875 results about "Three dimensional measurement" patented technology

The invention provides a cast workpiece three-coordinate structured light rapid measurement system, and relates to the technical field of industrial automatic measurement, and the system comprises a calibration parameter module which is used for calibrating a standard ball, building an initial conversion relation between a structured light coordinate system and a three-coordinate measuring machine world coordinate system, and collecting temperature, humidity and vibration data in real time; dynamically updating the conversion relation to form calibration parameters; and the measurement path planning module is used for dividing the casting workpiece into a plurality of measurement areas based on the calibration parameters, planning a motion path of the three-coordinate measuring machine and driving the motion platform to move to each measurement position. According to the invention, full-process automation from calibration, measurement to modeling analysis of the casting workpiece and the advantage of comprehensive quality analysis are realized, and a reliable three-dimensional measurement and quality control solution is provided for the casting industry.

The invention belongs to the technical field of three-dimensional measurement, and discloses a 3D laser line scanning system based on a point cloud positioning algorithm and a control method. The method comprises the following steps: acquiring environment initial point cloud data and scanning target information; carrying out feature extraction, constructing an environment feature description model, carrying out three-dimensional space partitioning processing, carrying out regional reflectivity feature analysis, and constructing a space reflection feature model; adaptive optimization configuration is carried out on the laser scanning parameters, and a scanning strategy is generated; scanning path dynamic planning is carried out on the scanning target information, scanning density distribution calculation is carried out, and a scanning path is generated; performing laser line scanning control by using the scanning path and the scanning strategy, and performing scanning data quality real-time monitoring to obtain scanning quality evaluation data; scanning parameter iterative optimization is carried out on the scanning quality evaluation data, point cloud data real-time fusion reconstruction is carried out, a high-precision three-dimensional model is generated, the modeling precision is improved, and meanwhile the system resource utilization efficiency is optimized.

The invention belongs to the field of three-dimensional measurement, and discloses a three-dimensional reconstruction method based on structured light image enhancement, which comprises the following steps of: generating a stripe coding pattern: generating four sine stripe patterns with different phase shift amounts by using MATLAB programming, and projecting the sine stripe patterns to the surface of an object to be measured; calibrating a camera; calibrating a projector; the method comprises the following steps: capturing four phase shift stripe images projected on the surface of an object by using a camera, and preprocessing the stripe images collected by the camera through a GF-CL image enhancement algorithm; acquiring a wrapped phase: extracting wrapped phase distribution through a four-step phase calculation formula; generating a Gray code; carrying out binarization conversion; unwrapping the phase by using a complementary Gray code; and performing three-dimensional reconstruction. According to the invention, the contrast is improved by using an image enhancement algorithm, and noise is effectively removed. In addition, three-dimensional reconstruction is carried out by combining a four-step phase shift method and a complementary Gray code, so that the error of edge hopping in the traditional Gray code reconstruction is eliminated, and no hopping and interruption are ensured when a real phase is obtained.

The invention provides a chip bonding wire three-dimensional measurement method and system based on an inner cavity reflection camera system, and relates to the technical field of three-dimensional measurement. The method comprises the following steps: performing one-time exposure imaging on a chip bonding wire to be detected through an inner cavity reflection camera system to obtain at least three mutually independent visual angle images in the same frame; performing brightness normalization compensation and geometric calibration on the visual angle image to obtain a visual angle data set with uniform brightness and correlation; pairing the view angle data sets in pairs, extracting parallax information by using a feature matching algorithm based on optical flow, and fusing multiple pairs of parallax to generate a lead three-dimensional point cloud; performing noise filtering and curved surface reconstruction on the three-dimensional point cloud to obtain a continuous three-dimensional grid model of a lead; and performing texture mapping on the three-dimensional grid model by adopting any visual angle in the visual angle image or the combination of the visual angles, and outputting a lead three-dimensional reconstruction result with textures. According to the invention, high-precision, large-depth-of-field and rapid three-dimensional measurement of the chip bonding wire is realized.

