CN114719775B - Automatic morphology reconstruction method and system for carrier rocket cabin - Google Patents
Automatic morphology reconstruction method and system for carrier rocket cabin Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/344—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving models
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Abstract
The invention provides a method and a system for reconstructing the automatic morphology of a cabin of a carrier rocket, wherein the method comprises the following steps: calibrating the measuring unit to obtain a calibration result; s2: fixing the carrier rocket cabin section to be detected on a detection turntable according to the pre-designed positioning; according to the three-dimensional CAD model of the carrier rocket cabin to be tested, carrying out automatic scanning path planning on the inner surface and the outer surface of the carrier rocket cabin to be tested; the measuring unit sequentially carries out regional measurement on the inner surface and the outer surface of the carrier rocket cabin according to a scanning path and a pre-divided region, and acquires a corresponding conversion matrix by utilizing the coordinates of the target ball under each scanning pose to splice the scanning data; and carrying out a coordinate system on the scanning data of the pre-divided region to obtain complete shape data of the inner surface and the outer surface of the carrier rocket cabin. According to the invention, no processing is needed for the carrier rocket cabin, the pose change of the equipment is directly utilized for splicing, and the reconstructed morphology data has high precision.
Description
Technical Field
The invention relates to the technical field of carrier rocket cabin morphology reconstruction, in particular to a carrier rocket cabin automatic morphology reconstruction method and system.
Background
The carrier rocket is an important mark of the construction aerospace country of China, and is also a strategic tool for maintaining the space safety of China and pushing the space exploration of China to expand to more remote deep space. The development of carrier rocket designs key components such as rocket body structure system, power system, control system, ground launching system and the like, and is a complex system engineering. In the whole arrow body structure, the riveting cabin section plays a role of connecting the storage tanks and mounting carriers of instruments and equipment, is an important bearing section, has huge size and complex structure, is a difficult point of developing and detecting the arrow body structure, and the process in the current detection stage still depends on the experience of process staff to a great extent; as the development of the rocket body structure of the carrier rocket in China always adopts a serial mode, once errors occur in shape and position deviation and integral deviation of the riveting cabin section, subsequent links such as assembly and the like can be directly influenced, so that the reworking cost is high and the whole development period can be delayed. Therefore, the method and the system for reconstructing the integral automatic morphology of the rocket and detecting the deviation become very significant.
The existing automatic scanning can be carried with a laser surface scanner (a camera and a projector) to reconstruct the appearance of an object, and the object cannot be completely reconstructed by one scanning due to the limited visual field range of the surface scanning, so that multiple scanning data are needed to be spliced to obtain complete appearance data of the object. The final measurement precision of the scanned object is determined by the splicing precision, and the existing splicing technology mostly adopts mark point splicing or object characteristic splicing; the splicing mode of the mark points is adopted, and some identifiable point marks are required to be manually attached to the object; however, this method requires a lot of manpower and is not applicable to rocket pod segment scanning because it is not applicable to objects whose surfaces cannot be treated; the splicing method adopting the object features can only be applied to objects with multiple features and obvious features, and the application range is too limited, so that the splicing method is not applicable to rocket cabin sections without features.
Therefore, an effective method and system for reconstructing the morphology of the rocket cabin segment are lacked in the prior art.
The foregoing background is only for the purpose of facilitating an understanding of the principles and concepts of the application and is not necessarily in the prior art to the present application and is not intended to be used as an admission that such background is not entitled to antedate such novelty and creativity by virtue of prior application or that it is already disclosed at the date of filing of this application.
Disclosure of Invention
The application provides a method and a system for reconstructing the automatic morphology of a cabin of a carrier rocket in order to solve the existing problems.
In order to solve the problems, the technical scheme adopted by the application is as follows:
an automated morphology reconstruction method for a carrier rocket cabin section comprises the following steps: s1: calibrating a measuring unit to obtain the calibration result, wherein the measuring unit comprises a first morphology measuring unit, a second morphology measuring unit and a laser measuring unit; the first morphology measuring unit and the second morphology measuring unit are respectively used for measuring morphology data of the inner surface and the outer surface of the carrier rocket cabin section to be measured, and each of the first morphology measuring unit and the second morphology measuring unit comprises a measuring robot and a blue light surface scanner, wherein the measuring robot is used for providing different poses of the blue light surface scanner, and the blue light surface scanner is used for scanning the morphology data of the carrier rocket cabin section under each pose; the laser measuring unit comprises a laser tracker and a target ball, wherein the target ball is arranged on the blue light surface scanner, and the laser tracker is used for acquiring the target ball coordinates on the blue light surface scanner under each pose; the calibration result comprises the calibration of the internal and external parameters of the blue light surface scanner and the laser tracker, and the calibration of the measuring robot and the detection turntable; s2: fixing the carrier rocket cabin section to be detected on the detection turntable according to the pre-designed positioning, wherein the detection turntable is used for providing the rotational freedom degree of the space pose which cannot be reached by the measuring robot; s3: according to the three-dimensional CAD model of the carrier rocket cabin to be tested, carrying out automatic scanning path planning on the inner surface and the outer surface of the carrier rocket cabin to be tested; s4: the measuring unit sequentially carries out regional measurement on the inner surface and the outer surface of the carrier rocket cabin according to a scanning path and the regions divided in advance, and specifically: scanning the region of the carrier rocket cabin by using the blue light surface scanner to obtain three-dimensional morphology data, obtaining the coordinates of the target ball on the blue light surface scanner under each scanning pose by using the laser tracker, obtaining a corresponding conversion matrix by using the coordinates of the target ball under each scanning pose, and splicing the scanning data; s5: and carrying out a coordinate system on the scanning data of the pre-divided region to obtain complete shape data of the inner surface and the outer surface of the carrier rocket cabin.
