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CN110735733B - Method and device for interior profile reconstruction of solid rocket motor based on laser point cloud - Google Patents

Method and device for interior profile reconstruction of solid rocket motor based on laser point cloud Download PDF

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CN110735733B
CN110735733B CN201911013136.5A CN201911013136A CN110735733B CN 110735733 B CN110735733 B CN 110735733B CN 201911013136 A CN201911013136 A CN 201911013136A CN 110735733 B CN110735733 B CN 110735733B
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solid rocket
rocket motor
point cloud
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displacement sensor
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CN110735733A (en
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金永
任立衡
王召巴
陈友兴
范晨
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North University of China
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02K—JET-PROPULSION PLANTS
    • F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
    • F02K9/96—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof characterised by specially adapted arrangements for testing or measuring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02K—JET-PROPULSION PLANTS
    • F02K9/00—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof
    • F02K9/08—Rocket-engine plants, i.e. plants carrying both fuel and oxidant therefor; Control thereof using solid propellants
    • G—PHYSICS
    • 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
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
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Abstract

本发明属于内型面重建技术领域，具体涉及一种基于激光点云的固体火箭发动机内型面重建方法及装置。一种基于激光点云的固体火箭发动机内型面重建方法，包括以下步骤：1)利用线激光位移传感器采集固体火箭发动机内表面的位移值，利用D‑H矩阵将采集到的数据转换为固体火箭发动机内型面三维点云数据；2)设待检测的固体火箭发动机的设计半径为R，采用基于半径R的均值滤波方法对内型面三维点云数据进行精简；3)对精简后的固体火箭发动机内型面三维点云数据利用三角网生长算法进行三角网格面重建。本发明用线激光位移传感器进行全面扫描，利用激光抗干扰性强、稳定性高、传播速度快的优点，实现了对固体火箭发动机内表面高精度高效率的测量。

Figure 201911013136

The invention belongs to the technical field of inner profile reconstruction, and in particular relates to a method and device for inner profile reconstruction of a solid rocket motor based on a laser point cloud. A method for reconstructing the inner surface of a solid rocket motor based on a laser point cloud, comprising the following steps: 1) using a line laser displacement sensor to collect the displacement value of the inner surface of the solid rocket motor, and using a D-H matrix to convert the collected data into solid 3D point cloud data of the inner profile of the rocket motor; 2) Suppose the design radius of the solid rocket motor to be detected is R, and the mean filtering method based on the radius R is used to simplify the 3D point cloud data of the inner profile; 3) The simplified The three-dimensional point cloud data of the solid rocket motor inner profile is reconstructed by using the triangular mesh growth algorithm. The invention uses the line laser displacement sensor to perform comprehensive scanning, and realizes the high-precision and high-efficiency measurement of the inner surface of the solid rocket motor by utilizing the advantages of strong anti-interference, high stability and fast propagation speed of the laser.

Figure 201911013136

Description

Laser point cloud based solid rocket engine inner molded surface reconstruction method and device
Technical Field
The invention belongs to the technical field of inner molded surface reconstruction, and particularly relates to a method and a device for reconstructing an inner molded surface of a solid rocket engine based on laser point cloud.
Background
The solid rocket engine is a propelling device taking a solid chemical propellant as a power source, and is widely applied to the fields of national defense, military industry, aerospace and aviation and the like. For this situation, it is necessary to rebuild the internal profile of the solid rocket engine to observe the quality of the internal profile. The size detection items of the inner molded surface of the solid rocket engine are very complicated, and a contact type measurement method is not suitable for the measurement aiming at the rigid requirements of non-contact and non-pollution in the measurement process of the inner cavity of the solid rocket engine, because the contact type measurement method is used for measuring by directly contacting or indirectly contacting a sensor and a measured object, the method has the defect that the surface of the object is possibly abraded when the sensor is contacted with the measured object, so that the measurement is not accurate; the non-contact ultrasonic measurement method needs a detection mode by means of a transmission medium, namely, ultrasonic waves can better enter a workpiece to be measured by means of a coupling agent during detection, the gap between a probe and the surface of the measured object needs to be filled with the coupling agent so as to ensure sufficient acoustic coupling, and impurities such as dirt can seriously affect the measurement accuracy, so that the method is not suitable for data acquisition.