The invention belongs to the technical field of machine vision and precision measurement, and particularly discloses a non-contact part arc parameter high-precision measurement method and system, and the method comprises the following steps: S1, constructing a three-dimensional measurement mobile platform; s2, establishing a dynamic scanning reference; s3, performing spatial pose optimization based on the three-dimensional morphology characteristic parameters of the part, and driving a moving guide rail to dynamically scan the surface of the part to obtain a three-dimensional point cloud image of the part; s4, cutting and screening the point cloud image to obtain an arc region point cloud image; s5, preprocessing the point cloud image of the arc region; s6, carrying out dimension reduction processing; s7, outputting a circle center position vector and a radius calibration value to determine a corresponding circle center coordinate and a radius parameter; s8, constructing a radial deviation evaluation function; and S9, judging that the measured part meets the standard. The non-contact part arc parameter high-precision measurement method and the non-contact part arc parameter high-precision measurement system have the advantages of high precision, high efficiency, automation and the like, and are suitable for arc parameter detection of complex curved surface parts.

The invention relates to the technical field of three-dimensional measurement, and discloses a structured light three-dimensional detection system, method and device based on optical phased array coding, the structured light three-dimensional detection system comprises an optical phased array module, an acquisition module and a control module, the control module is connected with the optical phased array module and the acquisition module, and the optical phased array module is connected with the acquisition module and the control module. The optical coding module is used for performing phase regulation and amplitude regulation on the optical signal based on a preset regulation instruction to generate an optical coding pattern, and projecting the optical coding pattern to the surface of the to-be-measured object, so that the to-be-measured object reflects the optical coding pattern to generate reflection coding light; the acquisition module is used for acquiring the reflection coding light to obtain a reflection coding pattern; and the control module is used for generating a preset regulation and control instruction, decoding the reflection coding pattern, extracting a coding value and calculating feature information of the to-be-measured object based on the coding value. The problem that the structure light source cannot be adjusted can be solved, and the flexibility and controllability of three-dimensional detection are improved.

The invention relates to a flexible combined three-dimensional measurement method and device for the overall shape of a large aircraft, and the method comprises the steps: building a base station, and obtaining the spatial pose of a three-dimensional laser scanner; a three-dimensional laser scanner scans and collects local three-dimensional point cloud data of the large aircraft by using a three-dimensional measuring device; performing coarse registration on the acquired local three-dimensional point cloud data by using a coarse registration method based on base station positioning; voxel-based sampling is carried out on the local three-dimensional point cloud data after coarse registration, the overlapping degree between any two point clouds is calculated, and a maximum spanning tree is extracted according to the overlapping degree; a deep learning algorithm, namely a food grazing person, is put forward to carry out fine registration on the obtained maximum spanning tree; and the overlapping degree between any two point clouds is calculated again, a maximum spanning tree is constructed according to the overlapping degree, and refined registration is carried out by using a traditional algorithm ICP. According to the invention, the flexible and intelligent measurement of the data of the whole aircraft is realized, the overall appearance of the large aircraft is efficiently and accurately measured, and the precision requirement of the overall appearance measurement of the large aircraft is met.

A measurement and positioning system based on machine vision and laser triangulation, which includes a machine vision system, a laser ranging system, and a standard positioning target configured to be installed on a positioned workpiece, where the laser ranging system is configured to project laser light onto the standard positioning target so as to perform a three-dimensional height measurement, and the machine vision system is configured to capture and image a positioning target and a laser image projected on the standard positioning target and to measure a two-dimensional coordinate position. The measurement system of the present application can realize a rapid three-dimensional measurement and precise positioning of a spatial position of the positioned object by means of the standard positioning target installed on the positioned object.