Preferably, the method further comprises: pasting a mark paste at the same position of the to-be-detected carrier rocket cabin, positioning the mark paste by the measuring unit, reversely solving the position of the to-be-detected carrier rocket cabin, adjusting the current position of the to-be-detected carrier rocket cabin to the position of the to-be-detected carrier rocket cabin scanned for the first time, and detecting the subsequent to-be-detected carrier rocket cabin by utilizing the scanning position recorded by the to-be-detected carrier rocket cabin for the first time and a template file constructed in the detection step.
Preferably, the inner surface and the outer surface of the carrier rocket cabin are divided into four equal areas in advance for regional measurement.
Preferably, stitching the scan data in step S4 includes stitching or aligning local data: fixing the coordinates of the laser tracker in space to be XYZ and W as central positions, obtaining the coordinates of the target sphere under three pose of the blue light surface scanner, and respectively taking the target sphere as the center to establish a coordinate system x 0 -y 0 -z 0 、x 1 -y 1 -z 1 、x 2 -y 2 -z 2 Tracking the positions of the laser tracker to obtain absolute poses of R|T relative to the laser tracker] 0 、[[R|T] 1 、[R|T] 2 The local point cloud data of the to-be-detected carrier rocket cabin section obtained through scanning is P 0 、P 1 、P 2 The relative pose between the three point clouds is [ [ R|T ] respectively] 0-1 And [ R|T ]] 1-2 Alignment between the local point clouds depends on coordinate rotationThe method is completed by the following steps:
P 0-1 ＝R 0-1 ·P 1 +T 0-1 ·P 0
P 1-2 ＝R 1-2 ·P 2 +T 1-2 ·P 1
preferably, performing a coordinate system on the scanning data of the pre-divided area to obtain complete morphology data of the inner surface and the outer surface of the carrier rocket cabin section includes: when the first area is scanned on the inner surface or the outer surface, the blue light surface scanner is utilized to acquire the coding mark point on the detection turntable for photogrammetry, and the coordinate value of the coding mark point is acquired; when each area is scanned, the laser tracker is kept still, the blue light surface scanner is used for obtaining the current coordinates of the coding mark points of the current area, and the coding mark points corresponding to the ID are used for obtaining a conversion matrix [ R|T ]] 3 Then using the transformation matrix to make the point cloud P of the second region 4 Point cloud P with first of said areas 3 Automatic alignment is performed:
P 3 ＝R 3 ·P 4 +T 3 ·P 4 。
preferably, when the scanning of the inner surface of the carrier rocket section is switched to the scanning of the outer surface, or the scanning of the outer surface of the carrier rocket section is switched to the scanning of the inner surface, the station transferring operation is carried out on the laser tracker; the position of a measuring head of the laser tracker is kept unchanged during station transfer, a conversion matrix of the laser tracker before station transfer is calculated according to the positions of the measuring head before and after station transfer and the position of the laser tracker after station transfer, and the carrier rocket cabin is processed by the conversion matrix The data alignment of the inner surface and the outer surface and the integral shape data P of the inner surface and the outer surface are obtained uniformly A ：
P A ＝R·P out +T+P in
Wherein the data of the outer surface scanning is P out The data of the inner surface scan is P in 。
Preferably, the method further comprises: and registering the measurement model obtained according to the complete morphology data with the corresponding three-dimensional CAD model by utilizing error loss constraint, and carrying out deviation measurement.
Preferably, the method further comprises: recording the measurement model as X1, the corresponding three-dimensional CAD model as X2, performing coarse registration on the measurement model and the corresponding three-dimensional CAD model, performing singular value decomposition on two pieces of data, integrally resolving a conversion matrix, and performing initial alignment on the two pieces of point clouds;
then, fine registration is carried out by adopting an iterative closest point method, euclidean distance between closest points is taken as an error evaluation value, and the spatial positions of the two data are continuously optimized and iterated until convergence; let E be the loss function of the ICP method, there are:
where n is the evaluation point number.
Preferably, it comprises: the cabin section unit is used for fixing the to-be-detected carrier rocket cabin sections with different sizes; the measuring unit comprises a first morphology measuring unit, a second morphology measuring unit and a laser measuring unit; the first morphology measuring unit and the second morphology measuring unit are respectively used for measuring morphology data of the inner surface and the outer surface of the carrier rocket cabin and comprise a measuring robot and a blue surface scanner, wherein the measuring robot is used for providing different poses of the blue surface scanner, and the blue surface scanner is used for scanning the morphology data of the carrier rocket cabin under each pose; the laser measuring unit comprises a laser tracker and a target ball, wherein the target ball is arranged on the blue light surface scanner, and the laser tracker is used for acquiring the target ball coordinates on the blue light surface scanner under each pose; a slide unit for controlling movement of the measuring unit; the detection turntable unit is used for controlling 360-degree rotation of the carrier rocket cabin section to be detected; a processing unit for implementing the method as claimed in any one of the preceding claims.
Preferably, the device also comprises a plurality of sections of lifting rods; the multi-section lifting rod is provided with a base, the base is fixedly connected with the measuring robot, and the measuring robot moves in the vertical direction up and down through the multi-section lifting rod.