Disclosure of Invention
The invention provides a method and a device for reconstructing an inner molded surface of a solid rocket engine based on laser point cloud.
In order to achieve the purpose, the invention adopts the following technical scheme:
a solid rocket engine inner molded surface reconstruction method based on laser point cloud comprises the following steps:
1) acquiring a displacement value of the inner surface of the solid rocket engine by using a linear laser displacement sensor, and converting data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner surface of the solid rocket engine by using a D-H matrix;
2) setting the design radius of the solid rocket engine to be detected as R, and simplifying the three-dimensional point cloud data of the inner molded surface of the solid rocket engine by adopting a mean value filtering method based on the radius R;
3) and reconstructing a triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm.
Further, the step 1) of acquiring the displacement value of the inner surface of the solid rocket engine by using the line laser displacement sensor, and converting the data acquired by the line laser displacement sensor into the three-dimensional point cloud data of the inner surface of the solid rocket engine by using the D-H matrix, comprises the following specific steps: the displacement value of the inner surface of the solid rocket engine is collected at equal intervals by combining the movement of the line laser displacement sensor along the axis of the solid rocket engine and the rotation movement of the solid rocket engine, and D-H modeling is carried out on the data collected by the line laser displacement sensor to obtain a D-H matrix:
Figure BDA0002244800420000021
and multiplying the data acquired by the linear laser displacement sensor by the D-H matrix respectively, converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud coordinates, and finally converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner molded surface of the solid rocket engine.
Further, the step 2) sets the design radius of the solid rocket engine to be detected as R, and simplifies the three-dimensional point cloud data of the solid rocket engine by adopting a mean filtering method based on the radius R, and the specific steps are as follows: matrix partitioning is carried out on three-dimensional point cloud data of the inner molded surface of the solid rocket engine, and the partitioning method is that when the y axis is partitioned at equal intervals, the coordinate of the x axis is unchanged; when the x axis is divided at equal intervals, the coordinate of the y axis is unchanged; simplifying each divided data small block by setting the three-dimensional coordinate of the initial acquisition point of each data small block as (x)i，yi，zi) Wherein i is 1,2i+Δy、xiWithin the data small block range of + delta x, judging the z value of the data point, deleting the data with the z value exceeding R +/-10 mm, and averaging the data with the z value between R +/-10 mm
Figure BDA0002244800420000031
Using a point (x) in combinationi，yi，
Figure BDA0002244800420000032
) All data in the data small block are replaced, so that data simplification is realized;
further, the step 3) of reconstructing the triangular mesh surface of the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm comprises the following specific steps: selecting any point in the simplified point set as a first point, selecting a point closest to the point as a second point, and connecting the points to serve as a first search edge of the triangulation algorithm; then according to the null circle criterion of the Delaunay triangle, searching a third point of the search edge from the residual point set so as to form the Delaunay triangle, adding two new edges of the generated triangle into the search edge, and repeating the previous operation until all the points are connected into the Delaunay triangle network, thereby reconstructing the three-dimensional shape of the inner profile of the fixed rocket engine; if the reconstructed curved surface Ri is located at R +/-0.2 mm, marking the curved surface Ri to be green, namely meeting the design index; if Ri is within R-0.2mm, the color is set to light blue, which indicates that the curved surface part has abrasion, and the color depth is increased by 1 every time when the Ri exceeds 0.1mm, and the color depth is used for indicating the severity of the abrasion; if Ri is more than R +0.2mm, the color is set to be light yellow, which indicates that the curved surface part needs to be polished, and the color depth is increased by 1 for every 0.1mm, and the degree of polishing is indicated by the color depth.
