CN113188442B - Multi-angle point cloud measuring tool for seat furniture and splicing method thereof - Google Patents
Multi-angle point cloud measuring tool for seat furniture and splicing method thereof Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
一种座椅类家具多角度点云测量工装及其拼接方法，涉及一种云测量工装及其拼接方法。竖向基座表面通过同步带模组带动线激光传感器进行竖直平面的直线扫描运动，地轨横向设置在竖向基座前方，凸轮分割器两侧对称固定有左承重板和右承重板，分别设有限位块并滑动搭设在地轨上，驱动电机与的电机轴为凸轮分割器的横向输入轴提供驱动，安装调节板与凸轮分割器的竖向输出轴连接固定，组成四工位转台，标定圆柱固定在安装调节板上表面中心位置，四个椅腿定位件设置在安装调节板上标定圆柱四周位置。能够应用在智能喷涂产线上，进行座椅家具工件的多角度点云测量与拼接，对有尺寸差异的座椅家具工件适应性更好，测量精度更高。
A multi-angle point cloud measurement tool for seating furniture and a splicing method thereof relate to a cloud measurement tool and a splicing method. The surface of the vertical base is driven by the synchronous belt module to drive the line laser sensor to perform linear scanning motion of the vertical plane. The ground rail is horizontally arranged in front of the vertical base, and the left and right load-bearing plates are symmetrically fixed on both sides of the cam divider. There are limit blocks respectively and are slidably erected on the ground rail. The drive motor and the motor shaft provide the drive for the transverse input shaft of the cam divider. The installation adjustment plate is connected and fixed with the vertical output shaft of the cam divider to form a four-station turntable. , the calibration cylinder is fixed on the central position of the upper surface of the installation adjustment plate, and the four chair leg positioning pieces are arranged on the installation adjustment plate around the calibration cylinder. It can be applied to the intelligent spraying production line for multi-angle point cloud measurement and splicing of seat furniture workpieces, which has better adaptability and higher measurement accuracy to seat furniture workpieces with different sizes.
Description
Technical Field
The invention relates to a cloud measurement tool and a splicing method thereof, in particular to a multi-angle point cloud measurement tool for seat furniture and a splicing method thereof, and belongs to the technical field of machine vision application.
Background
The traditional off-line programming system designs a spraying path by introducing a CAD model of a workpiece to be sprayed and combining the shape characteristics and the topological relation of the model, the method is suitable for metal workpieces with higher processing and manufacturing precision and larger production batch, the seat furniture has the characteristics of multiple varieties and small batch, and the actual processing and manufacturing workshop and the spraying operation workshop are across production areas, so that the CAD model is difficult to obtain and the traceability is weak. On the other hand, even if the original three-dimensional design model of the seat furniture is obtained, the dimension error exists between the actual workpiece manufactured and processed by the wood and the design model, and the better spraying quality cannot be ensured by directly using the model.
With the rapid development of reverse engineering technology and vision sensor technology in recent years, it has become possible to obtain a three-dimensional high-precision point cloud model of a workpiece surface in real time. Compared with the traditional CAD model, the three-dimensional point cloud has higher dimensional precision, more convenient acquisition and more flexible subsequent operability of data. However, at present, the object of machine vision application obtained in the actual furniture intelligent spraying production is only flat-plate furniture, and no mature point cloud splicing scheme exists for workpieces with large size and complex space structures, such as seat furniture. Therefore, a multi-angle point cloud measuring tool for seat furniture and a splicing method thereof are needed to improve the adaptability of a spraying manufacturing system.