The beneficial effects of the invention are as follows: the method and the system for reconstructing the automatic morphology of the carrier rocket cabin are characterized in that a laser scanner and a surface scanner are combined to form three-dimensional scanning measurement, a marker is arranged on the surface scanner, information of the marker is acquired by using the laser tracker (external equipment) to splice, no processing is needed for the carrier rocket cabin, the pose change of the equipment is directly utilized to splice, and the accuracy of reconstructed morphology data is high.
Drawings
FIG. 1 is a schematic diagram of a method for reconstructing an automated morphology of a rocket bay according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an automated morphology reconstruction system for a launch vehicle bay according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of an automated morphology reconstruction process for a rocket bay according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of an automated morphology reconstruction process for a further rocket bay according to an embodiment of the present invention.
Fig. 5 (a) -5 (c) are schematic diagrams of assisting in the initial positioning of different cabin segments for coded marker points in an embodiment of the invention.
FIG. 6 is a schematic diagram of a scan path of a launch vehicle segment under test in an embodiment of the present invention.
FIG. 7 is a schematic diagram of a target ball layout on a blue-light scanner according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of scanning of a measurement unit in an embodiment of the invention.
FIG. 9 is a schematic view of zonal scanning of the outer surface of a carrier rocket bay in accordance with an embodiment of the present invention.
FIG. 10 is a schematic diagram of the transformation of coordinates and data unification of the inner and outer surfaces of a rocket bay according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the embodiments of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for both the fixing action and the circuit communication action.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
Based on the defects in the prior art, the invention adopts an optical non-contact scheme to solve the problem of three-dimensional full-field shape and position deviation measurement of the cabin of the carrier rocket. The invention needs to measure the inner and outer surfaces of the carrier rocket cabin under the conditions of large view field and circumference breadth with the diameter of 2.25-5 m and the height of 2-3 m. According to the invention, the overall morphology of the inner surface and the outer surface is measured respectively in different time periods through 2 groups of morphology measuring units, and measured data are aligned in the same coordinate system; meanwhile, the problem of safety of cabin sections and personnel involved in loading and unloading of the large breadth of cabin sections is solved; the method has the advantages that the vulnerable characteristics that the total weight of the cabin is 6.5t and the wall thickness is only 8mm are considered, the initial scanning position of the measuring unit is quickly adjusted, potential safety hazards of the cabin caused by position adjustment are avoided, and quick and safe on-site streamline detection is facilitated; furthermore, the invention completes the reconstruction of the morphological data of the carrier rocket cabin section, and the detection of the whole deviation and the shape and position deviation meets the detection application standard requirement of cabin section design.
As shown in fig. 1, the invention provides a carrier rocket cabin automatic morphology reconstruction method, which comprises the following steps:
s1: calibrating a measuring unit to obtain the calibration result, wherein the measuring unit comprises a first morphology measuring unit, a second morphology measuring unit and a laser measuring unit;
the first morphology measuring unit and the second morphology measuring unit are respectively used for measuring morphology data of the inner surface and the outer surface of the carrier rocket cabin section to be measured, and each of the first morphology measuring unit and the second morphology measuring unit comprises a measuring robot and a blue light surface scanner, wherein the measuring robot is used for providing different poses of the blue light surface scanner, and the blue light surface scanner is used for scanning the morphology data of the carrier rocket cabin section under each pose;
the laser measuring unit comprises a laser tracker and a target ball, wherein the target ball is arranged on the blue light surface scanner, and the laser tracker is used for acquiring the target ball coordinates on the blue light surface scanner under each pose;
the calibration result comprises the calibration of the internal and external parameters of the blue light surface scanner and the laser tracker, and the calibration of the measuring robot and the detection turntable;
s2: fixing the carrier rocket cabin section to be detected on the detection turntable according to the pre-designed positioning, wherein the detection turntable is used for providing the rotational freedom degree of the space pose which cannot be reached by the measuring robot;
S3: according to the three-dimensional CAD model of the carrier rocket cabin to be tested, carrying out automatic scanning path planning on the inner surface and the outer surface of the carrier rocket cabin to be tested;
s4: the measuring unit sequentially carries out regional measurement on the inner surface and the outer surface of the carrier rocket cabin according to a scanning path and the regions divided in advance, and specifically: scanning the region of the carrier rocket cabin by using the blue light surface scanner to obtain three-dimensional morphology data, obtaining the coordinates of the target ball on the blue light surface scanner under each scanning pose by using the laser tracker, obtaining a corresponding conversion matrix by using the coordinates of the target ball under each scanning pose, and splicing the scanning data;
s5: and carrying out a coordinate system on the scanning data of the pre-divided region to obtain complete shape data of the inner surface and the outer surface of the carrier rocket cabin.
According to the invention, by combining two groups of morphology measuring units with the laser measuring units, when each morphology measuring unit works independently to measure the morphology data of the inner surface and the outer surface of the rocket cabin section to be measured, each scanning area data is spliced in real time, then the conversion parameters of the inner surface and the outer surface are determined by one-time transfer of the laser measuring units, the complete three-dimensional morphology of the rocket cabin section is finally obtained, and the detection of the integral deviation and the shape and position deviation meets the detection application standard requirements of cabin section design.
In order to implement the method of the invention, the invention also provides a carrier rocket cabin automatic morphology reconstruction system, which comprises the following steps:
the cabin section unit is used for fixing the to-be-detected carrier rocket cabin sections with different sizes;
the measuring unit comprises a first morphology measuring unit, a second morphology measuring unit and a laser measuring unit; the first morphology measuring unit and the second morphology measuring unit are respectively used for measuring morphology data of the inner surface and the outer surface of the carrier rocket cabin and comprise a measuring robot and a blue surface scanner, wherein the measuring robot is used for providing different poses of the blue surface scanner, and the blue surface scanner is used for scanning the morphology data of the carrier rocket cabin under each pose; the laser measuring unit comprises a laser tracker and a target ball, wherein the target ball is arranged on the blue light surface scanner, and the laser tracker is used for acquiring the target ball coordinates on the blue light surface scanner under each pose;
a slide unit for controlling movement of the measuring unit;
the detection turntable unit is used for controlling 360-degree rotation of the carrier rocket cabin section to be detected;
and a processing unit for implementing the method according to any one of the present invention.
