CN113392553B - Collision detection method suitable for three-coordinate measuring machine star-shaped measuring head rotation process - Google Patents
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Abstract
The invention provides a collision detection method suitable for the rotation process of a star measuring head of a three-coordinate measuring machine. The invention realizes the collision analysis in the rotation process of the special-shaped structure, improves the operation efficiency on the premise of ensuring higher detection precision, and is suitable for the dynamic collision detection of a complex free-form surface structure, particularly a large-size cabin structure with an inner cavity in the contact type measurement process.
Description
Technical Field
The invention relates to the technical field of collision detection methods, in particular to a collision detection method suitable for a three-coordinate measuring machine star-shaped measuring head rotating process.
Background
A five-axis trigger type three-coordinate measuring machine is a common contact type measuring device, a measuring head is driven to move in a three-dimensional space through three moving shafts and two rotating shafts, ruby at the tail end of the measuring head is in contact with key size features of a part and obtains space pose data, and the measuring head is not in contact with the surface of the part when moving between the features.
The star-shaped probe is a probe type commonly used for measuring the inner cavity structure. Different from the conventional measuring head in the mode of adopting the extension bar and the probe to be axially connected, the probe axis of the star-shaped measuring head is vertical to the axis of the extension bar and is fixed at the tail end of the extension bar, and a plurality of probes vertical to the axis of the extension bar can be carried usually. The star-shaped measuring head is controlled by two rotating shafts at the other end of the extension bar to be in a space pose, and the two rotating shafts start to rotate at the same angular speed. When the angle variation of the two shafts is different, the rotation is stopped firstly when the angle variation is small, and the continuous independent rotation when the angle variation is large is carried out until the whole star-shaped measuring head rotation process is completed. The whole envelope space swept by the extension rod in the rotating process is of a free-form surface structure, mathematical model expression is difficult to perform, and the envelope space meeting the precision requirement is difficult to obtain by the existing hierarchical bounding box method. The envelope space swept by the end probe is intersected with the envelope space swept by the extension bar, and the free-form surface structure is more complex. Therefore, how to accurately and efficiently construct the swept envelope space in the rotation process of the star-shaped measuring head and use the swept envelope space for collision detection is an important problem to be solved urgently.
The application numbers are: CN201711188423.0, the name of the invention is a quick collision detection method based on a mixed level bounding box. According to the method, the collision detection efficiency is improved by the method that the outer layer AABB surrounds the inner layer OBB, and the coarse detection is performed before the fine detection is performed. However, the envelope space swept by the star-shaped measuring head in the rotating process comprises a plurality of free-form surfaces, and the difficulty in constructing the OBB bounding box of the whole envelope body is high. When the bounding box is constructed for each free-form surface separately, the total time is too long due to multiple intersection tests.
The application numbers are: CN201710877513.4, entitled a dynamic collision detection method. This application divides convex polyhedron into a series of tetrahedrons, and the collision between two complicated convex bodies is detected to the parallel collision detection who detects with between a plurality of tetrahedrons. However, the envelope space swept by the star-shaped measuring head in the rotating process is of an arc or free-form surface structure, each part cannot be guaranteed to be of a convex polyhedron structure in the subdivision process, and wrong collision detection results are easily input.
The application numbers are: CN202010885649.1, entitled a point cloud collision detection method for robot grabbing scene. The application realizes the analysis of collision detection by comparing the number of point clouds in the bounding box model with a preset threshold value. However, when the number of the point clouds of the measured part is large, the time for calculating the number of the point clouds in the bounding box is increased sharply.
In the prior art, the envelope space which is simple in structure, small in size and has a convex surface characteristic is mainly used, but the envelope space of a complex free-form surface structure in the rotation process of a special-shaped structure is not researched. Therefore, those skilled in the art are working to develop an accurate envelope space for complex structures and an efficient collision detection algorithm.
Disclosure of Invention
The invention aims to provide a collision detection method suitable for a three-coordinate measuring machine star-shaped measuring head rotation process, which can effectively improve the precision and efficiency of collision detection in the star-shaped measuring head rotation process.
