基于误差约束的激光扫描路径优化研究  

Research on Laser Scanning Path Optimization Based on Error Constraint

作　　者：殷亚斌 张立强[1] 周六信 李宇昊 YIN Ya-bin;ZHANG Li-qiang;ZHOU Liu-xin;LI Yu-hao(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science;Shanghai TOP Numerical Control Technology Co.,Ltd.,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院 [2]上海拓璞数控科技股份有限公司,上海201620

出　　处：《软件导刊》2021年第12期54-58,共5页Software Guide

基　　金：国家自然科学基金项目(51775328)。

摘　　要：针对线激光扫描在获取工件表面轮廓的过程中,因扫描深度和角度变化造成的点云扫描误差不断变化的问题,提出适用于线激光的扫描路径规划策略。对于曲率变化较大的曲面,利用扫描深度和扫描角度形成的扫描误差建立扫描过程中三者的关系。以误差最小化为约束条件,寻找单个最佳扫描位姿,构建每块区域中扫描误差最小的扫描路径。对比3D线激光扫描仪得到的优化前后的点云数据与三坐标测量机测量数据,以线激光扫描仪为实验对象,在优化前后的线激光数据中标定不同位置的点,在三坐标测量机测量的数据中也选取相同位置的点,以后者为标准,对比两者误差。实验结果表明,优化后的扫描路径造成的扫描误差最大可降低16.450%,且随着扫描曲面曲率的增大,优化后降低的扫描误差也越大。In order to solve the problem that the point cloud scanning error is constantly changing due to the scanning depth and scan⁃ning angle changes during the process of obtaining the workpiece surface contour by line laser scanning,a scanning path planning strat⁃egy suitable for line laser scanning is proposed.For the curved surface whose curvature changes greatly,the scanning error formed by scanning depth and scanning angle is used to establish the relationship among the three aspects in the scanning process.With the error minimization as the constraint condition,a single optimal scanning pose was found,and the scanning path with the minimum scanning error in each region was constructed.The point cloud data before and after optimization obtained by the 3D line laser scanner were com⁃pared with the data measured by the CMM.With the line laser scanner as the experimental object,points at different positions were cal⁃ibrated in the line laser data before and after optimization,and the points at the same position were also selected from the data mea⁃sured by CMM.Through experimental comparison,it is found that the scanning error caused by the optimized scanning path can be re⁃duced by 16.450%at most.With the increase of the curvature of the scanning surface,the reduced scanning error after optimization is also greater.

关 键 词：激光扫描 测量误差 路径优化 位姿优化 

分 类 号：TP301[自动化与计算机技术—计算机系统结构]