motor 2, the front and back moving motor 301, the lifting motor 401, and the two reversing motors 603, makes the industrial camera 707 move to different positions and directions to shoot the calibration ball 106, further extract the edge outline of the ball in the image, stitch it together and fit the center pixel coordinates of the ball and the focus status, combine it with the known physical coordinates of the center of the ball of the controller 107 on the three coordinate system to calculate the offset of the field of view center, and correct the parameters of the current angle image measurement module. Step 4: The controller 107 further controls the left and right moving motor 2, the forward and backward moving motor 301, the lifting motor 401, and the two reversing motors 603 to work together, and simultaneously uses the positioning motor 704 to make the probe 705 closely adhere to the part to be tested. The probe 705 and the probe camera 706 work together to make the probe 705 move on the part to be tested, thereby establishing a coarse reference. The controller 107 further controls the positioning motor 704 to make the industrial camera 707 face the part to be tested. Based on the coarse reference, the fine reference is established through automatic control, and the workpiece is accurately aligned. Step 5: Further controller 107 controls the left and right moving motor 2, the front and back moving motor 301, and the lifting motor 401 to move the industrial camera 707 to the target hole area. Further controller 107 adjusts the angle through two reversing motors 603 so that the optical axis of the industrial camera 707 is perpendicular to the hole plane. Further industrial camera 707 automatically focuses and turns on the ring light source 709 to capture the hole features of the part to be tested. Step Six: Further extract the hole contour using image algorithms, fit the center pixel coordinates, and further utilize calibration parameters and the current focus state to convert the pixel coordinates into coordinates in the workpiece coordinate system by combining the rotation angles and focusing distances of the two commutator motors 603. Here, the calibration parameter information of the industrial camera 707 is mapped to the measurement, making the image feature points measured by the industrial camera 707 equivalent to the touch points of a virtual probe in the CMM coordinate system. The theoretical value, actual measured value, and deviation value of the measured feature in the workpiece coordinate system are then output, which is the final measurement result.
[0030] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A composite photogrammetric device based on a three-coordinate structure, characterized in that: The enclosure includes a housing, with a support plate fixed to the top. A left-right moving rail is fixed to the rear end of the support plate. Left-right moving ball nuts are slidably connected inside the left-right moving rails. A connecting strip is provided at the top of the left-right moving ball nuts. A front-back moving rail is fixed to the right end of the connecting strip. A lifting rail is provided to the right end of the front-back moving rail. A connecting rod is provided to the right end of the lifting rail. Two reversing slots are provided to the right end of the connecting rod. An adjusting slot is fixed to one end of each reversing slot, and a connecting block is fixed to the other end of each reversing slot. A reversing shaft is rotatably connected inside each adjusting slot, with a reversing plate fixed to one end. The bottom of the horizontally installed reversing plate is connected to the vertically installed... The connecting block is fixedly connected, and the right end of the vertically installed steering wheel is provided with a positioning plate. The positioning plate is rotatably connected to a main shift bar. A probe is fixed to the front end of the main shift bar, and a secondary shift bar is fixed to the bottom of the main shift bar. The right end of the positioning plate is also fixed with a shift rod. An industrial camera is fixed to the bottom of the secondary shift bar. A telecentric lens is fastened to the bottom of the industrial camera through a flange. A ring light source is provided outside the telecentric lens. The support plate is provided with two adapter slots. An adapter rail is slidably connected inside each adapter slot. Two stabilizing rods are provided inside each adapter rail. An air pump is provided at the top of each stabilizing rod. A vacuum disc is fixed at the top of each air pump.
2. The composite photographic measuring device based on a three-coordinate structure according to claim 1, characterized in that: The bottom of the box is fixed with several casters, and the bottom of the box is rotatably connected with several balance bolts. Each balance bolt has a balance block fixed to its bottom via a bearing. The box is also hinged with a door. A controller is fixed inside the box. A power supply is fixed to the right end of the controller. Two mutually perpendicular levels are provided at the front end of the controller. A calibration ball is also fixed to the top of the support plate.
3. The composite photographic measuring device based on a three-coordinate structure according to claim 2, characterized in that: The front end of the support plate is provided with a stabilizing groove, and a balance bar is slidably connected inside the stabilizing groove. The balance bar is fixedly connected to the connecting strip at its top. The rear end of the connecting strip is fixedly connected to the left and right moving ball nut through a support rod. A left and right moving motor is fixed at the right end of the left and right moving rail. The left and right moving motor is rotatably connected to the left and right moving ball screw inside the left and right moving rail. The left and right moving ball screw is engaged with the left and right moving ball nut.
4. The composite photographic measuring device based on a three-coordinate structure according to claim 3, characterized in that: The right end of the connecting bar is provided with a front-to-back moving motor, which is fixedly connected to the front-to-back moving track. The front-to-back moving motor is rotatably connected to the front-to-back moving ball screw inside the front-to-back moving track. The front-to-back moving ball screw is engaged with a front-to-back moving ball nut. The front-to-back moving ball nut is fixedly connected to the lifting track at its right end. The top of the lifting track is fixed with a lifting motor, which is rotatably connected to the lifting ball screw inside the lifting track. The lifting ball screw is engaged with a lifting ball nut, and the lifting ball nut is fixedly connected to the connecting rod.
5. A composite photographic measuring device based on a three-coordinate structure according to claim 4, characterized in that: The right end of the connecting rod is fixedly connected to the horizontally installed connecting block. A reversing main gear is rotatably connected inside each reversing slot. A reversing motor is rotatably connected to one end of the shaft of each reversing main gear. Each reversing motor is fixedly connected to the reversing slot at one end. A connecting gear is meshed with each reversing main gear. A reversing gear is meshed with each connecting gear. The shaft of the connecting gear on each side and the outer side of the reversing shaft are fixedly connected to the reversing slot through a connecting plate.
