CN103885390A - Demonstration-free laser three-dimensional measurement method based on reverse engineering technology and device - Google Patents
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Abstract
Translated fromChineseDescription
Translated fromChinese技术领域technical field
本发明涉及一种在五轴联动激光切割机上安装测量装置通过逆向工程软件重构其CAD模型，实现复杂板材的免示教激光切割的方法和设备。The invention relates to a method and equipment for realizing teaching-free laser cutting of complex plates by installing a measuring device on a five-axis linkage laser cutting machine and reconstructing its CAD model through reverse engineering software.
背景技术Background technique
五轴联动激光切割机原有的示教录返过程是依靠操作者的视觉和手工点动来完成的, 整个过程不但费时费力, 而且由于测头与工件的间距靠操作者肉眼确定, 不易准确控制; 同时由于测头结构的限制, 导致精度不能得到有效保证。如何充分地利用已有的系统设备来实现免示教切割, 便成为一个迫切需要解决的实际工程问题。The original teaching and recording process of the five-axis linkage laser cutting machine is completed by the operator's vision and manual jogging. control; at the same time, due to the limitation of the probe structure, the accuracy cannot be effectively guaranteed. How to make full use of existing system equipment to realize teaching-free cutting has become a practical engineering problem that needs to be solved urgently.
发明内容Contents of the invention
本发明的目的是提供一种基于逆向工程技术的免示教激光三维测量方法和设备，通过利用光学测量仪与五轴联动激光切割机的数控系统构成借机测量系统，实现三维曲面上切割姿态、轨迹的自动规划和数控编程。The purpose of the present invention is to provide a teaching-free laser three-dimensional measurement method and equipment based on reverse engineering technology. By using the optical measuring instrument and the numerical control system of the five-axis linkage laser cutting machine to form an opportunity measurement system, the cutting posture on the three-dimensional curved surface can be realized. , Automatic trajectory planning and NC programming.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
基于逆向工程技术的免示教激光自动切割装置，其组成包括：五轴联动激光切割机，所述的五轴联动激光切割机连接数字化采集硬件和计算机，共同构成获取工件的点云数据的三维测量系统，所述的数字化采集硬件的光学测量仪与激光切割头固定，作为工件空间点坐标的测量装置。A teaching-free laser automatic cutting device based on reverse engineering technology, its composition includes: a five-axis linkage laser cutting machine, the five-axis linkage laser cutting machine is connected to digital acquisition hardware and a computer, and together constitute a three-dimensional system for obtaining point cloud data of the workpiece As for the measurement system, the optical measuring instrument of the digital acquisition hardware is fixed with the laser cutting head as a measuring device for the spatial point coordinates of the workpiece.
一种基于逆向工程技术的免示教激光三维测量方法，在激光切割头上固定一个光学测量仪，由切割机的运动控制系统带动光学测量仪一起运动，利用光学测量仪与五轴联动激光切割机的数控系统构成借机测量系统，来完成工件空间点坐标的测量, 获取其点云数据，然后利用逆向工程软件重构工件的CAD模型，进而根据该CAD模型实现对激光切割姿态、轨迹的在线规划。A teaching-free laser three-dimensional measurement method based on reverse engineering technology. An optical measuring instrument is fixed on the laser cutting head, and the motion control system of the cutting machine drives the optical measuring instrument to move together. The optical measuring instrument and the five-axis linkage laser cutting are used. The numerical control system of the machine constitutes an opportunity measurement system to complete the measurement of the coordinates of the workpiece space point, obtain its point cloud data, and then use the reverse engineering software to reconstruct the CAD model of the workpiece, and then realize the laser cutting attitude and trajectory according to the CAD model. Online planning.
所述的基于逆向工程技术的免示教激光三维测量方法，光学测量仪与激光切割头固定在一起，利用五轴联动激光切割机的数控系统构成借机测量系统，测量和加工在同一台设备上完成, 工件一次装夹就完成测量和加工,消除二次装夹误差。In the teaching-free laser three-dimensional measurement method based on reverse engineering technology, the optical measuring instrument and the laser cutting head are fixed together, and the numerical control system of the five-axis linkage laser cutting machine is used to form an opportunity measurement system, and the measurement and processing are carried out on the same equipment The workpiece is measured and processed in one clamping, eliminating the error of secondary clamping.
