DUOfNG RESEARCH AND MANUFACTURE OF LASER 3D

NGHIEN CUU VA CHE TAO MAY QUET LASER 3D THEO DUOfNG RESEARCH AND MANUFACTURE OF LASER 3D

Nguyen Vdn Vinh

Vu Hoeing Tudn, Nguyen Direrng Hung,Diremg Diic Hieu.

Vien CO- khf, Dgi Hge Bdch Khoa Hd Ngi Tdm tdt:

Mdv quet sir dung phuang phdp tam gidc- lirc/ng de xdc dinh chieu .scat be mat vgt (hogt dgng ninr mat ngirdi). Dc) phdn gidi cua mdy dgt dugc theo phuong chieu rgng (X) vd chieu .sdu (Y) idn lirgi: Vy = 75 (pin), Vy = 150 (jjm). Do chfnh .xdc: 2G^ = 0,0S8 (mm);

2G^. = 0,312 (mm). Vung lean viec cua thiit hi theo cdc phuang XxYxZ: 106x80x200 (mm).

Abstract:

The device is called La.ser 3D Scanner non-contact bei.sed on principle of triangulation to define the depth of the surface of the object having operating as the eyes.

Resolution of device are achieved by wide (X) and depth (Y): Vy = 75 (pm), Vy = 150 (pm).

Accuracy of measurement: 2CF^ = 0,088 (mm); 2o,. - 0,312 (mm). Workspace by direction XxYxZ: 106x80x200 (mm).

I. DAT VAN DE

Hidn nay mdy quel 3D ngay cdng dugc sir dung nhidu trong cdng nghiep, qudn sy va ddi sdng.Trong cdng nghiep, may quel lazer 3D thudng dugc dung de do ludng, kiem tra hoae thiet ke nguge cdc chi tiet vd sdn

phdm CO khf, dtd, y te...

Mdy quet lazer 3D la mdt cdng nghe mdi ra ddi tren the gidi each day khodng 10 ndm. Tuy cd khd ndng ling dung trong nhidu ung dung nhung do gid thanh cdn khd cao ndn vide iing dung cdng nghe nay d Viet Nam cdn chua nhieu, vdn de nghien cuu va chd tao mdy quet Lazer 3D d Viet Nam cdn chua dugc dd cap ddn.

7 Wit do

1 1 •

E)aii d o

/I

Hinh 1. Nguyen li cOa may quet laser.

Ddu do chuyen ddng tjnh tidn dgc theo phuang true Z ciia vat. Vdi moi mgt budc tidn cua ddu do thi tia Lazer quet tren be mat vdt mdt vdt theo profil edt ngang vat. Tai'mdi Idt cdt nay ddu do thu lai mdt dnh giri len mdy tfnh xii If thu dugc gid tri cdc toa do theo X, Y va vdi toa do Z la tga do dieu khidn tir dd ta thu dugc tga do cua bd mdt vat"theo mdt Profil cdt ngang vdt. Vdi cdch lam tugng ty vdi nhieu Idt cdt dgc theo ehidu cao cua vat Tir do ta cd thd xdy dung dugc be mat vdt da dugc so hoa. Vdi bd tga do (X,Y,Z) cua vai ta md phdng lai hinh

dang be mat cua vat bdng phdn mdm '

H. NGHIEN Ciru VA TINH TOAN THIET KE 2.1. NGUYEN LY CHUNG:

Nguydn tdc do cua thidt bj la xac djnh ciic tao do ciia cac diem M. trdn be mat chi tidl do theo tga do Ddcac Oxyz. So dd nguydn ly cau tao ciia thidt bj nhu hinh 2

Ddng CO 1 quay truyen chuyen ddng cho vft me 4 qua ndi true 3. Vft me 4 quay truyen chuydn dgng cho dai dc gdn cimg vdi gid mang dau do lam cho gid mang ddu do chuyen ddng tjnh tidn theo hudng S. Dgng CO 2 quay truyen chuyen ddng cho ban quay 6.

Nguyen ly ciia thidt bi trong thf nghiem nay:

Chuyen ddng cua thidt bi dugc kdt hgp bdi 2 chuyen dgng:

-f- He thdng truyen dgng ciia thiet bi dugc didu khien bdng he dieu khien su dung 2 vi didu khidn AT89C52 de didu khien 2 dgng co budc qua vi didu khien L293D vd dugc do gdc quay bdng 2 Encoder.