In the automatic appearance reconstruction system of the carrier rocket cabin section shown in fig. 2, cabin section units are used for fixing 3 carrier rocket cabin sections to be detected with different sizes: the 5m carrier rocket cabin section 1, the 3.35m carrier rocket cabin section 2 and the 2.25m carrier rocket cabin section 3, and the slipway unit comprises a vertical linear slide rail 5 and a horizontal linear slide rail 6; the measuring unit comprises a laser tracker 4, an external measuring robot 7 and an internal measuring robot 10.
Furthermore, the system of the invention also comprises a loading and unloading positioning block unit which is used for assisting a measurer in positioning, and a carrier rocket cabin section is placed on a proper measuring circumference, so that quick installation and disassembly are realized, and the on-site loading operation is convenient;
the anti-collision upright column unit is used for preventing collision in the feeding and discharging processes;
the protection frame unit 8 is used for preventing personnel from entering in the detection process, and the system can automatically stop detection to protect safety;
an electrical control unit 9 for controlling the entire system electrical equipment;
the detection unit is used for detecting some deviations of the data after the morphology of the carrier rocket cabin section is reconstructed;
the data scanned by the blue light scanner, the spliced complete morphology data and the whole detection process are uniformly calculated and displayed by a computer, the detection turntable unit motion control is realized by serial port communication, and the robot control is realized by connecting with the computer through a TCP/IP network protocol; the cabin section unit is fixed on the detection turntable unit, the measurement robot is fixed on the measurement linear sliding table module, the laser tracker is fixed on the laser tracker linear sliding table module, and the blue light scanner module is fixedly connected with the measurement robot module.
The process of the present invention, as illustrated in fig. 3 and 4, will be described in detail as follows.
In step S1, the whole system is calibrated, including the camera and projection calibration of a blue light scanner, the calibration of the relationship between a laser tracker and blue light surface scanning, the calibration of a measuring robot and a detection turntable;
in step S2, the launch vehicle cabin to be tested is fixed on a detection turntable according to a pre-designed positioning, and the detection turntable is used for providing a rotational degree of freedom of a space pose which cannot be reached by the measurement robot.
In a specific embodiment, the rocket cabin is loaded, according to the loading and unloading route and the safety protection problem of the rocket cabin, the flexible safety protection structure is specially designed, four flexible protection rods are arranged around the measuring unit, rubber and the like are selected as materials, the four protection rods form a protection ring, and the cabin is prevented from colliding with the measuring equipment when the crane lowers the cabin. Simultaneously, two spaced positioning blocks are designed aiming at different outer diameter sizes of the cabin section and used for assisting test personnel in positioning when the crane is lowered, and the cabin section is placed on a proper measuring circumference. Taking rocket cabin sections with the diameter of 5m and the height of 3m as an example, cabin sections with different diameters are provided with different positioning blocks, the lower ends of the positioning blocks are clamped into the grooves through the convex blocks to realize self positioning, 5 degrees of freedom of the positioning blocks are restrained, and the rocket cabin sections can be pulled out only through upward pulling force to realize quick installation and disassembly, so that on-site feeding operation is facilitated.
The cabin segment pre-positioning technology is utilized to mainly ensure that the cabin segment detected subsequently and the first cabin segment are positioned at the same position, and ensure that the cabin segment does not rotate in the axial direction; in the loading and unloading process, the positioning block is adopted to ensure the centering of the rocket cabin section, but the cabin section which is detected later and the first cabin section are not ensured to be positioned at the same position, and the cabin section may rotate in the axial direction. For rotary positioning, the invention designs a mark paste, a user only needs to paste the mark paste at the same position of the cabin before detection, the system can automatically position mark points in the mark paste, the position of the current mechanical equipment is reversely calculated, and the position of the current mechanical equipment is adjusted to the position of the first scanning, so that batch detection can be carried out on the subsequent cabin by utilizing the first detection template.
In one embodiment of the invention, the method of the invention further comprises:
pasting a mark paste at the same position of the to-be-detected carrier rocket cabin, positioning the mark paste by the measuring unit, reversely solving the position of the to-be-detected carrier rocket cabin, adjusting the current position of the to-be-detected carrier rocket cabin to the position of the to-be-detected carrier rocket cabin scanned for the first time, and detecting the subsequent to-be-detected carrier rocket cabin by utilizing the scanning position recorded by the to-be-detected carrier rocket cabin for the first time and a template file constructed in the detection step.
As shown in fig. 5 (a) -5 (c), fig. 5 (a) is a schematic diagram of coding mark points to assist initial positioning of different cabin segments, and fig. 5 (a) is a principle and a real object of coding marks, wherein the coding marks are formed by a central circle and surrounding annular coding segments, the circumference of the coding segments is divided into n parts, n is equal to 10, 12 or 15 generally, blank parts are coded as 0, and non-blank parts are coded as 1. The code marks are required to have rotational invariance, and 1/2/3 of the code is often removed to prevent recognition errors caused by abrasion, confusion and the like. In order to meet the fidelity requirement of the cabin sections, the same several specially-made coding points are attached to different cabin sections and used for the instant adjustment of the measurement units after feeding. Avoiding the movement of the cabin section and reducing the potential safety hazard. Fig. 5 (b) and 5 (c) are schematic diagrams of the adjustment of the probe during the scanning of different cabin segments centered by the coding mark points.
