CN112308902A - Method for acquiring gravity center of object by combining three-dimensional scanning modeling with suspension method - Google Patents
Method for acquiring gravity center of object by combining three-dimensional scanning modeling with suspension method Download PDFInfo
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- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- G01M1/122—Determining position of centre of gravity
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The invention discloses a method for acquiring the gravity center of an object by combining three-dimensional scanning modeling with a suspension method, which comprises the following steps: 1) sticking positioning mark points on the object and the lifting rope; 2) the method comprises the following steps of (1) suspending an object by using a lifting rope, and carrying out three-dimensional scanning on the object and the lifting rope by using three-dimensional scanning equipment after the object is static; 3) repeating the step 2) after the suspension point is changed; 4) importing the three-dimensional data obtained by the two times of scanning into three-dimensional modeling software, identifying the positioning mark points in the three-dimensional modeling software, and performing position fitting based on the positioning mark points and a pre-established digital model so as to place the positioning mark points obtained by the two times of scanning into a correct coordinate position; 5) and (3) solving the coordinates of the linear space position of the lifting rope during twice suspension, the intersection point of the two straight lines or the midpoint of the shortest connecting line, namely the barycentric coordinate of the object. The method has the advantages of high measurement efficiency, short time consumption and higher accuracy of the acquired barycentric coordinate, and is particularly suitable for measuring the barycentric coordinate of a complex assembly.
Description
Technical Field
The invention relates to a method for determining the gravity center of an object, in particular to a method for acquiring the gravity center of the object by combining three-dimensional scanning modeling with a suspension method.
Background
When the whole vehicle is developed, the weight and the gravity center position of the part need to be known, the method for obtaining the weight is simple, but the method for obtaining the gravity center of the part, particularly the gravity center of the complicated irregular part, is difficult. When the parts are analyzed and the CAE model is built, the gravity center of the parts is needed, and the accuracy degree of the gravity center often influences the final calculation analysis result.
At present, the methods for determining the center of gravity mainly include a suspension method and a modeling method.
The hanging method is a method of marking mark points on an object, three times of hoisting positions are recorded through a picture, intersection points are generated according to connecting lines of the picture and positioning points in the picture along the extension lines of the hoisting lines, and the corresponding intersection points in the three-dimensional model are obtained according to the proportion relation after the intersection points in the picture, so that the gravity center of the object is obtained. The suspension method needs three times of measurement, and the gravity center is obtained by utilizing the intersection of three surfaces, so the error is large, and the measured gravity center coordinate is not placed at the correct coordinate position of the part on the whole vehicle by an accurate means.
The modeling method is to build a high-precision digital model for the object and then obtain the gravity center through the gravity center analysis function of three-dimensional software. This method is limited to objects of simple construction and uniform density. For complex parts, if the complex parts comprise various non-metal materials and various structures (such as a rearview mirror assembly) with an adjusting mechanism, a shell, a mirror support, an electric device and the like, the modeling consumes long time, and a digital model cannot be consistent with a real object, so that three-dimensional software is useless, only an estimation method can be actually adopted, and the error is very large.
Disclosure of Invention
The invention aims to provide a method for acquiring the gravity center of an object by combining a three-dimensional scanning modeling method with simple operation and high accuracy with a suspension method.
In order to achieve the purpose, the method for acquiring the gravity center of the object by combining the three-dimensional scanning modeling with the suspension method, which is designed by the invention, comprises the following steps:
1) sticking positioning mark points on the object and the lifting rope;
2) the method comprises the following steps of (1) suspending an object by using a lifting rope, and carrying out three-dimensional scanning on the object and the lifting rope by using three-dimensional scanning equipment after the object is static;
3) repeating the step 2) after the suspension point is changed;
4) importing the three-dimensional data obtained by the two-time scanning into three-dimensional modeling software, identifying the positioning mark points in the three-dimensional modeling software, and performing position fitting based on the positioning mark points and a pre-established digital model (including a scanning point cloud digital model), so that the positioning mark points obtained by the two-time scanning are placed at the correct coordinate positions;
5) in a digital-analog three-dimensional coordinate system, the linear space position of the lifting rope during twice suspension, and the coordinate of the intersection point of two straight lines or the midpoint of the shortest connecting line are obtained, namely the barycentric coordinate of the object. Theoretically, the intersection point of two straight lines is the center of gravity, but because certain errors exist in the scanning or modeling process, the two straight lines may have the condition of non-intersection in the space, and at the moment, the midpoint of two points which are closest to the two straight lines is taken as the center of gravity of the object.