• E ;

i...

r,~-

. / -\

"-^

1 .Dpng CO tao cln.yen dong tinh tien; 2.Encoder, 3. Noi tmc; 4.tfuc vit; 5.Hop dau do; 6.Dia quay;

7.Dong co; S.Vat do; 9.S6ng tn»<?t Hinh 2: So do cdu tga cda thiet bi

Khoi ai^ch Lyc 1

Vi dieu khien 1

Dpng cc/ CD tinh tien

<fe-i

^{Encoder 1}

f; Vit me - Dai oc

•'• Dau do laser

t

rpc

•^-w&,-

1^6

1^^

h dieu khien 2

' Khoi mach

^Luc 2

Encoder 2;

i

D6ng cO'_ GD quay Vat do

Hinh 3. Sff do khoi hf thon^ dieu khien thilt bj

+ Chuyen ddng do theo true x,y ciia chi tiet dugc thye hien bdng he thdng ban quay mang chi tiet quay quanh mdt true cd dinh. Chuyen dgng ndy dugc thye hien bdi dgng ca budc 8 ndi vdi ban quay mang chi tiet 7 bang ndi truc.Gdc quay ciia ban quay dugc do bdi Encoder cd do phan giai 0.1 do

+ Chuydn dgng theo phuang z Id chuyen dgng ciia he truyen dgng vit me-dai dc 5 mang

dau do dugc dan dgng bang dgng co budc 1. Chuyen ddng nay dugc kiem tra bdng Encoder CO do phan giai 0.1 do

+ Viec do cac tga do M(x,y,z) thye hien bang dau do laser theo nguyen ly tam gidc lugng:

Lugng bidn ddi kfch thudc ciia vat do dz dugc xdc dinh qua do dich chuyen DZ Id lugng

dich chuydn cua vdt laser tren cam bien CCD dya vdo cdc cdng thue lugng gidc trong tam

+ Phdn quain trgng nhdt cau thiet bj: Dau do laser dugc nghien cuu che tao gdm cd nguon 1 laser, 1 ihli kfnh try, I CCD va thdu kfnh loi phfa trudc CCD va 1 kfnh Igc sdc nhu tren hinh 5.

I.ji«r

Cam Men CCD

(.'CD Thautaiili

1

I # Thau. Kinh ''Ddi titcrng

Kiiili lc)c .Siic

Ngudn Lasei Tliau kiiili tiv

Hinh 5. Cau tao dau do laser Hinh 4. Bien doi ki'ch thudc cQa vat do Az

2.2. TINH T O A N VA XAC LAP H A M T R U Y 6 N :

Hdm truydn ciia ddu do laser bidu thi mdi tuong quan ciia tga dg thye cua be mat vat do theo hai phuang X, Y dugc xdc djnh thdng qua tga d^ Xc, > ciia vdt laser thu dugc tren CCD bdng phuang phdp tam gidc lugng.

Thidt bj thidt kd cd cac thdng sd: Lo = 100 ; Zo= 50 ; a = 600 ; fto= 4.

Ham truyen de xdc djnh tao do thye theo phuang X:

Xc SO.JTc 50.JCC

X = Zo. =

^o.cosor-yc.sinor 4.cos60° - yc.sin60° \ 3 2-yc.

Ham truyen de xdc dinh tao do thye theo phuang Y bo.sina + yc.cosQ'

y = Zo.

0 0

4.sin60 + vc.cos60 4

= 50. = 50

bo.cosa - yc.sinor ^.0

V3+ yc 4 - yc.V3

4.COS60 -yc.sin60

Trong dd:

^ ° : khoang cdch tir quang tam thdu ki'nh true quay dia phan do

^° :Khodng cdch tir quang tam thdu ki'nh camera den mat phdng ciia tia lazer.

d : Gdc tao bdi phuang thdng dung vdi quang true cua thau kfnh tren camera.

^°: khodrig cdch tir quang tam thdu kfnh camera ddn CCD.

Xc,Yc : Lan lugt la tga do theo phuang x

tren CCD cua didm dnh thu i. Hinh 6. Sa ah tinh toan ham truyin M Id 1 diem ndm tren vet laser quet len vat do vdi tga do thye tren vat (X,Y,Z).