所述的基于逆向工程技术的免示教激光三维测量方法，利用逆向工程软件重构工件CAD模型，进而根据所述的CAD模型及激光切割要求实现对激光切割姿态、轨迹的在线规划，实现复杂曲面的五轴联动免示教激光切割。The teaching-free laser three-dimensional measurement method based on reverse engineering technology uses reverse engineering software to reconstruct the CAD model of the workpiece, and then realizes online planning of laser cutting posture and trajectory according to the CAD model and laser cutting requirements, realizing complex Five-axis linkage teaching-free laser cutting of curved surfaces.
所述的基于逆向工程技术的免示教激光三维测量方法，通过切割机的运动控制系统带动光学测量仪运动，实现对工件的扫描运动，光学测量仪采用数字光栅投影方式将光栅条纹投影到被测物体表面，CCD 相机从相异的角度拍摄被测物体表面的条纹图像，并输入到计算机；计算机上的数据处理软件根据获取条纹图像中的信息精确解析出每一个像素对应物体表面点的空间坐标（X、Y、Z），生成被测物体表面的三维点云数据，并对数据进行自动合成，生成工件表面完整的点云数据，作为逆向工程软件的输入；由逆向工程软件完成复杂型面点云数据的预处理、点云数据与目标曲面的配准、点云数据的分片、曲线曲面的重构及CAD模型重建；然后根据重构的CAD模型的特点及激光切割的特点利用轨迹规划软件实现切割头姿态及轨迹的自动规划，并输出其G代码，这样不需要示教，就可以直接获得激光的切割轨迹。The teaching-free laser three-dimensional measurement method based on reverse engineering technology drives the optical measuring instrument to move through the motion control system of the cutting machine to realize the scanning movement of the workpiece. The optical measuring instrument uses digital grating projection to project the grating stripes onto the To measure the surface of the object, the CCD camera takes the fringe images on the surface of the object to be measured from different angles, and input them to the computer; the data processing software on the computer accurately analyzes the space of each pixel corresponding to the surface point of the object according to the information in the obtained fringe image Coordinates (X, Y, Z), generate three-dimensional point cloud data on the surface of the measured object, and automatically synthesize the data to generate complete point cloud data on the surface of the workpiece as the input of the reverse engineering software; the reverse engineering software completes the complex type Preprocessing of surface point cloud data, registration of point cloud data and target surface, segmentation of point cloud data, reconstruction of curve and surface, and CAD model reconstruction; then according to the characteristics of the reconstructed CAD model and the characteristics of laser cutting, use The trajectory planning software realizes the automatic planning of the cutting head posture and trajectory, and outputs its G code, so that the cutting trajectory of the laser can be directly obtained without teaching.
有益效果：Beneficial effect:
本发明通过借机测量系统充分发挥了五轴联动激光切割机CNC 系统的功能, 对解决激光加工中切割头姿态及轨迹自动规划这一工程实际问题起到了有效的作用。The present invention fully exerts the functions of the CNC system of the five-axis linkage laser cutting machine by taking the opportunity to measure the system, and plays an effective role in solving the engineering practical problem of automatic planning of the attitude and trajectory of the cutting head in laser processing.
本发明特别适合于对三维大型覆盖件等薄壁、易变形工件的在线切割，可以进一步降低设备对工人的技术要求、节省加工时间、提高加工效率，更好地满足五轴联动激光切割加工的要求。本发明具有速度快、精度高、可操作性强的优点,可以更好地满足五轴联动激光切割加工的要求。The invention is especially suitable for online cutting of thin-walled and deformable workpieces such as three-dimensional large-scale coverings, which can further reduce the technical requirements of equipment for workers, save processing time, improve processing efficiency, and better meet the needs of five-axis linkage laser cutting processing. Require. The invention has the advantages of fast speed, high precision and strong operability, and can better meet the requirements of five-axis linkage laser cutting processing.
本发明通过逆向工程技术为解决该问题提供了一条新思路，在激光切割头上固定一个光学测量仪，由切割机的运动控制系统带动光学测量仪一起运动，利用光学测量仪与五轴联动激光切割机的数控系统构成借机测量系统，来完成工件空间点坐标的测量, 获取其点云数据，然后利用逆向工程软件重构工件的CAD模型，进而根据该CAD模型实现对激光切割姿态、轨迹的在线规划，实现复杂板材的免示教激光切割。The present invention provides a new idea to solve this problem through reverse engineering technology. An optical measuring instrument is fixed on the laser cutting head, and the motion control system of the cutting machine drives the optical measuring instrument to move together. The optical measuring instrument and the five-axis linkage laser The CNC system of the cutting machine constitutes an opportunity measurement system to complete the measurement of the coordinates of the workpiece space point, obtain its point cloud data, and then use the reverse engineering software to reconstruct the CAD model of the workpiece, and then realize the laser cutting posture and trajectory according to the CAD model. On-line planning to realize teaching-free laser cutting of complex plates.