Preferably, in step 1), for a specific point to which a positioning mark point cannot be directly pasted, pasting a plurality of positioning mark points as reference points at appropriate positions near the specific point to indirectly determine the position of the specific point; in the step 4), after the reference point is identified in the three-dimensional modeling software, the specific point is obtained through conversion. Taking a circular hole as an example, the center of the circle can be generally selected as a point feature, but a mark point cannot be directly positioned at the center of the circle, so that three positioning mark points are pasted on the circumferential edge of the hole to be used as reference points to indirectly determine the position of the center of the circle, after the three reference points are identified in three-dimensional modeling software, the centers of the circles of the three points are obtained, and the position of the center of the circle of the circular hole is obtained.
Preferably, in the step 4), a specific method of position fitting is as follows: and aligning the positioning mark points corresponding to the point features with corresponding point features on the digital analogy, and/or aligning the positioning mark points corresponding to the line features with the line features on the digital analogy, so that the positioning mark points of the two times of scanning are placed at the correct coordinate positions.
Preferably, in the step 4), the pre-established digifax is a model established by measuring external structural features of the object, or a point cloud digifax established by scanning the object through a three-dimensional scanning device and using three-dimensional modeling software.
Preferably, in the step 1), the positioning mark points are high-light-reflection black circle mark points.
Preferably, in step 1), the positioning mark point is pasted at a characteristic position which is easy to be recognized by the object.
Preferably, in the step 1), two positioning mark points are pasted on the lifting rope. The position of the lifting rope can be completely determined based on the principle that one straight line is determined on two points.
Considering that the existing three-dimensional scanning equipment and matched three-dimensional modeling software can directly scan an object to obtain a digital-analog, the invention also provides an object gravity center obtaining method without pasting a positioning mark point, and the method comprises the following steps:
1) suspending the object by using a lifting rope, and carrying out three-dimensional scanning on the object and the overall outline of the lifting rope by using three-dimensional scanning equipment after the object is static;
2) repeating the step 1) after changing the suspension point;
3) importing the three-dimensional data obtained by the two-time scanning into three-dimensional modeling software, and performing position fitting with a pre-established digital analog, so that the three-dimensional data obtained by the two-time scanning is placed at a correct coordinate position;
4) the spatial position of the straight line of the lifting rope during twice suspension is obtained, and the coordinate (considering error condition) of the intersection point of the two straight lines or the middle point of the shortest connecting line is the barycentric coordinate of the object.
Preferably, in the step 3), the specific method for performing position fitting is to perform feature identification on the imported three-dimensional data, identify point features and/or line features therein, and align the identified features with corresponding features in a pre-established digifax one by one, so as to put the three-dimensional data scanned twice to a correct coordinate position.
Preferably, in the step 3), the pre-established digifax is a model established by measuring external structural features of the object, or a point cloud digifax established by scanning the object through a three-dimensional scanning device and using three-dimensional modeling software.
Preferably, in the step 3), the pre-established digital model is a point cloud digital model established in three-dimensional modeling software by the three-dimensional data obtained by scanning in the step 1) or the step 2); at this time, only the three-dimensional data obtained by another scanning needs to be fitted into the established point cloud digital model.
Compared with the prior art, the invention has the beneficial effects that:
1) compared with a conventional suspension method, the method not only reduces the suspension times for one time, but also is easy to obtain key position coordinates by adopting three-dimensional scanning modeling, can obtain high-precision barycentric coordinates by combining two times of suspension, and is convenient for placing parts in a finished automobile digifax.
2) Compared with the conventional modeling method, the internal structure and the material of the object do not need to be determined, and the gravity center position can be accurately measured for complex parts, particularly competitive parts without specific data, no matter how the internal structure is, and how the material density distribution is uneven.
3) The method has the advantages of high measurement efficiency, short time consumption and higher accuracy of the acquired barycentric coordinate, and is particularly suitable for measuring the barycentric coordinate of a complex assembly.
Drawings
Fig. 1 is a schematic view showing a state of a suspension scanning step in embodiment 1 of the present invention (for convenience of explanation and simplification of the drawings, a suspension rope suspended twice is drawn in the same drawing).
Wherein: the device comprises an object 1, a lifting rope 2, a positioning mark point 3 and a three-dimensional scanning device 4.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
Example 1
The embodiment provides a method for acquiring the gravity center of an object by combining three-dimensional scanning modeling with a suspension method, which comprises the following steps:
1) sticking location mark point
A positioning mark point 3 is stuck on the object 1 and the lifting rope 2, see fig. 1. The positioning mark point 3 is a high-reflection black circle positioning mark point carried by the three-dimensional scanning device 4, and is marked as 'x' in fig. 1.