Dg phan gidi theo phuang X:

Zo ,7 Z».sincir. .Xr

den tren

tr8n vay

V;c = -Wxr + -

b„. cos a - y,: sin a {b,, cos a - y,-. sin cr) ~7^y<- = 25 .Ap = 25.3 = 0,075 (mm)

Do phan giai theo phuang Y:

Vv =

^Zi)..bo -Vv, = 50.A/7 = 50.0,003 = 0,15 (mm) [b«.co?,a- vr..sin(2')'

Do dd phan giai ciia CCD trdn camera la mdt Pixel (vdi khoang each cac Pixel trdn CCD la 3pm) ndn do phan giai tuang ung cua may theo hai phuang X va Y: (Ap: Do phan giai cua CCD)

Viing lam viec ciia thidt bj: Qua thye nghiem thye td xdc djnh dugc viing do ciia thidt bj da chd tao la khdi hop cd kfch thudc theo cac phuang XxYxZ: 106x80x200 (mm).

III. KET QUA NGHlfiN CUU 3.1. THIET BI DA CHE TAG: Hinh 6

15.1

? 15.05

I "

^-

=i 15

M 14.95

^ 14.9 g 14.85 ^

14.8

-Thirc nghiem

•Mlu

Hinh 6. Anh (hiet bj che tao

i I I I I I I I 1 I I I I I I I I I I I I I I I I I I I I

1 3 5 7 9 11 1315 17 19 2123 25 27 29 Ldn do

Hinh 7. Do thi sai s6 theo Phu-ong X 3.2. xAC DINH Ti SO TRUYEN THI/C vA D A N H GIA SAI SO DO:

A. D A N H GIA SAI SO TtffiO TRUC X: is.8

Vat chudn Id can mau Ceramic(Gdm iss cdng nghiep) 15mm cap chi'nh xdc 0 ciia

hang MITUTOYO. Vdi can mdu ta danh gid dugc he sd mdy kx =1,125.

Do lech chuan: 0"^^= 0,044 mm.

Do chi'nh xdc Id: 2cr^ = 0,088 (mm) B. D A N H GIA SAI SO THEO TRUC Y:

Do kiem tra cdc can mau cd do ddy 15 mm de ddnh gid sai sd cua thiet bi theo phuang Y Xac djnh dugc ky= 1,02.

15.4

£. 15.2 c IS i . 14 8 .i 14-6

H <j 14.4 14 2 14

—*— Thvre nghiem - • - Mau

' T ' T " f T I I ! ' | - I " l ' I" t 1 I I I I—I I ""I "T I—r T I I I T '

3 S 7 9 11 13 15 17 19 21 23 25 27 29

Hinh 8. Do thj sai so theophuoiig Y Do lech chudn: cr^ = 0,156 mm.

Do chfnh xdc: 2 ay = 0,312 (mm^

c. ANH VAT MO PHONG VAT DO:

Anh vat do chup biing miiy iinh sd va hinh anh vat do md phdng lai bdng phdn mdm co sir tirans; ddn»ve hinh diing. , .. . , - A,

Ciic vung con khuyCn tren hinh md phong hi do vet liiser khdng quet loi dugc, do vung do hi che khudl bai chfnh be miii cua miiu viil.

• Co Ihc khdc phuc bang ciich quel nhiCu kin .s;iu do ghep cac manh ghep lai voi nhau de thu dugc be mat thye.

M-'i i»"K W% •ifj;*!-"•'•"•"- ..ar -iS'

w\ p II .?^^,. \ '

6 0 •

4 0 - _ '

Hinh 9. Anh mdu vat do Hinh 10. Anh mo phdng sau khi do IV. THAO LUAN

+ Thiet bj che tao thir nghiem hoat ddng dn djnh vdi tdc do do tren mdt dudng quet khoang 0,2s. ' .

Dir lieu tga do xuat ra dang file text va md phdng 3D bdng phdn mdm viet tren ngdn ngii MATLAB 7.10 vdi do chfnh xdc theo phuang X nhd ban 0,1mm va theo phuang Y nhd hem 0,312 mm tuong duang vdi do chi'nh xdc cua cdc thiet bj do bien dang cd cap chi'nh xdc trung binh ciia nudc ngoai sdn xudt

+ hudng nghien ciiu tidp tuc nang cao do chi'nh xdc ciia ddu do laser vdi chdt lugng cua chiim tia laser tdt ban vd cdm bien CCD cd do phan gidi cao ban ,hodn thien phdn mdm xii ly sd lieu de sira cdc khuyet tdt vd ghep ndi 3D

Tai lieu tham khao

[1] Xu ly sd lieu khi do kfch thudc chi tidt bdng phuang phdp quet laser Luan vdn thac s i - Luu Thiiy Chung.

[2] Nhap mdn xir ly dnh sd - Luang Manh Ba, Nguyen Thanh Thuy - NXB KHKT.