In step S3, according to the three-dimensional CAD model of the carrier rocket cabin to be tested, automatic path planning is performed on the inner and outer surfaces of the rocket cabin to ensure omnibearingScanning; considering that the method of the invention needs to be compatible with rocket cabin sections to be detected with smaller radius size (2 m) and higher vertical height (3.35 m), the invention adopts a mode of combining an industrial robot and a plurality of sections of lifting rods, a base is arranged on the plurality of sections of lifting rods, the base is fixedly connected with a measuring robot, the measuring robot moves vertically up and down through the plurality of sections of lifting rods, and the industrial robot can solve the problem of limited movement when detecting the inner surface of the cabin section with small size; the multi-section lifting rod can solve the problem of rocket cabin detection with higher vertical height; the design of multisection can guarantee to await measuring the cabin section and carry out lower lifting distance when the material loading, guarantees to go on by the unloading steadily. The arm extension of the mechanical arm determines the extendable distance, such as KR_30_R2100_V01 type for measuring the outer surface, the arm extension is more than 2.1m, and a large width (600×480 mm) 2 ) The shape measurement unit of the rocket cabin is used for completing the respective measurement of the inner surface and the outer surface of the rocket cabin.
As shown in fig. 6, a scanning path of a to-be-measured carrier rocket cabin is automatically planned according to a three-dimensional CAD model of the model, and the system of the invention controls the measuring robot and forms a movement path track 12 according to a predetermined scanning path point 11 to execute scanning reconstruction of the to-be-measured carrier rocket cabin 13. The automatically planned scanning path can be subjected to virtual simulation in simulation software, so that the system can not collide in the actual detection according to the path.
In step S4, in an embodiment of the present invention, the inner surface and the outer surface of the carrier rocket cabin are divided into four equal areas in advance for regional measurement.
In a specific embodiment, because the rocket cabin is large in size, the rocket cabin is scanned according to four areas of 90 degrees, the rocket cabin is scanned by a blue-light-surface scanner to obtain three-dimensional morphology data, a laser tracker is used for obtaining coordinates of a target ball on a scanner below each scanning pose, a corresponding conversion matrix is obtained by using the coordinates of the target ball below each scanning pose, and the scanning data are spliced.
The laser tracker is used for radiating laser beams outwards, the other part of the laser measuring unit is a target ball arranged on the target, the target ball reflects the laser beams emitted by the laser tracker back to the receiver, and the distance and gesture information of the target can be obtained after calculation.
As shown in FIG. 7, the target ball is arranged on the blue-light surface scanner, the specification of the target ball is 0.5-1.5', the material is a hollow aluminum mirror or 12 solid glass with high reflectivity, the optical center error is as small as +/-2.5 um, the working distance is over 40m, and the target ball has good tracking and positioning performance. The laser measuring unit of the invention evenly distributes at least 6 target balls on the circumference of the blue light surface scanner, and ensures that a certain number of target balls can be tracked under any posture of the blue light surface scanner, thereby being used for splicing local data and integrating whole data. For the measurement problems of large section surface, large breadth and need of full-field comparison of rocket cabin, dense reconstruction is needed for the inner and outer circumferential surfaces, so that the space pose of the morphology measurement unit is tracked in real time through the laser tracking unit, the scanning result of each time is aligned, thereby realizing the complete reconstruction of the cabin morphology and facilitating the full-field deviation detection.
The process of stitching or aligning local data is described below with the scanning of the inner surface as an example.
As shown in fig. 8, the coordinates of the fixed laser tracker in space are XYZ, W is the central position, the coordinates of the target sphere under three positions of the blue light scanner are obtained, and the coordinate system x is respectively established under three positions by taking the target sphere as the center 0- y 0- z 0 、x 1- y 1 -z 1 、x 2 -y 2 -z 2 The absolute pose relative to the laser tracker is obtained by tracking the positions of the laser tracker] 0 、[[R|T] 1 、[R|T] 2 The local point cloud data of the inner surface of the cabin section obtained by respective scanning is P 0 、P 1 、P 2 The relative pose between the three point clouds is [ [ R|T ] respectively] 0-1 And [ R|T ]] 1-2 The alignment between the local point clouds is accomplished by means of coordinate transformation, specifically as follows:
according to formula (1), at P 0 And P 1 For example, there is
P 0-1 ＝R 0-1 ·P 1 +T 0-1 ·P 0 (2)
Spliced point cloud data P 0-1 There is a small overlap area in the middle part of the (c) which is further processed.
The same applies to the following conversions:
P 1-2 ＝R 1-2 ·P 2 +T 1-2 ·P 1 (4)
spliced point cloud data P 1-2 There is a small overlap area in the middle part of the (c) which is further processed.