In order to achieve the purpose, the invention provides a collision detection method suitable for a three-coordinate measuring machine star-shaped measuring head rotation process, which comprises the following steps:
s101: acquiring two rotating shaft angles corresponding to the measured characteristics;
s102: calculating the angle difference of the two rotating shafts;
s103: calculating the difference value of the angle difference values of the two rotating shafts;
s104: constructing an envelope space swept in the rotation process of the star measuring head;
s105: calculating the intersection of the part and the swept space;
s106: and finally obtaining a collision detection result.
Furthermore, the measured characteristic is a three-coordinate measuring machine, the three-coordinate measuring machine comprises an extension bar and a probe, one end of the extension bar is connected with three moving shafts for controlling the spatial position of the measuring head through two rotating shafts, and the other end of the extension bar is loaded with the probe with ruby, wherein the probe and the extension bar are vertical in a three-dimensional space and keep the relative positions fixed;
the measurement pose corresponding to the measured feature can be expressed as P i ＝(X i ,Y i ,Z i ,A i ,B i ) Wherein (X) i ,Y i ,Z i ) Determined by the combination of three moving axes (A) i ,B i ) Corresponding to the angles of the two rotating shafts.
Further, in S102, the measurement poses corresponding to the two measured features are respectively P i ＝(X i ,Y i ,Z i ,A i ,B i ) And P j ＝(X j ,Y j ,Z j ,A j ,B j ) (ii) a When the three-coordinate measuring machine is in the slave pose P i Change to pose P j In the process of (2), the angle difference of the rotating shaft can be respectively expressed as delta A = A j -A i And Δ B = B j -B i 。
Further, in S103, the difference between the rotation amounts of the two rotating shafts is represented as Δ C = | Δ a | - | Δ B |; when Δ C =0, it indicates that the two rotating shafts start and end the rotation process at the same time; when the delta C is larger than 0, the rotating shaft corresponding to the angle A still rotates until stopping after the rotating shaft corresponding to the angle B stops rotating; the rotation conditions are reversed when Δ C < 0 and Δ C > 0.
Further, in S104, when Δ C =0, and Δ a and Δ B are not 0 at the same time, the envelope space swept by the extension bar and the probe is a free-form surface with a certain thickness; by dividing the envelope space into a plurality of small segments, i.e. U, by means of discrete angles of rotation i,j ＝{u 1 ,u 2 ,…,u n N = Δ a/Δ f, Δ f being an angle of rotation of the rotation shaft at each stage; then, the envelope space is reconstructed for each segment of the segmentation, i.e.
Wherein
The envelope space representing the sweep of the extension rod, is approximately a sector-shaped solid with a thickness equal to the diameter of the extension rod,
an envelope space representing the sweep of the probe, approximated by a parallelogram solid having a thickness equal to the diameter of the probe;
when the delta C is more than 0, the envelope space swept by the extension bar and the probe can be divided into two parts; the first part is a process that two rotating shafts rotate | delta B | simultaneously, and the first part adopts a method when delta C =0 to construct an envelope space; the second part is a part of the rotating shaft which corresponds to the angle A and rotates independently, and the envelope space of the second part is represented as V i,j ；V i,j Approximately a fan-shaped solid with the thickness equal to the diameter of the extension rod;
when the delta C is less than 0, the envelope space swept by the extension bar and the probe can be divided into two parts; the first part is a process of simultaneously rotating the two rotating shafts by | Δ a |, and the part can adopt a method when Δ C =0 to construct an envelope space; the second part is a part of the rotating shaft which corresponds to the angle B and rotates independently, and the envelope space of the second part can be represented as V i,j ＝{v rod ,v probe }; wherein v is rod Representing the swept envelope space of the extension rod, approximately a portion of a cone having a thickness equal to the diameter of the extension rodMinute, v probe The envelope space representing the sweep of the probe is approximately a portion of a circular truncated cone having a thickness equal to the diameter of the probe.