The invention discloses an optical imaging and coding hole technology fused optical imaging system and method, and aims to integrate scattered polarization components in a reflected light signal into coding light field data with clear layers by constructing a polarization coding modulation system, so as to highlight a coupling relationship among optical elements. A refocusing sequence and a focal plane chromatography technology are adopted, spatial geometric information and light intensity distribution characteristics of different depth layers are fully excavated, and a three-dimensional distribution rule of surface topography is disclosed; wavefront correction and deformable mirror control technologies are introduced, imaging parameters of an optical system are adjusted in a self-adaptive mode, and the application range of measurement precision is expanded; light intensity modulation analysis and phase unwrapping window processing are combined, the change trend of the surface curvature is depicted, and key feature points of morphology measurement are grasped; finally, multi-dimensional and multi-level optical measurement information is fused, three-dimensional measurement output with rich content and reliable precision is formed, and comprehensive and high-quality measurement technology resources can be provided for application scenes such as precision optical detection and surface quality evaluation.

The invention discloses a fringe projection three-dimensional shape measurement method based on frequency domain and time domain joint coding, and the method comprises the following steps: firstly, embedding a multi-frequency three-step phase shift fringe pattern in the vertical direction based on multi-scale region division, introducing four-step phase shift and complementary Gray code joint coding in the horizontal direction, generating a coding pattern set, and carrying out the projection; after an image is collected, frequency domain transformation and time domain decoding are carried out respectively, and a vertical dominant frequency position, a horizontal period number and a wrapped phase are obtained; then, combining a main frequency position in the vertical direction with a period number and a wrapped phase in the horizontal direction, and extracting a space coordinate of a direct illumination component based on frequency position invariance; and finally, establishing a pixel homonymy point mapping relation between the projector and the camera, and realizing high-precision three-dimensional reconstruction. Compared with a traditional frequency shift method, the method has the advantages that projection patterns are greatly reduced, reconstruction precision and anti-interference performance are improved, and the method is suitable for dynamic three-dimensional measurement under complex illumination conditions such as specular reflection, semitransparent shielding and subsurface scattering.

The invention discloses a non-equal period phase shift phase unwrapping method, which comprises the following steps of: 1, constructing a wavelength-De Bruijn element mapping table, and generating a non-equal period phase shift stripe group; 2, projecting the phase shift fringes to a measured object frame by frame, obtaining a modulation pattern, and decoding the modulation pattern to obtain a non-linear wrapped phase; 3, constructing an approximate phase to carry out local phase unwrapping on the nonlinear wrapped phase to obtain a nonlinear local phase; and 4, calculating a phase order by minimizing a nonlinear error on the nonlinear local phase, performing phase unwrapping in combination with a nonlinear wrapped phase, and obtaining a linear absolute phase of the measured object through piecewise linear mapping. According to the measurement method, high-precision absolute phase calculation can be realized only by using three projection patterns, and the three-dimensional measurement efficiency is greatly improved.

The invention relates to the technical field of line laser three-dimensional scanning, in particular to a reference coordinate system calibration method based on line laser three-dimensional scanning, which comprises the following steps of: calibrating camera parameters; calibrating a light plane equation of the laser; obtaining a calibration whiteboard image; establishing a reference coordinate system; and calculating a conversion matrix from the camera coordinate system to the reference coordinate system. The reference coordinate system of the line laser three-dimensional scanner can be determined only by additionally acquiring a white board image during calibration, and whether the current object is located in the measurement range or not can be determined according to the z coordinate value of the point cloud data by converting the acquired three-dimensional point cloud data of the measured object to the reference coordinate system. And the efficiency and the accuracy of subsequent point cloud processing and three-dimensional measurement are greatly improved. Therefore, the problem that an existing calibration method is low in measurement precision is solved.

To improve efficiency of annotation work for machine learning on three-dimensional measurement data.SOLUTION: An information processing device of the present embodiment performs two-dimensional display on a screen about a captured image and first annotation information, and performs three-dimensional display on a screen about measurement data and second annotation information. Then, in response to an operation of a user to correct the first annotation information using the two-dimensional display of the captured image and the first annotation information, the device corrects the first annotation information, and further corrects the second annotation information in response to the correction of the first annotation information. Also, in response to an operation of the user to correct the second annotation information using the three-dimensional display of the measurement data and the second annotation information, the device corrects the second annotation information, and further corrects the first annotation information in response to the correction of the second annotation information.SELECTED DRAWING: Figure 5