In step S5, carrying out coordinate system unification on the scanning data in the four scanning areas to obtain complete shape data of the whole cabin section;
when the first area is scanned on the inner surface or the outer surface, the blue light surface scanner is utilized to acquire the coding mark point on the detection turntable for photogrammetry, and the coordinate value of the coding mark point is acquired;
when each area is scanned, the laser tracker is kept still, the blue light surface scanner is used for obtaining the current coordinates of the coding mark points of the current area, and the coding mark points corresponding to the ID are used for obtaining a conversion matrix [ R|T ] ] 3 Then using the transformation matrix to make the point cloud P of the second region 4 Point cloud P with first of said areas 3 Automatic alignment is performed:
P 3 ＝R 3 ·P 4 +T 3 ·P 4 (5)
as shown in fig. 9, a schematic view of regional scanning of the outer surface of a rocket cabin is shown, and the regional scanning is firstly performed on the outer surface area of the rocket cabin to obtain the points of the rocket cabinAnd (3) carrying out cloud meshing on the point cloud to obtain point cloud data meshing. In the scanning measurement, the system firstly rebuilds the outer surface area of the rocket cabin section, the outer surface area is divided into areas, when the first area is scanned, the surface scanner is used for obtaining the code mark points on the turntable to carry out photographic measurement, the coordinate values of the code mark points are obtained, when each sub-area is scanned, the laser tracker is kept still, the surface scanner is used for obtaining the current coordinate of the code mark points of the current area, and the code mark points corresponding to the ID are used for obtaining a conversion matrix [ R|T ]] 3 Then the conversion matrix is utilized to carry out the region 2 point cloud P 4 Is associated with the point cloud P of region 1 3 Automatic alignment is performed.
After the current area scanning is completed, the turntable drives the measuring head to rotate 90 degrees, and the next sub-area detection is performed.
In one embodiment of the invention, when the scanning of the inner surface of the carrier rocket section is switched to the scanning of the outer surface, or the scanning of the outer surface of the carrier rocket section is switched to the scanning of the inner surface, the station switching operation is performed on the laser tracker;
The position of a measuring head of the laser tracker is kept unchanged during station transfer, a conversion matrix of the laser tracker before the station transfer is calculated according to the positions of the measuring head before and after the station transfer and the laser tracker before the station transfer, and the complete shape data P of the inner surface and the outer surface is obtained by aligning and unifying the data of the inner surface and the outer surface of the carrier rocket cabin by utilizing the conversion matrix A ：
P A ＝R ·P out +T +P in (6)
Wherein the data of the outer surface scanning is P out The data of the inner surface scan is P in 。
Specifically, when the system is switched from outer surface scanning to inner surface scanning, the sliding block rotates, the laser tracker is moved to a position above the center of the rocket cabin section, and inner scanning data are spliced. When the scanning of the inner surface and the outer surface is switched, the laser tracker needs to be subjected to station switching operation, the position of the measuring head needs to be kept unchanged during station switching, the conversion matrix of the laser tracker before the station switching is calculated according to the positions of the measuring heads before and after the station switching, and the data alignment and unification of the inner surface and the outer surface of the model are realized by utilizing the matrix.
As shown in fig. 10, the inner surface of the rocket cabin is reconstructed first, and then the external surface of the rocket cabin is reconstructed by the transfer station, so that the overall appearance of the rocket cabin is obtained.
In another embodiment of the invention, the method of the invention further comprises the steps of:
step S6: registering the actually scanned morphology data of the carrier rocket cabin section to be detected and the three-dimensional CAD model by utilizing error loss constraint, and carrying out deviation measurement to obtain a measurement report;
the obtained measurement report is convenient for the user to check.
Registration between the three-dimensional CAD model and the actual model can intersect due to certain errors in actual workpiece processing.
The cabin segment measurement data is X1, the CAD model is X2, for the registration of the rocket cabin segment measurement data and the CAD model, coarse registration is firstly carried out, SVD (singular value decomposition) is carried out on the two data, a conversion matrix is integrally solved, and then initial alignment is carried out on the two point clouds; and then carrying out fine registration, wherein on the basis of coarse registration, two pieces of data are unified in the same coordinate system, an ICP method (iterative closest point method) is selected, the method has a good effect on the data subjected to coarse registration, euclidean distance between closest points is used as error evaluation, and the spatial positions of the two pieces of data are continuously optimized and iterated until convergence. Let E be the loss function of the ICP method, then:
Where n is the evaluation point number. After coarse and fine registration, the subsequent deviation comparison and display can be performed. The CAD model and the actual scanned model coordinate system have small differences, but the detection system developed by the CAD model and the actual scanned model coordinate system are utilized to support the model pair Ji Peizhun to operate, and different models can be aligned to the same world coordinate system according to the characteristics.
After registration of the measurement data and the cabin three-dimensional CAD design model, the deviation condition between the actual scanning model and the CAD design model can be calculated, and the deviation can be displayed in a three-dimensional interface in software in a color chromatogram mode. The self-grinding detection system of the invention provides a plurality of functions:
(1) The overall deviation between the scanned model and the nominal CAD model is displayed. The bias was shown using 3Sigma display effect, supporting adjustment of right column, modifying the bias display effect. The system supports deviation labeling in the whole deviation result, and a user can label a place of interest on the chromatogram, such as a region with larger chromatographic deviation. The deviation marks the deviation value of the point of the default mark, and the ground color shows whether the deviation value of the point exceeds a set tolerance zone. The bias labeling result can be added to the detection report as a table entry.
(2) Cross section and geometry detection. The detection system provides a 2D cross-section deviation detection function supporting labeling of a region of interest in the deviation chromatogram. Providing geometric functions such as point, line, plane, circle, cylinder, cone, sphere, etc. geometries. The construction method supports the adoption of parameter construction and the best fit construction by selecting a scanned grid model through a lasso frame. The system supports the measurement of the size information among the geometric bodies, and can obtain the parameter information such as length, radius, angle and the like.
(3) And (5) detecting form and position tolerance. The system can calculate the shape and position error amount such as flatness, cylindricity, roundness, straightness, perpendicularity, parallelism, inclination, position and the like. The cylindricity detection result can display detection chromatograph and shape and position error values, and whether the detection structure is qualified or not is judged according to the set shape and position tolerance.