Further, in S105, the three-dimensional solid model of the component is mesh-divided by the finite element method, and the mesh node number and the corresponding node coordinate on the surface of the component are extracted and expressed as Q = { Q = 1 ,Q 2 ,…,Q K }; calculating the intersection (Q # U) between the discretization point cloud of the part and the envelope space swept by the star probe by using Euclidean distance and vector inner product i,j )∪(Q∩V i,j )。
Further, in S106, if Q is present k E is equal to Q so that (Q # U) i,j )∪(Q∩V i,j ) Is different from
Then the star probe is considered to be at P i To P j The part collides with the part in the rotating process; otherwise, no collision is considered to have occurred.
Compared with the prior art, the invention has the advantages that:
1. the method adopts a method of combining segmentation, dispersion and continuity to construct sector, parallelogram, cone, circular truncated cone and other unconventional envelope spaces, and uses Euclidean distance and vector inner product to calculate the intersection of the envelope spaces and the discretized point cloud of parts, thereby realizing collision detection in the rotation process of the star measuring head.
2. According to the invention, the difference value of the angle variation of the two rotating shafts for controlling the rotation of the star-shaped measuring head is calculated, and the two shafts rotate simultaneously and one shaft rotates independently for sectional research. When the two shafts rotate simultaneously, the envelope space of the star-shaped measuring head in the rotating process is a free-form surface structure, the swept spaces of the extension bar and the probe are respectively approximate to a sector and a parallelogram by adopting a rotation angle discretization method, and the collision detection precision can be improved. When a certain shaft rotates independently, the envelope space of the star-shaped measuring head in the rotating process is in a geometric regular structure, the envelope space is approximate to a fan shape or a combination of a cone and a round table by adopting a continuity method, and the collision detection efficiency can be improved. Therefore, the envelope space construction method combining segmentation, dispersion and continuity can improve the operation efficiency on the premise of ensuring the detection precision, and the method is also suitable for dynamic collision detection of a complex free-form surface structure, particularly a cabin structure with a large size and an inner cavity in the contact type measurement process, such as an automobile body, a high-speed rail carriage and the like, and has important engineering application value.
Drawings
FIG. 1 is a schematic diagram of a collision detection method in a star-shaped measuring head rotation process in the embodiment of the invention;
FIG. 2 is a schematic diagram of an envelope space swept by a star probe in a rotation process in the embodiment of the invention;
FIG. 3 is a diagram of a first portion of an envelope space in an embodiment of the present invention;
FIG. 4 is a schematic diagram of an envelope space constructed by using angle discretization in the embodiment of the present invention;
FIG. 5 is a diagram of a second portion of the envelope space in an embodiment of the present invention;
FIG. 6 is a diagram illustrating relative poses of a discretized point cloud of a part and an envelope space in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be further described below.
The invention provides a collision detection method suitable for a three-coordinate measuring machine star-shaped measuring head rotation process, as shown in figure 1, comprising the following steps:
s101: acquiring two rotating shaft angles corresponding to the measured characteristics;
the measured characteristic is a three-coordinate measuring machine, the three-coordinate measuring machine comprises an extension bar and a probe, one end of the extension bar is connected with three moving shafts for controlling the space position of the measuring head through two rotating shafts, and the other end of the extension bar is loaded with the probe with ruby, wherein the probe and the extension bar are vertical in a three-dimensional space and keep the relative positions fixed;
the measurement pose corresponding to the measured feature can be expressed as P i ＝(X i ,Y i ,Z i ,A i ,B i ) Wherein (X) i ,Y i ,Z i ) Determined by the combination of three moving axes (A) i ,B i ) Corresponding to the angles of the two rotating shafts.
S102: calculating the angle difference of the two rotating shafts;
the measurement poses corresponding to the two measured characteristics are respectively P i ＝(X i ,Y i ,Z i ,A i ,B i ) And P j ＝(X j ,Y j ,Z j ,A j ,B j ) (ii) a When the three-coordinate measuring machine is in the slave pose P i Transformation to pose P j In the process of (3), the angular difference of the rotating shaft can be respectively expressed as delta A = A j -A i And Δ B = B j -B i 。
S103: calculating the difference value of the angle difference values of the two rotating shafts;
the difference value of the rotation amounts of the two rotating shafts is expressed as delta C = | delta A | - | delta B |; when Δ C =0, it indicates that the two rotating shafts start and end the rotation process at the same time; when the delta C is larger than 0, the rotating shaft corresponding to the angle A still rotates until the rotating shaft corresponding to the angle B stops rotating; the rotation conditions are reversed when Δ C < 0 and Δ C > 0.