Disclosure of Invention
In order to solve the problem that the conventional spraying off-line programming system excessively depends on a CAD (computer-aided design) model, the invention provides the seat furniture multi-angle point cloud measuring tool and the splicing method thereof, which can be applied to an intelligent spraying production line to carry out multi-angle point cloud measurement and splicing on seat furniture workpieces, and have better adaptability to seat furniture workpieces with size difference and higher measuring precision.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-angle point cloud measuring tool for seat furniture comprises a vertical base, a line laser sensor, a sensor mounting frame, a synchronous belt module, a ground rail, a cam divider, a driving motor, a mounting adjusting plate, a calibration cylinder and four chair leg positioning pieces, wherein the synchronous belt module is fixedly mounted on the surface of the vertical base, the sensor mounting frame is fixed on the synchronous belt module, the line laser sensor is fixed at the middle position of the sensor mounting frame, the line laser sensor is driven by the synchronous belt module to perform linear scanning motion of a vertical plane, the ground rail is transversely arranged in front of the vertical base, a left bearing plate and a right bearing plate are symmetrically fixed on two sides of a shell of the cam divider, the left bearing plate and the right bearing plate are respectively provided with a limiting block and are overlapped on the ground rail in a sliding mode, a motor shell of the driving motor is connected and fixed with a shell of the cam divider, a motor shaft of the driving motor is fixedly connected with a transverse input shaft of the cam divider through a coupler, a center line position of the lower surface of the installation adjusting plate is fixedly connected with a vertical output shaft of the cam divider through a flange, the installation adjusting plate, the driving motor and the cam divider form a four-station rotary table, the calibration cylinder is vertically fixed at the center position of the upper surface of the installation adjusting plate, and the four chair leg positioning pieces are arranged on the installation adjusting plate and are used for calibrating the positions of the periphery of the cylinder.
A splicing method of a multi-angle point cloud measuring tool for seat furniture comprises the following steps:
the method comprises the following steps: installing a seat furniture workpiece to be measured on four seat leg positioning pieces of an installation adjusting plate, adjusting the position of the seat furniture workpiece to be measured by sliding the seat leg positioning pieces, adapting to the seat furniture workpiece, and then screwing a locking bolt to lock and position the seat leg positioning pieces;
step two: the method comprises the following steps that an external power supply is switched on, a synchronous belt module starts to reset to perform linear motion to drive a line laser sensor to reach an initial measurement position, a driving motor is started to enable a cam divider to start working, when a mounting adjusting plate drives a piece of furniture of a seat to rotate to a first measurement angle, the line laser sensor is started, the synchronous belt module drives the line laser sensor to perform linear scanning motion in a vertical plane, when the line laser sensor reaches a measurement end point, the cam divider drives the mounting adjusting plate to rotate 90 degrees, so that the measurement angle of the piece of furniture of the seat is changed, and the synchronous belt module continues to drive the line laser sensor to perform linear scanning motion from the last measurement end point to the last measurement start point;
step three: repeating the second step until the four measuring angles of the seat furniture workpiece are measured, and closing the line laser sensor;
step four: when the line laser sensor carries out four-angle scanning measurement, each time the point cloud is measured, the point cloud is packagedExtracting a cylinder axis vector (l) in cylinder model parameters by a random sampling consistency algorithmi,mi,ni)TThe method specifically comprises the following steps:
a. simplifying the quantity of point clouds of each frame of the four measuring angles, which contain the seat furniture workpiece and the calibration cylinder;
b. setting a random sampling consistency algorithm to identify the minimum iteration times of a calibration cylinder and a distance threshold value for judging an interior point, wherein the interior point judgment means that the random sampling consistency algorithm calculates the shortest distance Dist from all points in an original point cloud set to the surface of a parameter fitting cylinder for a group of cylinder model parameters in the iterative calculation process, setting a distance threshold value as an allowable error, comparing the Dist with the distance threshold value, if the Dist is less than the distance threshold value, the point is called the interior point, namely the point meeting the cylinder model parameters, and the interior point is determined to be the point on the cylindrical surface of the calibration cylinder in the point cloud;
c. randomly selecting three non-collinear points in an original point cloud set, calculating a fitting cylindrical model and parameters thereof, counting the number of internal points under the parameters, carrying out consistency criterion test, outputting a cylindrical model parameter with the maximum number of internal points when a set minimum iteration number is reached, and completing segmentation extraction of calibrated cylindrical point cloud and model parameter calculation;
d. taking the axis of the calibration cylinder identified by each measuring angle as a reference axis, performing rotation translation transformation on the point cloud coordinates of the seating furniture workpiece to enable the reference axes of several images to be overlapped, then performing 90-degree rotation transformation on the point cloud coordinates of adjacent images around the reference axis to complete multi-angle seating furniture workpiece point cloud splicing,
calculating the extracted axis vector by the formula (1) and the formula (2) to obtain a transformation matrix T,
aligning the image of each measurement angle with the new image coordinate system axis, wherein RiAs a rotation matrix of the point cloud, PiIs an axis vertex coordinate, then the rotation transformation of 90 degrees is carried out according to a formula (3) to obtain the spliced point cloud,
(px,py,pz) Coordinates of the midpoint of the point cloud before angle transformation, (p)x',py',pz') coordinates of the midpoint of the point cloud after the angular transformation.