The invention relates to the technical field of large-size part three-dimensional measurement, and discloses a large-size part three-dimensional size measurement method and device based on machine vision, and the method comprises the steps: obtaining a material reflection characteristic reference data set and original point cloud data; according to the reference data set, laser power and gain are adjusted in a self-adaptive mode, and optimized scanning parameters are obtained; and performing denoising, feature extraction, region segmentation and plane fitting according to the optimized parameters and the original point cloud to obtain a high-precision geometric dimensioning result. According to the invention, high-precision, high-stability and high-efficiency three-dimensional size measurement can be realized on a large-size part made of a complex material and having a curved surface, and the three-dimensional size measurement method is obviously superior to a traditional scheme.

The invention discloses a vision and line structured light fused underwater three-dimensional measurement method. The method comprises the following steps: step 1, preprocessing an acquired image; 2, system parameter calibration is carried out on the preprocessed in-air color calibration image and the preprocessed in-air center line structure light calibration image, and internal and external parameters of a camera and a line structure light plane equation are obtained; 3, establishing a three-dimensional refraction model for the underwater color three-dimensional measurement object image and the underwater line structure light measurement object image, and performing affine transformation of the three-dimensional refraction model; 4, performing laser line center extraction on the transformed underwater line structured light measurement object image, and substituting the laser line center into the calibrated line structured light plane equation to perform point cloud reconstruction; and step 5, performing color processing on the underwater color three-dimensional measurement object image, and mapping the image to three-dimensional point cloud data. According to the invention, through affine transformation of the multi-medium refraction image and point cloud mapping of color multi-channel equalization, the precision and visual effect of underwater three-dimensional measurement are significantly improved.

A servomotor cylinder inner wall scratch robot self-adaptive additive and subtractive material repairing method based on three-dimensional measurement is characterized in that a six-axis mechanical arm is integrated with a line laser sensor and milling, laser cladding and constant-force grinding and polishing tools, and automatic repairing is achieved. A regular groove body is milled through a slicing method and a rectangular-ambulatory-plane strategy; a workpiece coordinate system is built at the bottom of the groove, a bow-shaped layered alternate path is adopted for filling materials, and the laser power and the powder feeding rate are adjusted by measuring, matching and correcting the path according to the characteristics of the groove; and finally, a surplus height boundary is scanned and extracted, a rough grinding path is generated with the scratch trend as the benchmark, fine polishing is conducted through a reciprocating zigzag strategy, parameters are dynamically adjusted in combination with closed-loop feedback, and smooth transition between a cladding layer and the original surface is achieved. The method solves the problems of long construction period and low precision of traditional repair, integrates multiple processes and high-precision measurement, improves the repair efficiency and quality, and is suitable for on-site rapid maintenance of hydroelectric equipment.

The invention discloses a high-reflective surface defect detection method based on structured light and phase deflection, which belongs to the technical field of visual inspection, and comprises the following steps: generating a multi-frequency sinusoidal grating pattern by using a structured light module, and projecting the multi-frequency sinusoidal grating pattern to the surface of a detected object; multi-frequency phase shift coding is introduced, an absolute phase is calculated through a pilot frequency unwrapping method, a depth map obtained by the structured light is calculated, and a structured light point cloud is reconstructed; a unit normal vector is calculated, a Poisson reconstruction model is adopted to obtain a depth map obtained by phase deflection, and deflection point cloud is obtained; the structured light point cloud data and the deflection point cloud data are registered through an iterative nearest point algorithm and then fused to form a fused depth map; and determining a defect area by adopting the maximum principal curvature and the minimum principal curvature combined mask. By means of the mode, the limitation of a traditional three-dimensional measurement means in high-reflection and complex-curvature surface defect recognition is solved, and submicron-level three-dimensional deformation detection precision is achieved.