S104: constructing an envelope space swept by a star measuring head in a rotating process, as shown in FIG. 2;
when delta C =0 and delta A and delta B are not 0 at the same time, the envelope space swept by the extension bar and the probe is a free-form surface with a certain thickness; the envelope space is divided into a number of small segments by means of discrete turning angles, as shown in fig. 4, i.e. U i,j ＝{u 1 ,u 2 ,…,u n N = Δ a/Δ f, Δ f being the angle of rotation of the shaft at each stage; then, the envelope space is reconstructed for each segment of the segmentation, i.e.
Wherein
The envelope space representing the sweep of the extension rod, is approximately a sector-shaped solid with a thickness equal to the diameter of the extension rod,
an envelope space representing the sweep of the probe, approximated by a parallelogram solid having a thickness equal to the diameter of the probe;
when the delta C is more than 0, the envelope space swept by the extension bar and the probe can be divided into two parts; the first part is a process of simultaneously rotating | Δ B | by two rotating shafts, and the first part adopts a method when Δ C =0 to construct an envelope space, as shown in fig. 3; the second part is a part where the rotating shaft corresponding to the angle A rotates independently, as shown in FIG. 5, and the envelope space is represented as V i,j ；V i,j Approximately a fan-shaped solid with the thickness equal to the diameter of the extension rod;
when the delta C is less than 0, the envelope space swept by the extension bar and the probe can be divided into two parts; the first part is a process of simultaneously rotating | Δ a | by two rotating shafts, and the envelope space can be constructed by adopting a method when Δ C = 0; the second part is a part of the rotating shaft which corresponds to the angle B and rotates independently, and the envelope space of the second part can be represented as V i,j ＝{v rod ,v probe }; wherein v is rod The envelope space representing the sweep of the extension rod, approximately a portion of a cone with a thickness equal to the diameter of the extension rod, v probe Representing the envelope space of the probe sweep, is approximately a portion of a circular truncated cone having a thickness equal to the diameter of the probe.
S105: calculating the intersection of the part and the swept space;
carrying out grid division on the three-dimensional solid model of the part by adopting a finite element method, extracting grid node numbers on the surface of the part and corresponding node coordinates, and recording the grid node numbers and the corresponding node coordinates as Q = { Q = 1 ,Q 2 ,…,Q K }; calculating the intersection (Q # U) between the discretization point cloud of the part and the envelope space swept by the star probe by using Euclidean distance and vector inner product i,j )∪(Q∩V i,j ) As shown in fig. 6.
S106: finally obtaining a collision detection result;
if Q is present k E is equal to Q so that (Q # U) i,j )∪(Q∩V i,j ) Is different from
Then the star probe is considered to be at P i To P j The part collides with the part in the rotating process; otherwise, no collision is considered to occur.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. Any person skilled in the art can make any equivalent substitutions or modifications on the technical solutions and technical contents disclosed in the present invention without departing from the scope of the technical solutions of the present invention, and still fall within the protection scope of the present invention without departing from the technical solutions of the present invention.