Compared with the prior art, the invention has the beneficial effects that: the invention is applied to an intelligent spraying production line, mark points are not required to be pasted, when a CAD model of a seat furniture workpiece is difficult to obtain, multi-angle point cloud measurement and splicing of the seat furniture workpiece can be carried out, a four-station rotary table rotates intermittently during measurement, a line laser sensor carries out linear scanning of a vertical plane at each measurement angle until four angles are scanned completely, complete point cloud splicing is completed through cylindrical axis calibration and 90-degree rotation angle conversion of a computer, the obtained point cloud data can be transmitted to an off-line spraying system for path planning, the whole set of tool can continue to move along a ground rail and move to a spraying area for subsequent spraying operation, compared with the traditional technical scheme which can achieve the same measurement precision, the invention has low cost and easy realization, and solves the problem that the traditional spraying off-line programming system excessively depends on the CAD model, the adaptability to seat furniture workpieces with size difference is better, and the measurement precision is higher.
Drawings
FIG. 1 is an axonometric view of the overall structure of the multi-angle point cloud measuring tool for the chair furniture;
FIG. 2 is an isometric view of the calibration cylinder, the leg positioning member and the mounting adjustment plate of the present invention;
FIG. 3 is a split view of a four-station turntable of the multi-angle point cloud measuring tool for chair furniture of the invention;
FIG. 4 is a bottom view of FIG. 1;
FIG. 5 is a point cloud result diagram of a seating furniture workpiece obtained by collection and splicing in the embodiment;
FIG. 6 is a cloud point diagram of a calibration cylinder used in the examples;
FIG. 7 is a model parameter diagram of a calibration cylinder used in the example.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
As shown in fig. 1 to 4, a multi-angle point cloud measuring tool for seat furniture comprises a vertical base 1, a line laser sensor 2, a sensor mounting frame 3, a synchronous belt module 4, a ground rail 7, a cam divider 8, a driving motor 9, an installation adjusting plate 10, a calibration cylinder 11 and four chair leg positioning pieces 6;
the surface of the vertical base 1 is fixedly provided with a synchronous belt module 4 through a connecting block, the synchronous belt module 4 comprises two vertical slide rails which are horizontally fixed at two sides of the vertical base 1 at intervals, two slide blocks which can move vertically through the control of a synchronous motor are arranged on the two vertical slide rails, the sensor mounting frame 3 is fixed between the two slide blocks, the line laser sensor 2 is fixed at the middle position of the sensor mounting frame 3 through a screw, the line laser sensor 2 is driven to perform linear scanning motion of a vertical plane through the synchronous belt module 4, the ground rail 7 comprises two rails and is transversely arranged in front of the vertical base 1, a left bearing plate 14 and a right bearing plate 13 are symmetrically fixed at two sides of a shell of the cam divider 8 through screws, the left bearing plate 14 and the right bearing plate 13 are respectively provided with a limiting block and are overlapped on the two rails of the ground rail 7 in a sliding manner, the cam divider 8 can move along the ground rail 7 but cannot rotate, a motor shell of the driving motor 9 is connected and fixed with a shell of the cam divider 8, a motor shaft of the driving motor 9 is connected and fixed with a transverse input shaft of the cam divider 8 through a coupler to provide driving for the cam divider 8, the installation adjusting plate 10 is horizontally arranged, the position of a center line of the lower surface of the installation adjusting plate is connected and fixed with a vertical output shaft of the cam divider 8 through a flange, the installation adjusting plate 10, the driving motor 9 and the cam divider 8 form a four-station rotary table, the driving motor 9 is preferably a servo motor, the cam divider 8 can be driven through the driving motor 9 to control the