Visual positioning-based tubular component inner cavity shape acquisition method and scanning device thereof

• Main Authors: LI YANWEN, XU ZONGGUO, WANG HUAWEI, PENG HONGXIN, LIU ZIXUAN, WANG DENGKUI, ZHANG ZHENG, HUO WEIHAO, CHENG KAI, CHEN NIANLONG, LI ZHIMIN, LUO ZIMAO, YANG YI, LIU JIANXIN, GENG SHIHAN, JIANG SENWEI
• Format: Patent
• Language: Chinese; English
• Published: 25.11.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention relates to a tubular component inner cavity shape obtaining method based on visual localization and a scanning device thereof, and the method comprises the following steps: 1, obtaining the center coordinates of each target ball in a three-ball target through a visual localization system; 2, positioning the visual positioning system to obtain the pose of the visual positioning system; 3, positioning the moving trolley and the laser scanning radar; and step 4, point cloud splicing is carried out according to the rotation angle of the laser radar at each moment and the coordinates thereof, the surface of the inner cavity of the tubular component is completely scanned, and the shape of the inner cavity of the tubular component is obtained. According to the method, splicing calculation of the shape of the inner cavity of the tubular component is completed through the similarity principle and matrix transformation, and the calculation precision is improved. The scanning device used by the invention c