The invention discloses an online high-reflective material three-dimensional measurement method based on binocular line laser. The method comprises the following steps: establishing a world coordinate system and a calibration system; shooting to obtain a left laser strip image and a right laser strip image; performing gamma enhancement, gamma weakening and convolution processing on the image; threshold segmentation: extracting a light stripe center point meeting a light stripe width threshold value by a gray gravity center; fusing the point cloud data of the light stripe centers of the eight images; counting and calculating the three-dimensional structure size of the material; according to the measurement method, a single-frame laser strip image is shot through a binocular line laser three-dimensional scanning system, high-brightness, low-brightness and line-enhanced pictures are obtained through image processing, more point cloud data of a high-reflection area and a low-reflection area can be obtained, and the measurement precision is higher; light stripe center extraction is carried out in combination with threshold segmentation and width threshold constraint, the center of a highly reflective area is not extracted, light stripe center data with higher accuracy can be obtained, point cloud data of eight light stripe centers are fused, and both extraction accuracy and point cloud data integrity are considered.

The invention relates to the technical field of three-dimensional model construction, in particular to a three-dimensional measurement and simulation analysis system and method based on multi-sensor fusion, and the method comprises the steps: obtaining the point cloud data of a target area through I sensors; performing denoising processing on the point cloud data by using a filtering algorithm to remove sensor noise and abnormal values; point cloud data collected by different sensors are converted into a unified coordinate system through a feature matching algorithm. Different weights are given to the point cloud data collected by each sensor according to the performance of the sensors correspondingly collected by the point cloud data and the corresponding environmental factors, then the data are fused, the different weights are given to the data of each sensor, weighted fusion is carried out, and the data fusion speed is improved. According to the method, the accuracy and the reliability of data fusion can be remarkably improved, the robustness and the adaptability of the system are enhanced, and when a sensor breaks down or outputs an abnormal value, the influence of error data on a final result can be reduced by adopting weighted fusion.

The invention relates to the technical field of computer vision and three-dimensional measurement, in particular to a three-dimensional point cloud semantic segmentation and measurement reference surface intelligent fitting system and a method thereof, which are mainly applied to scenes needing accurate three-dimensional space understanding, such as topographic survey, mining, urban planning, intelligent driving and industrial detection. The system comprises a data acquisition module, a preprocessing module, a feature extraction module, a reference surface acquisition module and a pixel feature conversion module. Three-dimensional point cloud data are collected through multi-sensor fusion, and the data quality and integrity are improved. A cascade filtering preprocessing process is innovatively designed, and the data quality is remarkably improved. The feature extraction module generates semantic tags, the reference surface acquisition module calculates a probability optimal fitting plane, and the pixel feature conversion module realizes multi-scale feature output. According to the method, the three-dimensional point cloud processing precision and efficiency are effectively improved, and powerful technical support is provided for the field of computer vision and three-dimensional measurement.

The invention discloses a to-be-detected object surface image acquisition device, an image selection method and a defect detection method. The to-be-detected object surface image acquisition device comprises a projector, a diffusion plate, a reflector and a camera. The projector is suitable for projecting stripes; the diffusion plate is suitable for diffusing fringes projected by the projector to the surface of the to-be-measured object; the reflector moves between a first position and a second position relative to the to-be-measured object, and at the first position, the reflector shields a light path from the projector to the diffusion plate. And at the second position, the reflecting mirror avoids a light path from the projector to the diffusion plate. The camera is suitable for receiving a signal reflected by the surface of the to-be-measured object after the diffusion plate enters the surface of the to-be-measured object so as to obtain a phase deflection technology (PMD) image, or receiving a signal diffused by the surface of the to-be-measured object after the reflection mirror enters the surface of the to-be-measured object so as to obtain a fringe projection profile measurement (FPP) image. A phase deflection technology and a fringe projection profile measurement technology are fused in one set of defect detection system, rapid switching of two three-dimensional measurement defect detection technologies is realized for products with complex materials and different surface roughness, and the defect detection system is ensured to be high in efficiency, high in detection capability, wide in applicability and high in detection rate.

The invention discloses a false tooth support node iterative compensation method based on finite element simulation, and belongs to the field of selective laser melting metal printing. Comprising the following steps: presenting support stress distribution based on commercial finite element simulation software and exporting a deformation result; comparing and outputting a deviation value based on three-dimensional measurement software; carrying out loop iteration on the basis of a node iterative compensation algorithm to obtain a minimum deformation amount; performing slice printing based on an inverse compensation model result; the node iteration algorithm is designed for the problem of false tooth deformation in the prior art, the minimum deviation value can be iterated in a loop mode and reversely loaded to the initial model, and therefore the effect of reducing deformation is achieved.