6. The composite photographic measuring device based on a three-coordinate structure according to claim 5, characterized in that: Each of the reversing main gears is provided with several locking holes, each of the connecting plates is fixed with a locking rod on its inner side, and each of the connecting plates is also fixed with a locking camera on its inner side. Each locking rod is tightly fitted with the locking hole on its inner side. Each of the adjusting grooves is provided with two positioning grooves. Each positioning groove is fixed with a pressure sensor at its end. Each positioning groove is slidably connected with the positioning shaft inside it. Each positioning shaft is fixedly connected with the reversing disk at one end of it.
7. A composite photographic measuring device based on a three-coordinate structure according to claim 6, characterized in that: A fixing block is fixed to the right end of the vertically installed steering wheel, and the fixing block is fixedly connected to the positioning plate at its front end. A shifting motor is fixed to the right end of the positioning plate. The shifting motor is rotatably connected to the main shifting bar and the secondary shifting bar through a rotating shaft. Shifting holes are provided on both the main shifting bar and the secondary shifting bar. A shifting bar is fixed to the inner side of the shifting rod and is slidably connected to the shifting hole. A probe camera is fixed to the top of the probe, and the bottom of the secondary shifting bar is fixedly connected to the ring light source through a fixing rod.
8. The composite photographic measuring device based on a three-coordinate structure according to claim 3, characterized in that: The support plate is also fixed with adapter motors at both ends. Each adapter motor is rotatably connected to an adapter ball screw inside. Each adapter ball screw is meshed with the adapter rail outside. Each adapter rail is fixed with a positioning motor at both ends. Each positioning motor is rotatably connected to the positioning ball screw inside one end of the adapter rail.
9. A composite photographic measuring device based on a three-coordinate structure according to claim 8, characterized in that: Each of the positioning ball screws is internally connected to a clamping plate. A worm gear main motor is fixed to one end of each clamping plate. Each worm gear main motor is rotatably connected to a stabilizing rod inside the clamping plate at one end. A clamping block is fixed to the top of each stabilizing rod. A worm gear auxiliary motor is fixed to one end of each clamping block. Each worm gear auxiliary motor is rotatably connected to a clamping rod inside the clamping block at one end. Each clamping rod is fixedly connected to an internal air pump. A vacuum disc motor is also fixed to one end of each clamping rod.
10. A composite photogrammetric method based on a three-coordinate structure, based on the composite photogrammetric device based on a three-coordinate structure as described in any one of claims 1-9, characterized in that: Includes the following steps: Step 1: When using this device, the operator pushes the entire device to the required position, then rotates the balance bolts to support the entire device. At the same time, the operator monitors the level of the entire device using two levels and further adjusts the support plate to be level using the balance bolts. Step 2: The operator places the part to be tested on top of the support plate. At this time, the controller controls two adapter motors to rotate the adapter ball screw, thereby driving the adapter rail to move. The controller further controls several positioning motors to work together, thereby driving the positioning ball screw to rotate, thereby driving several clamping plates to move. The controller further controls the stabilizer bar, the worm gear main motor and the worm gear auxiliary motor to work together to make the vacuum disc tightly adhere to the part to be tested. At this time, the controller controls the worm gear main motor and the worm gear auxiliary motor to lock, and at the same time controls the air pump to make the vacuum disc stick tightly to the part to be tested, thereby ensuring the stability of the part to be tested. Step 3: The controller further controls the left and right moving motors, the front and back moving motors, and the lifting motor to make the two reversing slots movable, so that the reversing strip moves to the top of the calibration ball. At this time, the controller controls the industrial camera to focus until the outermost outline of the ball is clear, ensuring that the top of the ball is within the center area of the image field of view. The controller further uses the left and right moving motors, the front and back moving motors, the lifting motor, and the two reversing motors to move the industrial camera to different positions and directions to take pictures of the calibration ball. The edge contour of the ball in the image is further extracted, and after stitching, the pixel coordinates of the ball center and the focus status are fitted. The field of view center offset is calculated by combining the known physical coordinates of the ball center of the controller on the three coordinate measuring machine, and the parameters of the current angle image measurement module are corrected. Step 4: The controller further controls the left and right moving motors, forward and backward moving motors, lifting motors and two reversing motors to work together, and the repositioning motor makes the probe close to the part to be tested. The probe and the probe camera work together to move the probe on the part to be tested, thereby establishing a coarse reference. The controller further controls the repositioning motor to make the industrial camera face the part to be tested. Based on the coarse reference, the fine reference is established through automatic control, and the workpiece is accurately aligned. Step 5: The controller further controls the left and right moving motors, the forward and backward moving motors, and the lifting motor to move the industrial camera to the target hole area. The controller further adjusts the angle through two reversing motors so that the optical axis of the industrial camera is perpendicular to the hole plane. The industrial camera automatically focuses and turns on the ring light source to capture the hole features of the part under test. Step Six: Further extract the hole contour using image algorithms, fit the center pixel coordinates, and further utilize calibration parameters and the current focus state to convert the pixel coordinates into coordinates in the workpiece coordinate system by combining the rotation angles and focus distances of the two commutator motors. Here, by mapping the industrial camera calibration parameter information with the measurement, the image feature points measured by the industrial camera are equivalent to the touch points of a virtual probe in the CMM coordinate system. The theoretical value, actual measured value, and deviation value of the measured feature in the workpiece coordinate system are then output, which is the final measurement result.