A solid rocket engine inner molded surface reconstruction device based on laser point cloud comprises an engine base, a fixed rocket engine and a simply supported beam base, wherein at least two pairs of supporting wheels are symmetrically arranged in front of and behind the upper surface of the engine base, the solid rocket engine is horizontally arranged on the supporting wheels, the supporting points of the supporting wheels are coincided with the centering part of the solid rocket engine, an encoder is arranged on one of the supporting wheels to measure the rotation angle of the solid rocket engine, a fixed seat is arranged on the upper surface of the engine base, a first motor and a clamping device are arranged on the fixed seat, the clamping device is a manual three-jaw chuck and is used for clamping one side of the solid rocket engine, the first motor drives the clamping device to rotate through belt transmission, the simply supported beam base is arranged adjacent to the engine base, and a guide rail is arranged on the simply supported beam base along the axial direction of the solid rocket engine, the movable trolley is arranged in the guide rail, a second motor is mounted on the movable trolley and drives the movable trolley to move through belt transmission, a simply supported beam fixing seat is arranged on the upper surface of the movable trolley, a simply supported beam is mounted on the simply supported beam fixing seat and coincides with the axis of the solid rocket engine, and a wired laser displacement sensor is arranged at the other end of the simply supported beam.
And furthermore, a support rod is arranged on the left side of the simply supported beam base, and rollers are arranged on the support rod and used for supporting the simply supported beam.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts the line laser displacement sensor to carry out non-contact comprehensive scanning on the inner surface of the solid rocket engine, utilizes the advantages of strong anti-interference performance, high stability and high propagation speed of laser to realize the high-precision and high-efficiency measurement on the inner surface of the solid rocket engine, then utilizes the D-H model to fixedly connect a coordinate system for each connecting rod in the model, strictly defines the coordinate axis of each coordinate system, gives four parameters for describing the connecting rod and the joint, can represent the transformation of any coordinate, has high flexibility, converts the data measured by the line laser displacement sensor into the three-dimensional point cloud data of the inner surface of the solid rocket engine through the D-H matrix modeling, then simplifies the three-dimensional point cloud data of the inner surface of the solid rocket engine through the simplified algorithm based on mean value filtering, reduces the time cost and the storage cost for carrying out the post-processing on the three-dimensional point cloud data of the inner surface of the solid rocket, meanwhile, compared with a curvature simplification method in the prior art, the simplification algorithm based on the mean filtering reduces the calculation difficulty and the calculation time, removes redundant points and improves the uniformity of simplified data; and then, in order to more clearly display the three-dimensional information of the inner molded surface of the solid rocket engine, triangular mesh surface reconstruction is carried out on the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by utilizing a triangular mesh growth algorithm, and compared with the wave front algorithm and the Voronoi graph algorithm, the method has the advantages of low operation speed, cavities and surface patch overlapping in front edge splitting and subdivision, simplicity and easiness in implementation, high operation speed, simplicity in storage and wide application range, and finally the state of the inner molded surface of the solid rocket engine is represented by different colors and color depth changes.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a coordinate calibration chart of each joint of the D-H model of the invention;
FIG. 3 is a block diagram of three-dimensional point cloud data of the inner surface of the solid rocket engine according to the present invention;
the device comprises an engine base-1, a fixed base-2, a first motor-3, a clamping device-4, a solid rocket engine-5, a supporting wheel-6, a simply supported beam base-7, a guide rail-8, a moving trolley-9, a second motor-10, a simply supported beam fixed base-11, a simply supported beam-12, a roller-13, a linear laser displacement sensor-14 and a supporting rod-15.
Detailed Description
In order to further illustrate the technical solution of the present invention, the present invention is further illustrated by the following examples.
A solid rocket engine inner molded surface reconstruction method based on laser point cloud comprises the following steps:
1) acquiring a displacement value of the inner surface of the solid rocket engine by using the linear laser displacement sensor, converting data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner surface of the solid rocket engine by using a D-H matrix, and specifically comprising the following steps: the method comprises the following steps of combining the movement of a linear laser displacement sensor along the axis of a solid rocket engine and the rotation movement of the solid rocket engine, collecting displacement values of the inner surface of the solid rocket engine at equal intervals, specifically, the linear laser displacement sensor moves a certain distance on a Y axis, the solid rocket engine rotates for one circle, and data collection at equal intervals is carried out according to the circle, or the solid rocket engine rotates for a certain angle, the linear laser displacement sensor moves for one stroke on the Y axis, and the data collection at equal intervals is carried out according to the line, and the data collected by the linear laser displacement sensor is subjected to D-H modeling as shown in figure 2, so that a D-H matrix can be obtained:
Figure BDA0002244800420000061
and multiplying the data acquired by the linear laser displacement sensor by the D-H matrix respectively, converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud coordinates, and finally converting the data acquired by the linear laser displacement sensor into three-dimensional point cloud data of the inner molded surface of the solid rocket engine.