本发明在五轴联动激光切割机上, 配置相应的数字化采集硬件和计算机软件, 构成简易的三维测量系统, 从而达到投资少、见效快、事半功倍的效果。该测量系统属于准在线测量系统, 测量和加工在同一台设备上完成, 工件一次装夹就完成测量和加工,省时且测量成本低, 无二次装夹误差。同时, 该系统容易实现自动控制测量的示教录返编程, 比起原有的点动控制示教录返编程, 具有速度快、精度高、可操作性强的优点, 因而可以更好地满足五轴联动激光切割加工的要求。The present invention configures corresponding digital acquisition hardware and computer software on a five-axis linkage laser cutting machine to form a simple three-dimensional measurement system, thereby achieving the effects of less investment, quick results, and twice the result with half the effort. The measurement system belongs to the quasi-online measurement system, and the measurement and processing are completed on the same equipment, and the measurement and processing of the workpiece are completed in one clamping, which saves time and low measurement cost, and has no secondary clamping error. At the same time, the system is easy to realize the teaching and recording programming of automatic control measurement. Compared with the original jogging control teaching and recording programming, it has the advantages of fast speed, high precision and strong operability, so it can better meet the requirements of Five-axis linkage laser cutting processing requirements.
附图说明Description of drawings
图1：一种基于逆向工程技术的免示教三维激光切割方法；Figure 1: A teaching-free 3D laser cutting method based on reverse engineering technology;
图2：一种基于逆向工程技术的免示教激光切割机数据处理流程。Figure 2: A teaching-free laser cutting machine data processing flow based on reverse engineering technology.
具体实施方式Detailed ways
实施例1：Example 1:
基于逆向工程技术的免示教激光自动切割装置，其组成包括：五轴联动激光切割机，所述的五轴联动激光切割机连接数字化采集硬件和计算机，共同构成获取工件的点云数据的三维测量系统，所述的数字化采集硬件的光学测量仪与激光切割头固定，作为工件空间点坐标的测量装置。A teaching-free laser automatic cutting device based on reverse engineering technology, its composition includes: a five-axis linkage laser cutting machine, the five-axis linkage laser cutting machine is connected to digital acquisition hardware and a computer, and together constitute a three-dimensional system for obtaining point cloud data of the workpiece As for the measurement system, the optical measuring instrument of the digital acquisition hardware is fixed with the laser cutting head as a measuring device for the spatial point coordinates of the workpiece.
实施例2：Example 2:
一种基于逆向工程技术的免示教激光三维测量方法，在激光切割头上固定一个光学测量仪，由切割机的运动控制系统带动光学测量仪一起运动，利用光学测量仪与五轴联动激光切割机的数控系统构成借机测量系统，来完成工件空间点坐标的测量, 获取其点云数据，然后利用逆向工程软件重构工件的CAD模型，进而根据该CAD模型实现对激光切割姿态、轨迹的在线规划。A teaching-free laser three-dimensional measurement method based on reverse engineering technology. An optical measuring instrument is fixed on the laser cutting head, and the motion control system of the cutting machine drives the optical measuring instrument to move together. The optical measuring instrument and the five-axis linkage laser cutting are used. The numerical control system of the machine constitutes an opportunity measurement system to complete the measurement of the coordinates of the workpiece space point, obtain its point cloud data, and then use the reverse engineering software to reconstruct the CAD model of the workpiece, and then realize the laser cutting attitude and trajectory according to the CAD model. Online planning.
实施例3：Example 3:
实施例2所述的基于逆向工程技术的免示教激光三维测量方法，光学测量仪与激光切割头固定在一起，利用五轴联动激光切割机的数控系统构成借机测量系统，测量和加工在同一台设备上完成, 工件一次装夹就完成测量和加工,消除二次装夹误差。In the teaching-free laser three-dimensional measurement method based on reverse engineering technology described in Example 2, the optical measuring instrument and the laser cutting head are fixed together, and the numerical control system of the five-axis linkage laser cutting machine is used to form an opportunity measurement system. It is completed on the same equipment, and the workpiece is measured and processed in one clamping, eliminating the error of secondary clamping.