installation adjusting plate 10 to rotate to form stations in four directions, the distance between the four-station rotary table and the line laser sensor 2 is determined by the coverage area of a sensor scanning laser line 12, and the calibration cylinder 11 is vertically fixed at the position of the center of the upper surface of the installation adjusting plate 10, use on the installation regulating plate 10 to mark cylinder 11 and arrange for the cross star around it and seted up four spouts, slidable mounting has four chair leg setting elements 6 in order to adapt to the location installation of the different seat furniture work piece 5 of size on four spouts, it has locking bolt to lock the location to peg setting element 6 top spin, transmits the motion of quadruplex position revolving stage for seat furniture work piece 5 through four chair leg setting elements 6 and accomplishes the change of measurationing the angle, combines to rotate fixed angle at every turn through the cylinder axis of discernment mark cylinder 11, accomplishes the point cloud concatenation of different measurement angles through the coordinate transformation.
The timing belt module 4 is used to control the movement of the line laser sensor 2, and therefore, may be replaced with a precision moving device such as a high-precision robot. In addition, can install telescopic cylinder additional in installation regulating plate 10 side location, at telescopic cylinder tip installation auxiliary stay board, telescopic cylinder stretches out when 8 phase place commutations of cam wheel splitter end, and the auxiliary stay board plays limiting displacement with installation regulating plate 10 side contact to guarantee the stability of frock, reduce shake or clearance problem that probably appear.
Due to the fact that the overlap ratio of point clouds of the seat furniture workpieces 5 collected under different visual angles is too low, the effect of the point cloud registration method depending on the characteristic points is poor, and the seat furniture workpieces 5 do not have shape characteristics capable of being calibrated, a single calibration object needs to be added for point cloud splicing, and the cylindrical surface of the calibration cylinder 11 is used as a calibration surface in the method.
A splicing method of a multi-angle point cloud measuring tool for seat furniture comprises the following steps:
the method comprises the following steps: installing a seat furniture workpiece 5 to be measured on four seat leg positioning pieces 6 of an installation adjusting plate 10, adjusting the position by sliding the seat leg positioning pieces 6 to adapt to the seat furniture workpiece 5, and then screwing a locking bolt to lock and position the seat leg positioning pieces 6;
step two: the external power supply is switched on, the synchronous belt module 4 starts to reset to perform linear motion to drive the line laser sensor 2 to reach an initial measurement position, the driving motor 9 is started to enable the cam divider 8 to start working, the installation adjusting plate 10 drives the seat furniture workpiece 5 to rotate to a first measurement angle, the line laser sensor 2 is started, the synchronous belt module 4 drives the line laser sensor 2 to perform linear scanning motion in a vertical plane, when the line laser sensor 2 reaches a measurement end point, the cam divider 8 drives the installation adjusting plate 10 to rotate 90 degrees, so that the measurement angle of the seat furniture workpiece 5 is changed, and the synchronous belt module 4 continues to drive the line laser sensor 2 to perform linear scanning motion from the last measurement end point to the last measurement start point;
step three: repeating the second step until the four measuring angles of the seat furniture workpiece 5 are measured, and closing the linear laser sensor 2;
step four: when the line laser sensor 2 performs four-angle scanning measurement, each measured point cloud comprises a seat furniture workpiece 5 and a calibration cylinder 11, the seat furniture workpiece 5 is irregular in shape and cannot be directly identified, the calibration cylinder 11 with a special shape is used as a calibration object to assist in splicing the point cloud, and a cylinder axis vector (l) in cylinder model parameters is extracted through a random sampling consistency algorithm (RANSAC)i,mi,ni)TSince the relative position between the seat furniture workpiece 5 and the calibration cylinder 11 is determined, the center direction of the seat furniture workpiece 5 can be determined by the cylinder axis of the calibration cylinder 11, so as to calibrate the seat furniture workpiece 5 and unify the image coordinate system, which specifically comprises:
a. the number of the point clouds of each frame of the four measuring angles, which contain the seat furniture workpiece 5 and the calibration cylinder 11, is reduced;
b. setting a random sampling consistency algorithm to identify the minimum iteration times of the calibration cylinder 11 and a distance threshold value for judging an interior point, wherein the interior point judgment means that the random sampling consistency algorithm calculates the shortest distance Dist from all points in an original point cloud set to the surface of a parameter fitting cylinder for a group of cylinder model parameters in the iterative calculation process, setting a distance threshold value as an allowable error, comparing the Dist with the distance threshold value, if the Dist is less than the distance threshold value, the point is called the interior point, namely the point meeting the cylinder model parameters, and the interior point is determined to be the point on the cylindrical surface of the calibration cylinder 11 in the point cloud;
c. randomly selecting three non-collinear points in an original point cloud set, calculating a fitting cylinder model and parameters thereof, counting the number of internal points under the parameters, carrying out consistency criterion test, outputting a cylinder model parameter with the maximum number of internal points when a set minimum iteration number is reached, and completing segmentation extraction and model parameter calculation of the point cloud of the calibration cylinder 11;
d. the axis of the calibration cylinder 11 identified by each measuring angle is used as a reference axis, the point cloud coordinates of the chair furniture workpiece 5 are subjected to rotation translation transformation, the reference axes of several images are overlapped, then the point cloud coordinates of adjacent images are subjected to rotation transformation of 90 degrees around the reference axis, and multi-angle point cloud splicing of the chair furniture workpiece 5 is completed,
calculating the extracted axis vector by the formula (1) and the formula (2) to obtain a transformation matrix T,
aligning the image of each measurement angle with the new image coordinate system axis, wherein RiAs a point cloudOf the rotation matrix PiIs an axis vertex coordinate, then the rotation transformation of 90 degrees is carried out according to a formula (3) to obtain the spliced point cloud,
(px,py,pz) Coordinates of the midpoint of the point cloud before angle transformation, (p)x',py',pz') coordinates of the midpoint of the point cloud after the angular transformation.
Example (b):
the random sampling consistency algorithm (RANSAC) is adopted to estimate the model parameters of the cylindrical surface of the calibration cylinder 11, the adopted calibration cylinder 11 is a cylindrical surface phi 200mm as a calibration surface, the model is shown by referring to FIG. 7, the point cloud diagram of the calibration cylinder 11 is shown by referring to FIG. 6, and as the general equation of the cylindrical surface is as follows:
ax2+by2+cz2+dxy+exz+fyz+gx+hy+kz+u＝0
wherein a, b, c, d, e, f, g, h, k and u are coefficients of a cylindrical surface equation respectively,
the algorithm flow is as follows: 1) randomly selecting three non-collinear points Q0(q0，q1，q2)、Q1(q3，q4，q5)、Q3(q6，q7，q8) Calculating the model parameters of the cylindrical surface;
2) within the allowable error range, calibrating points on the cylindrical surface of the cylinder 11 as inner points, counting the number of the inner points under the model parameters, and replacing a group of calculation points;
3) outputting the cylinder model parameters corresponding to the maximum number of the inner points, and outputting the parameters (x)0，y0，z0L, m, n, r), wherein (x)0，y0，z0) Corresponding to a point on the cylinder axis, (l, m, n) corresponds to the axis vector, and r corresponds to the cylinder radius.