2) Setting the design radius of the solid rocket engine to be detected as R, and simplifying three-dimensional point cloud data of the solid rocket engine by adopting a mean filtering method based on the radius R, wherein the method comprises the following specific steps: matrix partitioning is carried out on three-dimensional point cloud data of the inner molded surface of the solid rocket engine, and the partitioning method is that when the y axis is partitioned at equal intervals, the coordinate of the x axis is unchanged; when the x axis is divided at equal intervals, the coordinate of the y axis is unchanged; simplifying each divided data small block by setting the three-dimensional coordinate of the initial acquisition point of each data small block as (x)i，yi，zi) Wherein i is 1,2i+Δy、xiWithin a rectangular range of + Δ x, judging the z value of the data points in the range, deleting the data with the z value exceeding R + -10 mm, and averaging the data with the z value between R + -10 mm
Figure BDA0002244800420000062
Using a point (x) in combinationi，yi，
Figure BDA0002244800420000063
) All data in the data small block are replaced, so that data simplification is realized;
3) carrying out triangular mesh surface reconstruction on the simplified three-dimensional point cloud data of the inner molded surface of the solid rocket engine by using a triangular mesh growth algorithm, and specifically comprising the following steps: selecting any point in the simplified point set as a first point, selecting a point closest to the point as a second point, and connecting the points to serve as a first search edge of the triangulation algorithm; then according to the null circle criterion of the Delaunay triangle, searching a third point of the search edge from the residual point set so as to form the Delaunay triangle, adding two new edges of the generated triangle into the search edge, and repeating the previous operation until all the points are connected into the Delaunay triangle network, thereby reconstructing the three-dimensional shape of the inner profile of the fixed rocket engine; if the reconstructed curved surface Ri is located at R +/-0.2 mm, marking the curved surface Ri to be green, namely meeting the design index; if Ri is within R-0.2mm, the color is set to light blue, which indicates that the curved surface part has abrasion, and the color depth is increased by 1 every time when the Ri exceeds 0.1mm, and the color depth is used for indicating the severity of the abrasion; if Ri is more than R +0.2mm, the color is set to be light yellow, which indicates that the curved surface part needs to be polished, and the color depth is increased by 1 for every 0.1mm, and the degree of polishing is indicated by the color depth.
A solid rocket engine inner molded surface reconstruction device based on laser point cloud comprises an engine base 1, a fixed rocket engine 5 and a simply supported beam base 7, wherein at least two pairs of supporting wheels 6 are symmetrically arranged in front of and behind the upper surface of the engine base 1, the solid rocket engine 5 is horizontally arranged on the supporting wheels 6, the supporting points of the supporting wheels 6 are overlapped with the centering part of the solid rocket engine 5, an encoder is arranged on one of the supporting wheels 6 to measure the rotation angle of the solid rocket engine 5, a fixed seat 2 is arranged on the upper surface of the engine base 1, a first motor 3 and a clamping device 4 are arranged on the fixed seat 2, the clamping device 4 is a manual three-jaw chuck and is used for clamping one side of the solid rocket engine 5, the first motor 3 drives the clamping device 4 to rotate through belt transmission, the simple beam base 7 is adjacent to the engine base 1, a guide rail 8 is arranged on the simple beam base 7 along the axis direction of the solid rocket engine 5, a moving trolley 9 is arranged in the guide rail 8, a second motor 10 is mounted on the moving trolley 9, the second motor 10 drives the moving trolley 9 to move through belt transmission, a simple beam fixing seat 11 is arranged on the upper surface of the moving trolley 9, a simple beam 12 is mounted on the simple beam fixing seat 11, the simple beam 12 coincides with the axis of the solid rocket engine 5, and a wired laser displacement sensor 14 is arranged at the other end of the simple beam 12. A support rod 15 is arranged on the left side of the simply supported beam base 7, and a roller 13 is arranged on the support rod 15 and used for supporting the simply supported beam 12.