The position of the mark point 3 on the object 1 is a feature (such as a hole, an edge, a boss, etc.) that is easy to be recognized, and the points are scattered as much as possible and are adhered in different directions.
Two positioning mark points 3 are pasted on the lifting rope 2 and are respectively positioned at the hanging point of the lifting rope 2 and an object and a certain distance above the hanging point.
For a specific point (such as the center of a hole) on the object 1, which cannot be directly pasted with the positioning mark point 3, the position of the specific point is indirectly determined by pasting a plurality of positioning mark points 3 at proper positions near the specific point as reference points (such as pasting 3 positioning mark points 3 at the edge of the hole).
2) First suspension scan
The object 1 is suspended by means of a lifting rope 2, the suspension of which is shown in fig. 1 as an inclined lifting rope (the direction of the lifting rope is vertical in the actual suspension, and is shown as an inclined state when incorporated in the secondary suspension).
After the device is still, the object 1 and the lifting rope 2 are scanned three-dimensionally by using a three-dimensional scanning device 4, and in this embodiment, the three-dimensional scanning device 4 adopts a structured light scanner.
3) Secondary suspension scanning
The object 1 is suspended again by changing the suspension point, and the suspension state of the lifting rope and the object is shown as the vertical lifting rope in fig. 1.
After the object 1 and the lifting rope 2 are still three-dimensionally scanned again by the three-dimensional scanning device 4.
Note that the connecting line of the suspension points of the two suspensions cannot pass through the gravity center of the object, otherwise, the intersection relation cannot be formed on one line; in order to reduce the measurement error, the connecting line of the gravity center and the two suspension points should have a large included angle (acute angle or right angle).
4) Fitting into a digital model
And importing the three-dimensional point cloud data obtained by the two-time scanning into three-dimensional modeling software matched with the three-dimensional scanning equipment 4, identifying the positioning mark points 3 in the three-dimensional point cloud data, and converting the auxiliary points to obtain the specific points (such as hole centers).
Based on the position fitting of the positioning mark points 3 with a pre-established digital model (a contour model established by measuring the external structure of the object 1), the specific method is to align the positioning mark points 3 corresponding to the point characteristics with the corresponding point characteristics on the digital model, and align the positioning mark points 3 corresponding to the line characteristics with the line characteristics on the digital model, so that the positioning mark points 3 scanned twice are placed at the correct coordinate positions.
5) Finding barycentric coordinates
In a digital-analog three-dimensional coordinate system, the linear space position of the lifting rope 2 during twice suspension is obtained, and the coordinate of the intersection point of the two straight lines or the midpoint of the shortest connecting line is the barycentric coordinate of the object 1, which is shown as a black dot in fig. 1.
Example 2
This embodiment is equivalent to the simplified scheme of embodiment 1, and the main difference is that a three-dimensional scanning device is used to directly scan an object to establish a digital-analog, thereby reducing the step of pasting a positioning mark point.
The method for acquiring the gravity center of the object provided by the embodiment comprises the following steps:
1) first suspension scan
The method comprises the following steps that (1) an object 1 is hung through a lifting rope 2, and after the object is static, the overall outline of the object 1 and the lifting rope 2 is scanned in a three-dimensional mode through a three-dimensional scanning device 4; in the present embodiment, the three-dimensional scanning device 4 employs a laser scanner.
2) Secondary suspension scanning
And changing the suspension point to suspend the object 1 again, and after the suspension is static, three-dimensional scanning is performed on the overall contour of the object 1 and the lifting rope 2 again by using the three-dimensional scanning equipment 4.
Note that the connecting line of the suspension points of the two suspensions cannot pass through the gravity center of the object, otherwise, the intersection relation cannot be formed on one line; in order to reduce the measurement error, the connecting line of the gravity center and the two suspension points should have a large included angle (acute angle or right angle).
3) Fitting into a digital model
3.1) importing the three-dimensional data obtained by the first scanning into three-dimensional modeling software, carrying out feature recognition and establishing a point cloud digital analog.
3.2) importing the three-dimensional point cloud data obtained by the second scanning into three-dimensional modeling software, and performing position fitting with the point cloud digital analogy established in the step 3.1), wherein the specific method comprises the following steps: and carrying out feature identification on the imported three-dimensional point cloud data, and aligning the identified point features and line features with corresponding features in the point cloud digital analogy one by one, so that the three-dimensional point cloud data scanned for the second time is placed at the correct coordinate position in the point cloud digital analogy.