The invention discloses a wine jar interior three-dimensional measurement device and a wine jar interior three-dimensional modeling method, and relates to the technical field of three-dimensional modeling, the wine jar interior three-dimensional measurement device comprises a fixed cover, a movement mechanism and a three-dimensional information acquisition mechanism, the fixed cover is used for being fixed at a wine jar opening; the movement mechanism is movably connected to the fixed cover; the three-dimensional information acquisition mechanism comprises a conical laser, a first connecting column and a first camera which are connected in sequence, the first camera is connected to the movement mechanism, and the conical laser is located at the position away from the movement mechanism; the movement mechanism is used for driving the conical laser and the first camera to move along the axial direction of the wine jar; the conical laser is used for emitting conical laser to the inner wall of the wine jar, and the first camera is used for collecting a laser image of the laser projected on the inner wall of the wine jar; according to the technical scheme provided by the invention, the modeling efficiency can be improved while the modeling cost is reduced.

The invention discloses a pipeline inner wall panoramic three-dimensional scanning device and a measuring method, and the device comprises a panoramic plane laser generator which comprises a point laser generator, an axicon, a laser focusing lens, a conical surface reflector and a transparent cylindrical support, and is used for transmitting a 360-degree panoramic plane laser beam to the inner wall of an object to be measured; according to the invention, single-exposure full-circumferential high-precision three-dimensional measurement is realized, and the device can synchronously obtain complete three-dimensional point cloud data of the circumference of the inner wall of the whole pipeline at the moment of single exposure through innovative combination of a panoramic annular imaging system and a panoramic planar laser projection technology; the method has the advantages that axial rotary scanning or multi-view data splicing required by a traditional method is avoided, measurement efficiency is improved, splicing accumulative errors are avoided, laser stripe image acquisition is complete and free of breakpoints, and completeness and accuracy of three-dimensional reconstruction data are guaranteed from the source.

The invention discloses a three-dimensional phase unwrapping method based on nonlinear phase coding, which comprises the following steps of: 1, constructing a wavelength-De Bruijn element mapping table, and generating a non-equal period phase shift stripe group; 2, projecting the phase shift fringes to a measured object frame by frame, obtaining a modulation pattern, and decoding the modulation pattern to obtain a non-linear wrapped phase; 3, constructing an approximate phase to carry out local phase unwrapping on the nonlinear wrapped phase to obtain a nonlinear local phase; and 4, screening out a phase candidate point and a candidate phase order of a nonlinear local phase by using a three-dimensional phase matching method. And step 5, using the phase candidate points to guide the nonlinear local phase to perform phase correlation matching so as to screen out a unique phase order, thereby realizing phase unwrapping. According to the method, a novel phase distortion characteristic is introduced, and a plurality of sine fringes with different wavelengths are used for serial coding according to a DB sequence. In a decoding stage, robust phase disambiguation is achieved by minimizing a local phase difference in left and right views. And high-precision measurement can be realized only by using three projection patterns, so that the three-dimensional measurement efficiency is greatly improved.

The invention belongs to the technical field of three-dimensional measurement and weld joint processing, and discloses a weld joint feature recognition and path extraction method based on line laser measurement. According to the full-automatic welding seam shape extraction method, an automatic measurement part before welding seam polishing and other machining steps can be achieved, after a robot measures the position of a welding seam, welding seam shape extraction can be achieved, the position of the center line of the welding seam can be calculated, and therefore a machining path is obtained; and the robot can be directly guided to process the welding seam through the hand-eye matrix. In addition, the welding width and surplus height characteristics before and after welding seam machining can also be calculated and compared. After the welding width and the excess weld metal are calculated, the machining parameters can be further calculated, and the whole method provides technical support for automatic welding seam machining.