实施例4：Example 4:
实施例3所述的基于逆向工程技术的免示教激光三维测量方法，利用逆向工程软件重构工件CAD模型，进而根据所述的CAD模型及激光切割要求实现对激光切割姿态、轨迹的在线规划，实现复杂曲面的五轴联动免示教激光切割。The teaching-free laser three-dimensional measurement method based on reverse engineering technology described in embodiment 3 uses reverse engineering software to reconstruct the CAD model of the workpiece, and then realizes online planning of laser cutting posture and trajectory according to the CAD model and laser cutting requirements , realizing five-axis linkage-free teaching-free laser cutting of complex curved surfaces.
实施例5：Example 5:
光学测量仪与激光切割头固定在一起，由切割机的运动控制系统带动光学测量仪运动，实现对工件的扫描运动。光学测量仪采用数字光栅投影方式将光栅条纹投影到被测物体表面，CCD 相机从相异的角度拍摄被测物体表面的条纹图像，并输入到计算机。计算机上的数据处理软件根据获取条纹图像中的信息精确解析出每一个像素对应物体表面点的空间坐标（X、Y、Z），生成被测物体表面的三维点云数据，并对数据进行自动合成，生成工件表面完整的点云数据，作为逆向工程软件的输入。由逆向工程软件完成复杂型面点云数据的预处理、点云数据与目标曲面的配准、点云数据的分片、曲线曲面的重构及CAD模型重建等。然后根据重构的CAD模型的特点及激光切割的特点利用轨迹规划软件实现切割头姿态及轨迹的自动规划，并输出其G代码，这样不需要示教，就可以直接获得激光的切割轨迹。The optical measuring instrument is fixed with the laser cutting head, and the motion control system of the cutting machine drives the optical measuring instrument to move to realize the scanning movement of the workpiece. The optical measuring instrument uses a digital grating projection method to project the grating stripes onto the surface of the measured object, and the CCD camera captures the fringe images on the surface of the measured object from different angles and inputs them to the computer. The data processing software on the computer accurately analyzes the spatial coordinates (X, Y, Z) of each pixel corresponding to the surface point of the object according to the information in the acquired fringe image, generates the three-dimensional point cloud data of the surface of the object to be measured, and automatically processes the data Synthesis, generate the complete point cloud data of the workpiece surface, as the input of reverse engineering software. The reverse engineering software completes the preprocessing of complex surface point cloud data, the registration of point cloud data and the target surface, the segmentation of point cloud data, the reconstruction of curves and surfaces, and the reconstruction of CAD models, etc. Then according to the characteristics of the reconstructed CAD model and the characteristics of laser cutting, the trajectory planning software is used to realize the automatic planning of the cutting head posture and trajectory, and output its G code, so that the laser cutting trajectory can be obtained directly without teaching.
其中采用的硬件：The hardware used in it:
(1) 光学测量仪。本系统采用光学双目面扫描测头，测量距离为800mm-1000mm，分辨率可达1280*1024，测量精度0.05mm，单次扫描时间≤5s。(1) Optical measuring instrument. This system adopts an optical binocular scanning probe, the measuring distance is 800mm-1000mm, the resolution can reach 1280*1024, the measuring accuracy is 0.05mm, and the single scanning time is ≤5s.
(2) 五轴联动激光切割机的运动控制系统。包括驱动系统和相应执行机构, 由它们来完成测量过程计算机发出的运动指令。(2) The motion control system of the five-axis linkage laser cutting machine. Including the drive system and the corresponding actuators, which are used to complete the motion instructions issued by the computer in the measurement process.
(3) 数控系统中的测量软件模块。借机量系统的功能实现, 很大程度上取决于系统的软件，它主要完成测头运动控制, 如光学测量仪运动速度和空间位置的控制; 采样数据处理, 获取机床当前三坐标的空间位置。(3) The measurement software module in the CNC system. The function realization of the machine tool measurement system largely depends on the system software, which mainly completes the motion control of the probe, such as the control of the movement speed and spatial position of the optical measuring instrument; sampling data processing, to obtain the current three-coordinate spatial position of the machine tool .
（4）专用逆向工程软件。根据测量模块的测量结果进行数据处理、曲线曲面重构获取其CAD模型。(4) Special reverse engineering software. According to the measurement results of the measurement module, data processing and reconstruction of curves and surfaces are carried out to obtain its CAD model.