4) Finding barycentric coordinates
The spatial position of the straight line of the lifting rope 2 during twice suspension is obtained, and the coordinate (considering the error condition) of the intersection point of the two straight lines or the middle point of the shortest connecting line is the barycentric coordinate of the object 1.
Claims (10)
1. A method for acquiring the gravity center of an object by combining three-dimensional scanning modeling with a suspension method is characterized by comprising the following steps: the method comprises the following steps:
1) sticking a positioning mark point (3) on the object (1) and the lifting rope (2);
2) the object (1) is suspended by using the lifting rope (2), and after the object is static, the object (1) and the lifting rope (2) are scanned in a three-dimensional mode by using three-dimensional scanning equipment (4);
3) repeating the step 2) after the suspension point is changed;
4) importing the three-dimensional data obtained by the two-time scanning into three-dimensional modeling software, identifying the positioning mark points (3) in the three-dimensional modeling software, and performing position fitting based on the positioning mark points (3) and a pre-established digital model so as to place the positioning mark points (3) obtained by the two-time scanning into correct coordinate positions;
5) in a digital-analog three-dimensional coordinate system, the linear space position of the lifting rope (2) during twice suspension is obtained, and the coordinate of the intersection point of the two straight lines or the middle point of the shortest connecting line is the barycentric coordinate of the object (1).
2. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to claim 1, is characterized in that: in the step 1), for a specific point which cannot be directly pasted with the positioning mark point (3), a plurality of positioning mark points (3) are pasted at proper positions nearby the specific point to be used as reference points, so as to indirectly determine the position of the specific point; in the step 4), after the reference point is identified in the three-dimensional modeling software, the specific point is obtained through conversion.
3. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to claim 1, is characterized in that: in the step 4), the specific method of position fitting is as follows: the registration mark points (3) corresponding to the point features are aligned with the corresponding point features on the digifax and/or the registration mark points (3) corresponding to the line features are aligned with the line features on the digifax, so that the registration mark points (3) of the two scans are brought to the correct coordinate positions.
4. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to claim 1, is characterized in that: in the step 4), the pre-established digital model is a model established by measuring the external structural features of the object (1), or a point cloud digital model established by scanning the object (1) through a three-dimensional scanning device (4) and through three-dimensional modeling software.
5. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to any one of claims 1 to 4, characterized in that: in the step 1), the positioning mark points (3) are high-reflection black circle mark points and are adhered to characteristic positions which are easy to identify on the object (1).
6. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to any one of claims 1 to 4, characterized in that: in the step 1), two positioning mark points (3) are adhered to the lifting rope (2).
7. A method for acquiring the gravity center of an object by combining three-dimensional scanning modeling with a suspension method is characterized by comprising the following steps: the method comprises the following steps:
1) the method comprises the following steps that (1) an object (1) is hung through a lifting rope (2), and after the object (1) is static, the whole outline of the object (1) and the lifting rope (2) is scanned in a three-dimensional mode through a three-dimensional scanning device (4);
2) repeating the step 1) after changing the suspension point;
3) importing the three-dimensional data obtained by the two-time scanning into three-dimensional modeling software, and performing position fitting with a pre-established digital analog, so that the three-dimensional data obtained by the two-time scanning is placed at a correct coordinate position;
4) and (3) solving the linear space position of the lifting rope (2) during twice suspension, wherein the coordinate of the intersection point of the two straight lines or the middle point of the shortest connecting line is the barycentric coordinate of the object (1).
8. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to claim 7, is characterized in that: in the step 3), the specific method for performing position fitting is to perform feature recognition on the imported three-dimensional data, recognize point features and/or line features therein, and align the recognized features with corresponding features in a pre-established digifax one by one, so as to place the three-dimensional data scanned twice into a correct coordinate position.
9. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to claim 7 or 8, wherein the method comprises the following steps: in the step 3), the pre-established digital model is a model established by measuring the external structural features of the object (1), or a point cloud digital model established by scanning the object (1) through a three-dimensional scanning device (4) and through three-dimensional modeling software.
10. The method for acquiring the gravity center of an object by combining the three-dimensional scanning modeling and the suspension method according to claim 7 or 8, wherein the method comprises the following steps: in the step 3), the pre-established digital model is a point cloud digital model established in three-dimensional modeling software by the three-dimensional data obtained by scanning in the step 1) or the step 2); at this time, only the three-dimensional data obtained by another scanning needs to be fitted into the established point cloud digital model.
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Cited By (1)
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| CN113532738A (en) * | 2021-07-22 | 2021-10-22 | 中国第一汽车股份有限公司 | Centroid measuring method |
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Application publication date: 20210202 |