AutoScan系列复杂零件自动化三维测量装备开发与应用

自动化三维测量可实现复杂零件的精度检测，为后续工艺优化提供基础数据，是保证航空航天领域复杂零件成形精度的关键技术，但应用时尚存在以下问题：其一，自动化三维测量视点规划仍以人工示教为主，规划效率低、效果差；其二，锻造成形等工业现场工况恶劣，易使系统预先标定的参数发生漂移，测量精度难以保证；其三，多视测量数据拼接仍主要采用标志点拼接的方式，过程繁琐，应用局限大；其四，在线自动化测量时受工装夹具等影响，测量点云中存在大量背景噪声，影响数据自动处理的精度与稳定性。针对上述难题，介绍了基于双目测头的自动化测量视点规划、基于耦合焦距比例约束的系统参数自标定、基于全局优化的多视测量数据拼接、基于自适应阈值迭代最近点（ICP）点云背景噪声自动去除等关键技术；在此基础上，研制了系列自动化三维测量装备，包括PowerVirtualPlan视点规划软件、PowerScan三维测量软件、iPoint3D数据处理软件的开发；最后，介绍自动化三维测量装备在航天航空等领域的工程应用情况。

Development and application of AutoScan series automated 3D measuring equipment for complex parts

Automated 3D measurement can realize precision inspection of complex parts and provide basic data for subsequent process optimization. It is a key technology to ensure the forming accuracy of complex parts in the aerospace field. However, it encounters four challenges in application:viewpoint planning of automated 3D measurement is still based on manual teaching, leading to inefficiency and poor performance; harsh environment of industrial sites such as the forging site can easily cause drift of the pre-calibration parameters of the system, and the measurement accuracy cannot be guaranteed; registration of multi-view measurement data still mainly adopts the method of marked points registration, which is complicated and has great limitations in application; affected by tooling and fixtures during online automated measurement, there is a large amount of background noise in the measurement point cloud, which affects the accuracy and stability of automated data processing. To overcome these problems, this paper introduces the key technologies such as automated measurement viewpoint planning based on binocular measuring equipment, self-calibration of system parameters based on coupled focal length ratio constraints, measurement data registration of multi-view based on global optimization, and background noise removal of point cloud based on adaptive threshold Iterative Closest Point (ICP). A series of automated 3D measurement equipment is developed, including PowerVirtualPlan viewpoint planning software, PowerScan 3D measurement software, and iPoint3D data processing software. Application of automated 3D measurement equipment in aerospace and other fields are also presented.