The cylindrical surfaces of the point cloud image calibration cylinders 11 at the four measurement angles are rotated and translated through the formula (1) and the formula (2) to enable the reference axes of the new image coordinate system to coincide, then 90-degree rotation transformation is sequentially carried out through the formula (3) to obtain spliced point clouds, and the measured splicing result of the point clouds of the seat furniture workpiece 5 is shown in the figure 5.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (6)
1. The utility model provides a frock is measured to seat class furniture multi-angle point cloud which characterized in that: the device comprises a vertical base (1), a line laser sensor (2), a sensor mounting frame (3), a synchronous belt module (4), a ground rail (7), a cam divider (8), a driving motor (9), an installation adjusting plate (10), a calibration cylinder (11) and four chair leg positioning pieces (6), wherein the synchronous belt module (4) is fixedly installed on the surface of the vertical base (1), the sensor mounting frame (3) is fixed on the synchronous belt module (4), the line laser sensor (2) is fixed in the middle of the sensor mounting frame (3), the line laser sensor (2) is driven to perform linear scanning motion of a vertical plane through the synchronous belt module (4), the ground rail (7) is transversely arranged in front of the vertical base (1), a left bearing plate (14) and a right bearing plate (13) are symmetrically fixed on two sides of a shell of the cam divider (8), the left bearing plate (14) and the right bearing plate (13) are respectively provided with a limiting block and are arranged on a ground rail (7) in a sliding mode, a motor shell of a driving motor (9) is connected and fixed with a shell of a cam divider (8), a motor shaft of the driving motor (9) is connected and fixed with a transverse input shaft of the cam divider (8) through a shaft coupling, a central line of the lower surface of an installation adjusting plate (10) is connected and fixed with a vertical output shaft of the cam divider (8) through a flange, the installation adjusting plate (10), the driving motor (9) and the cam divider (8) form a four-station rotary table, a calibration cylinder (11) is vertically fixed at the central position of the upper surface of the installation adjusting plate (10), and four chair leg positioning pieces (6) are arranged on the installation adjusting plate (10) and around the calibration cylinder (11).
2. The multi-angle point cloud measuring tool for the seat furniture as claimed in claim 1, wherein the tool comprises: the installation adjusting plate (10) is provided with four sliding grooves which are arranged in a cross shape around the calibration cylinder (11), the four chair leg positioning pieces (6) are respectively connected with the four sliding grooves in a sliding mode, and the chair leg positioning pieces (6) are screwed with locking bolts to be locked and positioned with the installation adjusting plate (10).
3. The multi-angle point cloud measuring tool for the seat furniture as claimed in claim 1 or 2, wherein the tool comprises: the side face of the installation adjusting plate (10) is additionally provided with a telescopic cylinder in a positioning mode, the end portion of the telescopic cylinder is provided with an auxiliary supporting plate, the telescopic cylinder extends out when the phase transformation of the cam divider (8) is finished, and the auxiliary supporting plate and the side face of the installation adjusting plate (10) are in contact to play a limiting role.
4. The multi-angle point cloud measuring tool for the seat furniture as claimed in claim 1, wherein the tool comprises: hold-in range module (4) include that horizontal interval fixes two vertical slide rails in vertical base (1) both sides, be equipped with two sliders that can move on vertical through synchronous machine control on two vertical slide rails, sensor mounting bracket (3) are fixed between two sliders.
5. The multi-angle point cloud measuring tool for the seat furniture as claimed in claim 1, wherein the tool comprises: the distance between the four-station rotary table and the line laser sensor (2) is determined by the coverage area of the sensor scanning laser line (12).
