复杂曲面零件面结构光扫描视点规划  

Viewpoint planning of surface structured light scanning for complex surface parts

作　　者：任明阳 王立忠 赵建博 唐正宗 REN Ming-yang;WANG Li-zhong;ZHAO Jian-bo;TANG Zheng-zong(State Key Laboratory for Manufacturing Systems Engineering,School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;School of Mechanical Engineering,Xinjiang University,Urumqi 830046,China;Innovation Lab,XTOP 3D Technology(Shenzhen)Co.Ltd.,Shenzhen 518060,China)

机构地区：[1]西安交通大学机械工程学院机械制造系统工程国家重点实验室,陕西西安710049 [2]新疆大学机械工程学院,新疆乌鲁木齐830046 [3]新拓三维技术(深圳)有限公司创新实验室,广东深圳518060

出　　处：《中国光学（中英文）》2023年第1期113-126,共14页Chinese Optics

基　　金：国家自然科学基金资助项目(No.51865057)。

摘　　要：为了实现复杂曲面零件高效自动化测量,本文提出了一种基于改进栅格法的面结构光扫描视点规划方法,并将其应用在汽车复杂曲面零件自动化测量中。首先,针对人工示教视点冗余严重,扫描完整性差的问题,提出了一种基于改进栅格法的面结构光扫描视点规划算法,根据面结构光扫描仪的有效测量范围,确定栅格尺寸,改进候选视点生成策略,并通过扫描仪的测量约束条件得到候选视点的有效测量范围,利用视点质量评价函数确定最优视点。其次,针对视点规划过程中算法耗时长,特征重建精度低的问题,采用体素网格法简化模型,通过八叉树算法分割复杂曲面模型,根据法向量一致性误差确定体素网格尺寸,并且对于几何特征不同的模型,分析权重系数对扫描质量的影响,给出最佳权重系数。最后,进行了汽车钣金件和减速器壳体扫描视点规划和测量实验。结果表明,汽车钣金件视点规划耗时21.93 s,扫描完整性为99.124%,扫描精度为0.025 mm;汽车减速器壳体视点规划耗时158.29 s,扫描完整性为93.231%,扫描精度为0.032 mm。本方法能快速完成复杂曲面视点规划,并且采用规划视点扫描的模型完整性好,精度高,能够满足复杂曲面零件自动测量的要求。In order to realize the efficient and automatic measurement of complex curved surface parts,we propose a viewpoint planning method of surface structured light scanning based on an improved grid method,and apply it to the automatic measurement of automobile parts with complex curved surface.Firstly,aiming at the problem of serious redundancy and poor scanning integrity of the manual teaching viewpoint,a scanning viewpoint planning algorithm for surface structured light based on an improved grid method is proposed.According to the effective measurement range of a surface structured light scanner,the grid size is determined,and the candidate viewpoint generation strategy is improved.The effective measurement range of candidate viewpoints is obtained by the measurement constraint condition of the scanner,and the optimal viewpoint is determined by the viewpoint quality evaluation function.Secondly,in view of the low efficiency of the algorithm and the low accuracy of feature reconstruction in the process of viewpoint planning,the voxel grid method is used to simplify the model.The complex surface model is segmented by the octree algorithm,and the voxel grid size is determined according to the normal vector consistency error.For the models with different geometric characteristics,the influence of the weight coefficient on the scanning quality is analyzed,and the optimal weight coefficient is given.Finally,the scanning viewpoint planning and measurement experiments of automobile sheet metal parts and reducer shell are carried out.The results show that the viewpoint planning of the automobile sheet metal parts takes 21.93 s,the scanning integrity is 99.124%,and the scanning accuracy is 0.025 mm.The viewpoint planning of automobile reducer shell takes 158.29 s,its scanning integrity is 93.231%,and its scanning accuracy is 0.032 mm.This method can quickly complete the viewpoint planning of complex curved surfaces,and the model obtained by planning viewpoint scanning has good integrity and high precision,which can meet the

关 键 词：复杂曲面 结构光 视点规划 栅格法 质量评价函数 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] O348.1[自动化与计算机技术—计算机科学与技术]