（5）基于CAD模型的轨迹规划软件。根据逆向工程软件重构的CAD模型特征及激光切割的特点，实现切割姿态及轨迹的自动规划。(5) Trajectory planning software based on CAD model. According to the features of CAD model reconstructed by reverse engineering software and the characteristics of laser cutting, the automatic planning of cutting posture and trajectory is realized.
以上仅是本发明的具体应用范例，对本发明的保护范围不构成任何限制，凡采用等同变换、等效变换而形成的技术方案，均在本发明权利保护范围之内。The above are only specific application examples of the present invention, and do not constitute any limitation to the protection scope of the present invention. All technical solutions formed by equivalent transformation and equivalent transformation are within the protection scope of the present invention.
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| CN108230400B (en)* | 2017-12-26 | 2021-10-19 | 常州固高智能控制技术有限公司 | Self-adaptive coordinate reconstruction method suitable for laser cutting machine |
| CN108356828A (en)* | 2018-01-30 | 2018-08-03 | 深圳市圆梦精密技术研究院 | Workpiece coordinate system modification method |
| CN109940290A (en)* | 2019-04-09 | 2019-06-28 | 奔腾激光(温州)有限公司 | Control system based on three-dimensional five-axis 3D laser cutting |
| CN109940290B (en)* | 2019-04-09 | 2020-11-03 | 奔腾激光(温州)有限公司 | Control system based on three-dimensional five-axis 3D laser cutting |
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| CN110421264A (en)* | 2019-08-20 | 2019-11-08 | 南通大学 | A kind of micro- texture processing method of laser |
| CN112620932A (en)* | 2020-09-14 | 2021-04-09 | 江苏玛吉克工业自动化有限公司 | Three-dimensional five-axis laser cutting system based on 3D vision |
| CN112719632A (en)* | 2020-12-21 | 2021-04-30 | 北京航星机器制造有限公司 | Positioning cutting method and device and cutting equipment |
| CN114681001A (en)* | 2020-12-28 | 2022-07-01 | 北京和华瑞博医疗科技有限公司 | Cutting precision verification method of surgical robot system |
| CN112757057A (en)* | 2021-01-19 | 2021-05-07 | 武汉海默机器人有限公司 | Intelligent manual-teaching-free grinding and polishing method and system integrating visual depth analysis |
| CN113427133A (en)* | 2021-06-16 | 2021-09-24 | 西安交通大学 | Laser equipment and method for guiding automatic processing based on three-dimensional vision online measurement |
| CN113771036A (en)* | 2021-09-24 | 2021-12-10 | 三一建筑机器人(西安)研究院有限公司 | Cutting method, device and cutting equipment |
| CN114549521A (en)* | 2021-12-13 | 2022-05-27 | 大连理工大学 | Carbon tube array honeycomb surface shape precision calculation method based on G code processing guidance |
| CN114549521B (en)* | 2021-12-13 | 2025-05-23 | 大连理工大学 | Carbon tube array honeycomb surface accuracy calculation method based on machining G code guidance |
| CN114413774A (en)* | 2021-12-29 | 2022-04-29 | 国能铁路装备有限责任公司 | Method and device for measuring assembly gap width of bogie to be measured in railway wagon |
| CN114413774B (en)* | 2021-12-29 | 2024-07-02 | 国能铁路装备有限责任公司 | Method and device for measuring width of assembly gap of bogie to be tested in railway wagon |
| CN115790447A (en)* | 2022-12-12 | 2023-03-14 | 哈尔滨工业大学芜湖机器人产业技术研究院 | A system and method for detecting the profile of extruded cabin parts based on point cloud |
| CN116309658A (en)* | 2023-02-28 | 2023-06-23 | 海目星激光科技集团股份有限公司 | A Calculation Method of VR Lens Cutting Trajectory |
| CN116309658B (en)* | 2023-02-28 | 2025-10-03 | 海目星激光科技集团股份有限公司 | A method for calculating VR lens cutting trajectory |
| CN116851930A (en)* | 2023-04-28 | 2023-10-10 | 华南智能机器人创新研究院 | A three-dimensional five-axis curved surface laser cutting trajectory generation method and device |
| CN116851930B (en)* | 2023-04-28 | 2024-08-13 | 华南智能机器人创新研究院 | Three-dimensional five-axis curved surface laser cutting track generation method and device |
| CN118672207A (en)* | 2024-05-30 | 2024-09-20 | 徐州启峰智能科技有限公司 | High-precision digital control processing method for aluminum alloy structural part |
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