(4) And generating a detection report. The user can add report pages at any time during the detection process. The content of the report page is divided into a picture item and a table item, and when the picture content is added, the system automatically intercepts an image in the current software interface to be used as the report content; the system supports the input of already completed deviation detection data by adding data items, which include deviation labeling values or measured values.
The method and the system for reconstructing the automatic morphology of the carrier rocket cabin are characterized in that a laser scanner and a surface scanner are combined to form three-dimensional scanning measurement, a marker is arranged on the surface scanner, information of the marker is acquired by using the laser tracker (external equipment) to splice, no processing is needed for the carrier rocket cabin, the pose change of the equipment is directly utilized to splice, and the accuracy of reconstructed morphology data is high.
In the prior art, the error of the method for carrying out scanning splicing by directly utilizing surface scanning is 0.2mm on average, and the error of the method is within 0.1mm on average, so that the reconstruction accuracy is effectively improved.
The embodiment of the application also provides a control device, which comprises a processor and a storage medium for storing a computer program; wherein the processor is adapted to perform at least the method as described above when executing said computer program.
The embodiments of the present application also provide a storage medium storing a computer program which, when executed, performs at least the method as described above.
The embodiments of the present application also provide a processor executing a computer program, at least performing the method as described above.
The storage medium may be implemented by any type of volatile or non-volatile storage device, or combination thereof. The nonvolatile Memory may be a Read Only Memory (ROM), a programmable Read Only Memory (PROM, programmable Read-Only Memory), an erasable programmable Read Only Memory (EPROM, erasableProgrammable Read-Only Memory), an electrically erasable programmable Read Only Memory (EEPROM, electricallyErasable Programmable Read-Only Memory), a magnetic random Access Memory (FRAM, ferromagneticRandom Access Memory), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a compact disk Read Only (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronousStatic Random Access Memory), dynamic random access memory (DRAM, dynamic Random AccessMemory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random AccessMemory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data RateSynchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAMEnhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory). The storage media described in embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.
In the several embodiments provided by the present application, it should be understood that the disclosed systems and methods may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, or the like, which can store program codes.
Alternatively, the above-described integrated units of the present invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The methods disclosed in the method embodiments provided by the application can be arbitrarily combined under the condition of no conflict to obtain a new method embodiment.
The features disclosed in the several product embodiments provided by the application can be combined arbitrarily under the condition of no conflict to obtain new product embodiments.
The features disclosed in the embodiments of the method or the apparatus provided by the application can be arbitrarily combined without conflict to obtain new embodiments of the method or the apparatus.
The foregoing is a further detailed description of the application in connection with the preferred embodiments, and it is not intended that the application be limited to the specific embodiments described. It will be apparent to those skilled in the art that several equivalent substitutions and obvious modifications can be made without departing from the spirit of the application, and the same should be considered to be within the scope of the application.
Claims (10)
1. The automatic morphology reconstruction method for the carrier rocket cabin is characterized by comprising the following steps of:
s1: calibrating a measuring unit to obtain a calibration result, wherein the measuring unit comprises a first morphology measuring unit, a second morphology measuring unit and a laser measuring unit;
The first morphology measuring unit is used for measuring morphology data of the inner surface of the carrier rocket cabin section to be measured, the second morphology measuring unit is used for measuring morphology data of the outer surface of the carrier rocket cabin section to be measured, the first morphology measuring unit and the second morphology measuring unit both comprise a measuring robot and a blue light surface scanner, the measuring robot is used for providing different poses of the blue light surface scanner, and the blue light surface scanner is used for scanning the morphology data of the carrier rocket cabin section under each pose;
the laser measuring unit comprises a laser tracker and a target ball, wherein the target ball is arranged on the blue light surface scanner, and the laser tracker is used for acquiring the target ball coordinates on the blue light surface scanner under each pose;
the calibration result comprises the calibration of the internal and external parameters of the blue light surface scanner and the laser tracker, and the calibration of the measuring robot and the detection turntable;
s2: fixing the carrier rocket cabin section to be detected on the detection turntable according to the pre-designed positioning, wherein the detection turntable is used for providing the rotational freedom degree of the space pose which cannot be reached by the measuring robot;
S3: according to the three-dimensional CAD model of the carrier rocket cabin to be tested, carrying out automatic scanning path planning on the inner surface and the outer surface of the carrier rocket cabin to be tested;
s4: the measuring unit sequentially carries out regional measurement on the inner surface and the outer surface of the carrier rocket cabin according to a scanning path and the regions divided in advance, and specifically: scanning the region of the carrier rocket cabin by using the blue light surface scanner to obtain three-dimensional morphology data, obtaining the coordinates of the target ball on the blue light surface scanner under each scanning pose by using the laser tracker, obtaining a corresponding conversion matrix by using the coordinates of the target ball under each scanning pose, and splicing the scanning data;
s5: and carrying out a coordinate system on the scanning data of the pre-divided region to obtain complete shape data of the inner surface and the outer surface of the carrier rocket cabin.
2. The method for automated morphology reconstruction of a launch vehicle segment of claim 1, further comprising:
pasting a mark paste at the same position of the to-be-detected carrier rocket cabin, positioning the mark paste by the measuring unit, reversely solving the position of the to-be-detected carrier rocket cabin, adjusting the current position of the to-be-detected carrier rocket cabin to the position of the to-be-detected carrier rocket cabin scanned for the first time, and detecting the subsequent to-be-detected carrier rocket cabin by utilizing the scanning position recorded by the to-be-detected carrier rocket cabin for the first time and a template file constructed in the detection step.