Claims (3)
1. A collision detection method suitable for a three-coordinate measuring machine star-shaped measuring head rotation process is characterized by comprising the following steps:
s101: acquiring two rotating shaft angles corresponding to the measured characteristics;
s102: calculating the angle difference of the two rotating shafts;
s103: calculating the difference value of the angle difference values of the two rotating shafts;
s104: constructing an envelope space swept in the rotation process of the star measuring head;
s105: calculating the intersection of the part and the swept space;
s106: finally obtaining a collision detection result;
the measured characteristic is a three-coordinate measuring machine which comprises an extension bar and a probe, wherein one end of the extension bar is connected with three moving shafts for controlling the spatial position of a measuring head through two rotating shafts, and the other end of the extension bar is loaded with the probe with ruby, wherein the probe and the extension bar are vertical in a three-dimensional space and keep fixed relative positions;
the measurement pose corresponding to the measured feature can be expressed as P i ＝(X i ,Y i ,Z i ,A i ,B i ) Wherein (X) i ,Y i ,Z i ) Determined by the combination of three moving axes (A) i ,B i ) Corresponding to the angles of the two rotating shafts;
in S102, the measurement poses corresponding to the two measured features are respectively P i ＝(X i ,Y i ,Z i ,A i ,B i ) And P j ＝(X j ,Y j ,Z j ,A j ,B j ) (ii) a When the three-coordinate measuring machine is in the slave pose P i Change to pose P j In the process of (3), the angular difference of the rotating shaft can be respectively expressed as delta A = A j -A i And Δ B = B j -B i ；
In S103, the difference between the rotation amounts of the two rotating shafts is represented by Δ C = | Δ a | - | Δ B |; when Δ C =0, it indicates that the two rotating shafts start and end the rotation process at the same time; when the delta C is larger than 0, the rotating shaft corresponding to the angle A still rotates until the rotating shaft corresponding to the angle B stops rotating; the rotation situation when the delta C is less than 0 is opposite to that when the delta C is more than 0;
in S104, when Δ C =0, and Δ a and Δ B are not 0 at the same time, the envelope space swept by the extension bar and the probe is a free-form surface with a certain thickness; by dividing the envelope space into a plurality of small segments, i.e. U, by means of discrete angles of rotation i,j ＝{u 1 ,u 2 ,…,u n N = Δ a/Δ f, Δ f being the angle of rotation of the shaft at each stage; then, the envelope space is reconstructed for each segment of the segmentation, i.e.
Wherein
The envelope space representing the sweep of the extension rod is a fan-shaped entity with the thickness equal to the diameter of the extension rod,
an envelope space representing the sweep of the probe, being a parallelogram solid having a thickness equal to the diameter of the probe;
when the delta C is more than 0, the envelope space swept by the extension bar and the probe can be divided into two parts; the first part is a process that two rotating shafts rotate | delta B | simultaneously, and the first part adopts a method when delta C =0 to construct an envelope space; the second part is a part of the rotating shaft which corresponds to the angle A and rotates independently, and the envelope space of the second part is represented as V i,j ；V i,j The thickness of the fan-shaped solid body is equal to the diameter of the extension bar;
when the delta C is less than 0, the envelope space swept by the extension bar and the probe can be divided into two parts; the first part is a process of simultaneously rotating | Δ a | by two rotating shafts, and the envelope space can be constructed by adopting a method when Δ C = 0; the second part is a part of the rotating shaft which corresponds to the angle B and rotates independently, and the envelope space of the second part can be expressed as V i,j ＝{v rod ,v probe }; wherein v is rod The envelope space representing the sweep of the extension rod is a portion of a cone having a thickness equal to the diameter of the extension rod, v probe The envelope space representing the sweep of the probe is a portion of a circular truncated cone having a thickness equal to the diameter of the probe.
2. The collision detection method suitable for the rotation process of the star-shaped measuring head of the three-coordinate measuring machine according to claim 1, wherein in S105, a three-dimensional solid model of the part is subjected to grid division by adopting a finite element method, and grid node numbers and corresponding node coordinates on the surface of the part are extracted and recorded as Q = { Q } 1 ,Q 2 ,…,Q K }; calculating the intersection (Q # U) between the discretization point cloud of the part and the envelope space swept by the star probe by using Euclidean distance and vector inner product i,j )∪(Q∩V i,j )。
3. The method for detecting collision during rotation of a star-shaped probe of a three-coordinate measuring machine according to claim 2, wherein in S106, if Q exists, Q is determined to be the same as Q k E is equal to Q so that (Q # U) i,j )∪(Q∩V i,j ) Is not that
Then the star probe is considered to be in P i To P j The part collides with the part in the rotating process; otherwise, no collision is considered to have occurred.
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| US7254889B1 (en) * | 2000-09-08 | 2007-08-14 | Gabe Cherian | Interconnection devices |
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