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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。
Abstract: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 requirements of complex curved surface parts for automatic measurement.
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图 2单目/双目相机有效测量范围示意图
Figure 2.Schematic diagram of effective measuring range for monocular camera and binocular cameras
图 3双目扫描仪有效测量范围和栅格单元示意图
Figure 3.Effective measuring range of binocular scanner and schematic diagram of grid cell
图 14汽车钣金件和减速器壳体不同体素尺寸法向量一致性误差及耗时
Figure 14.Normal vector consistency errors and consuming times of automobile sheet metal parts and reducer shell
图 16权重系数对钣金件扫描质量的影响
Figure 16.Influence of weight coefficient on scanning quality for sheet metal parts
图 18权重系数对减速器壳体扫描质量的影响
Figure 18.Influence of weight coefficient on the scanning quality for reducer shell
图 19（a）复杂曲面自动化测量实验系统及（b）示意图
Figure 19.(a) Experimental system for automatic measurement of complex surfaces and (b) its schematic diagram
图 20汽车钣金件视点生成及扫描效果示意图
Figure 20.Viewpoint generation and scanning effect of automobile sheet metal parts
表 1体素网格扫描质量评价指标
Table 1.Quality evaluation indexes of voxel mesh
角度范围（°） 0<φ<25 25<φ<50 50<φ<75 75<φ 扫描质量 优秀 良好 中等 差 
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