3. The automated morphology reconstruction method of a carrier rocket bay according to claim 1, wherein the inner surface and the outer surface of the carrier rocket bay are respectively divided into four equal areas in advance for regional measurement.
4. A method of automated morphology reconstruction of a launch vehicle segment according to claim 3, wherein stitching the scan data in step S4 comprises stitching or aligning local data:
fixing the coordinates of the laser tracker in space to be XYZ and W as central positions, obtaining the coordinates of the target sphere under three pose of the blue light surface scanner, and respectively taking the target sphere as the center to establish a coordinate system x 0 -y 0- z 0 、x 1- y 1- z 1 、x 2- y 2- z 2 Tracking the positions of the laser tracker to obtain absolute poses of R|T relative to the laser tracker] 0 、[[R|T] 1 、[R|T] 2 The local point cloud data of the to-be-detected carrier rocket cabin section obtained through scanning is P 0 、P 1 、P 2 The relative pose between the three point clouds is [ [ R|T ] respectively] 0-1 And [ R|T ]] 1-2 The alignment between the local point clouds is accomplished by means of coordinate transformation, specifically as follows:
P 0-1 ＝R 0-1 ·P 1 +T 0-1 ·P 0
P 1-2 ＝R 1-2 ·P 2 +T 1-2 ·P 1 。
5. the automated vehicle cabin morphology reconstruction method of claim 4, wherein performing a coordinate system on the scanned data of the pre-divided region to obtain complete morphology data of the inner and outer surfaces of the vehicle cabin comprises:
When the first area is scanned on the inner surface or the outer surface, the blue light surface scanner is utilized to acquire the coding mark point on the detection turntable for photogrammetry, and the coordinate value of the coding mark point is acquired;
in each of said zonesDuring intra-field scanning, the laser tracker is kept still, the blue-light-surface scanner is used for obtaining the current coordinates of the coding mark points of the current region, and the coding mark points corresponding to the ID are used for solving a conversion matrix [ R|T ]] 3 Then using the transformation matrix to make the point cloud P of the second region 4 Point cloud P with first of said areas 3 Automatic alignment is performed:
P 3 ＝R 3 ·P 4 +T 3 ·P 4 。
6. the automated vehicle cabin topology rebuilding method of claim 5, wherein the laser tracker is turned when the scan of the inner surface of the vehicle cabin is switched to the scan of the outer surface or the scan of the outer surface of the vehicle cabin is switched to the scan of the inner surface;
the position of a measuring head of the laser tracker is kept unchanged during station transfer, a conversion matrix of the laser tracker before the station transfer is calculated according to the positions of the measuring head before and after the station transfer and the laser tracker before the station transfer, and the complete shape data P of the inner surface and the outer surface is obtained by aligning and unifying the data of the inner surface and the outer surface of the carrier rocket cabin by utilizing the conversion matrix A ：
P A ＝R·P out +T+P in
Wherein the data of the outer surface scanning is P out The data of the inner surface scan is P in 。
7. The automated morphology reconstruction method of a launch vehicle cabin according to claim 6, further comprising:
and registering the measurement model obtained according to the complete morphology data with the corresponding three-dimensional CAD model by utilizing error loss constraint, and carrying out deviation measurement.
8. The automated morphology reconstruction method of a launch vehicle cabin according to claim 7, further comprising:
recording the measurement model as X1, the corresponding three-dimensional CAD model as X2, performing coarse registration on the measurement model and the corresponding three-dimensional CAD model, performing singular value decomposition on two pieces of data, integrally resolving a conversion matrix, and performing initial alignment on the two pieces of point clouds;
then, fine registration is carried out by adopting an iterative closest point method, euclidean distance between closest points is taken as an error evaluation value, and the spatial positions of the two data are continuously optimized and iterated until convergence; let E be the loss function of the ICP method, there are:
where n is the evaluation point number.
9. An automated morphology reconstruction system for a launch vehicle segment, comprising:
the cabin section unit is used for fixing the to-be-detected carrier rocket cabin sections with different sizes;
The measuring unit comprises a first morphology measuring unit, a second morphology measuring unit and a laser measuring unit; the first morphology measuring unit is used for measuring morphology data of the inner surface of the carrier rocket cabin section to be measured, the second morphology measuring unit is used for measuring morphology data of the outer surface of the carrier rocket cabin section, the first morphology measuring unit and the second morphology measuring unit both comprise measuring robots and blue-light-surface scanners, the measuring robots are used for providing different poses of the blue-light-surface scanner, and the blue-light-surface scanners are used for scanning the morphology data of the carrier rocket cabin section under each pose; the laser measuring unit comprises a laser tracker and a target ball, wherein the target ball is arranged on the blue light surface scanner, and the laser tracker is used for acquiring the target ball coordinates on the blue light surface scanner under each pose;
a slide unit for controlling movement of the measuring unit;
the detection turntable unit is used for controlling 360-degree rotation of the carrier rocket cabin section to be detected;
a processing unit for implementing the method according to any of claims 1-8.
10. The automated vehicle pitch contour reconstruction system of claim 9, further comprising a plurality of lift pins;
The multi-section lifting rod is provided with a base, the base is fixedly connected with the measuring robot, and the measuring robot moves in the vertical direction up and down through the multi-section lifting rod.
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| US11256839B1 (en) * | 2021-04-12 | 2022-02-22 | Cadence Design Systems, Inc. | IP block scan chain construction |
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