The invention provides a complex heterogeneous molded surface three-dimensional vision measurement method and system, and the method comprises the following steps: (1), extracting part design model features through a semantic segmentation and intelligent recognition method, and building a to-be-measured feature set; (2) a three-dimensional measurement viewpoint planning method based on reinforcement learning is adopted to obtain a viewpoint sequence and a motion path; (3) when the local measurement system reaches a preset viewpoint, a self-adaptive single-pixel imaging feature matching method is adopted for mutual reflection and semitransparent molded surfaces; for other molded surfaces, a parameter adaptive fringe projection three-dimensional measurement method is adopted to obtain a single-viewpoint three-dimensional point cloud; (4) converting the single-viewpoint three-dimensional point cloud into a global coordinate system to realize three-dimensional point cloud splicing; (5) traversing each viewpoint of the viewpoint sequence, and executing the steps (3) and (4) to obtain a multi-viewpoint spliced three-dimensional point cloud; and (6) based on the point cloud error estimation, fusing the multi-view three-dimensional point cloud. The problem of accurate acquisition of the three-dimensional point cloud of the complex heterogeneous molded surface is solved.

The invention belongs to the field of water turbine in-place robot automatic grinding and machining, and particularly provides a water turbine runner chamber inner wall in-place robot automatic grinding method based on three-dimensional measurement, which comprises the following steps: setting the circumferential width of a single grinding area, dividing the surface of the inner wall into a plurality of grinding areas, arranging identification bodies at equal intervals, the positions and postures of the moving trolley and the mechanical arm in each area are calculated; the mobile trolley and the mechanical arm are controlled to carry out scanning measurement of a single area, measurement data are simplified, geometric features of the identification body are extracted, and a coordinate system is established at the identification body; according to the measuring point cloud data, a polishing track is calculated and generated; and the operation is repeated to obtain the grinding tracks of all the grinding areas, then according to mutual conversion of the identification body coordinate systems in the areas, the tracks of the two adjacent grinding areas are spliced, and the robot conducts grinding according to the spliced grinding tracks. The method realizes large-breadth polishing and repairing operation on the inner wall of the water turbine, and improves the maintenance efficiency of the water turbine.

The invention relates to the technical field of three-dimensional measurement, and discloses a coating thickness measurement method and system based on a multi-source sensor, and the method comprises the steps: obtaining and fusing point cloud data of the multi-source sensor, and constructing a three-dimensional curved surface model of a component through curvature analysis and normal vector estimation; calculating an optimal incident angle of the sensor relative to each area of the curved surface based on the model, and generating a dynamic attitude adjustment parameter; according to the parameters, the three-axis attitude of the sensor is adjusted in real time for signal acquisition, and original measurement data are obtained; frequency domain analysis is carried out on the original data to diagnose reflection distortion, and correction is carried out in combination with time domain filtering and spatial domain smoothing; and finally, calculating a thickness value in combination with the three-dimensional model, detecting and repairing a data missing region by using Fourier transform and an interpolation algorithm, and generating a complete thickness distribution diagram. According to the invention, high-precision and automatic measurement of the thickness of the complex curved surface coating is realized.

The invention provides a three-dimensional measurement method based on quaternary complementary Gray code auxiliary phase unwrapping. Comprising the following steps: generating, projecting and shooting a phase shift fringe pattern and a quaternary Gray code pattern; calculating a wrapped phase and average intensity; dividing the wrapped phase into two regions, generating binarization masks of the two regions, and obtaining a new wrapped phase by using a cut-off point translation technology; the average intensity and the scaling value of the average intensity are used as threshold values, gray code words are obtained, and two groups of levels are calculated; correcting the two groups of levels by using a strategy based on a connected region marking algorithm; performing phase unwrapping on the two groups of wrapped phases and levels; combining the two unwrapped phases to obtain a final unwrapped phase; and finally, subtracting the reference plane from the unwrapped phase, and converting phase information into height information through a phase height model. The three-dimensional measurement method based on the quaternary complementary Gray code auxiliary phase unwrapping is high in measurement efficiency, good in robustness and high in measurement result precision.