6. The splicing method of the multi-angle point cloud measuring tool for the seat furniture, according to claim 1, is characterized in that: the splicing method comprises the following steps:
the method comprises the following steps: installing a chair furniture workpiece (5) to be measured on four chair leg positioning pieces (6) of an installation adjusting plate (10), adjusting the position by sliding the chair leg positioning pieces (6) to adapt to the chair furniture workpiece (5), and then screwing a locking bolt to lock and position the chair leg positioning pieces (6);
step two: the method comprises the following steps that an external power supply is switched on, a synchronous belt module (4) starts to reset to perform linear motion to drive a linear laser sensor (2) to reach an initial measurement position, a driving motor (9) is started to enable a cam divider (8) to start working, a mounting adjusting plate (10) drives a seat furniture workpiece (5) to rotate to a first measurement angle, the linear laser sensor (2) is started, the synchronous belt module (4) drives the linear laser sensor (2) to perform linear scanning motion in a vertical plane, when the linear laser sensor (2) reaches a measurement end point, the cam divider (8) drives the mounting adjusting plate (10) to rotate 90 degrees, so that the measurement angle of the seat furniture workpiece (5) is changed, and the synchronous belt module (4) continues to drive the linear laser sensor (2) to perform linear scanning motion from the last measurement end point to the last measurement start point;
step three: repeating the second step until the four measuring angles of the seat furniture workpiece (5) are measured, and closing the line laser sensor (2);
step four: when the line laser sensor (2) carries out four-angle scanning measurement, each measured point cloud comprises a seat furniture workpiece (5) and a calibration cylinder (11), and a cylinder axis vector (l) in cylinder model parameters is extracted through a random sampling consistency algorithmi,mi,ni)TThe method specifically comprises the following steps:
a. the number of the point clouds of each frame of the four measuring angles, which contain the seat furniture workpiece (5) and the calibration cylinder (11), is reduced;
b. setting a random sampling consistency algorithm to identify the minimum iteration times of the calibration cylinder (11) and a distance threshold value for judging an inner point, wherein the inner point judgment means that the random sampling consistency algorithm calculates the shortest distance Dist from all points in an original point cloud set to the surface of a parameter fitting cylinder for a group of cylinder model parameters in the iterative calculation process, setting a distance threshold value as an allowable error, comparing the Dist with the distance threshold value, if the Dist is smaller than the distance threshold value, the point is called the inner point, namely the point meeting the cylinder model parameters, and the inner point is determined to be the point on the cylindrical surface of the calibration cylinder (11) in the point cloud;
c. randomly selecting three non-collinear points from an original point cloud set, calculating a fitting cylinder model and parameters thereof, counting the number of internal points under the parameters, carrying out consistency criterion test, outputting a cylinder model parameter with the maximum number of internal points when a set minimum iteration number is reached, and completing segmentation extraction of a calibration cylinder (11) point cloud and calculation of model parameters;
d. the axis of the calibration cylinder (11) identified by each measuring angle is used as a reference shaft, the point cloud coordinates of the chair furniture workpiece (5) are subjected to rotation translation transformation to enable the reference shafts of several images to be overlapped, then the point cloud coordinates of adjacent images are subjected to rotation transformation of 90 degrees around the reference shafts to complete multi-angle point cloud splicing of the chair furniture workpiece (5),
calculating the extracted axis vector by the formula (1) and the formula (2) to obtain a transformation matrix T,
aligning the image of each measurement angle with the new image coordinate system axis, wherein RiAs a rotation matrix of the point cloud, PiIs axis vertex coordinate, and then is rotated by 90 degrees according to formula (3) to obtainTo the point cloud after the splicing,
(px,py,pz) Coordinates of the midpoint of the point cloud before angle transformation, (p)x',py',pz') coordinates of the midpoint of the point cloud after the angular transformation.
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| CN115382692B (en) * | 2022-09-26 | 2024-04-12 | 杭州荣韵冲压件有限公司 | Intelligent spraying equipment and method for metal chair |
| CN115289975B (en) * | 2022-10-10 | 2023-04-07 | 苏州英特模科技股份有限公司 | Correcting mechanism for measuring pose of steerable hub wheel |
| CN117723317B (en) * | 2024-02-07 | 2024-05-31 | 中国汽车技术研究中心有限公司 | A method for manufacturing a seat for measuring standard driving posture of human body |
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