While there have been shown and described what are at present considered to be the essential features and advantages of the invention, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1.一种基于激光点云的固体火箭发动机内型面重建方法，其特征在于：包括以下步骤：1. a solid rocket motor inner profile reconstruction method based on laser point cloud, is characterized in that: comprise the following steps: 1)、利用线激光位移传感器采集固体火箭发动机内表面的位移值，利用D-H矩阵将线激光位移传感器采集到的数据转换为固体火箭发动机内型面三维点云数据，具体步骤为：结合线激光位移传感器沿固体火箭发动机轴线的运动以及固体火箭发动机自身的旋转运动，等间隔采集固体火箭发动机内表面的位移值，将线激光位移传感器采集到的数据进行D-H建模，可得D-H矩阵：1) Use the line laser displacement sensor to collect the displacement value of the inner surface of the solid rocket motor, and use the D-H matrix to convert the data collected by the line laser displacement sensor into the three-dimensional point cloud data of the inner surface of the solid rocket motor. The specific steps are: combine the line laser The movement of the displacement sensor along the axis of the solid rocket motor and the rotational movement of the solid rocket motor itself, the displacement values of the inner surface of the solid rocket motor are collected at equal intervals, and the data collected by the line laser displacement sensor is D-H modeling, and the D-H matrix can be obtained:
Figure FDA0002820552910000011
Figure FDA0002820552910000011
 将线激光位移传感器采集到的数据分别与D-H矩阵相乘，从而将线激光位移传感器采集到的数据转换成三维点云坐标，最终将线激光位移传感器采集到的数据转换为固体火箭发动机内型面三维点云数据；Multiply the data collected by the line laser displacement sensor with the D-H matrix respectively, so as to convert the data collected by the line laser displacement sensor into three-dimensional point cloud coordinates, and finally convert the data collected by the line laser displacement sensor into the solid rocket motor internal type Surface 3D point cloud data; 2)、设待检测的固体火箭发动机的设计半径为R，采用基于半径R的均值滤波方法对固体火箭发动机内型面三维点云数据进行精简；2) Suppose the design radius of the solid rocket motor to be detected is R, and use the mean filtering method based on the radius R to simplify the three-dimensional point cloud data of the inner profile of the solid rocket motor; 3)、对精简后的固体火箭发动机内型面三维点云数据利用三角网生长算法进行三角网格面重建。3) Using the triangular mesh growth algorithm to reconstruct the triangular mesh surface of the simplified three-dimensional point cloud data of the solid rocket motor inner surface. 2.根据权利要求1所述的一种基于激光点云的固体火箭发动机内型面重建方法，其特征在于：所述步骤2)设待检测的固体火箭发动机的设计半径为R，采用基于半径R的均值滤波方法对固体火箭发动机三维点云数据进行精简，具体步骤为：对固体火箭发动机内型面三维点云数据进行矩阵分块，分块方法为，对y轴进行等间隔划分时，x轴的坐标不变；对x轴进行等间隔划分时，y轴的坐标不变；对划分好的每个数据小块都进行数据精简，精简方法为，设每个数据小块初始采集点的三维坐标为(xi，yi，zi)，其中i＝1,2......，表示第i个数据小块，设定x、y方向的分辨率为Δx、Δy，则在长、宽为yi+Δy、xi+Δx的数据小块范围内，对该范围内数据点的z值进行判断，将z值超过R±10mm的数据进行删除，将z值位于R±10mm之间的数据进行正负划分，求平均值
Figure FDA0002820552910000021
最后用三维坐标点
Figure FDA0002820552910000022
代替该数据小块中的所有数据，从而实现数据精简。2. a kind of solid rocket motor inner profile reconstruction method based on laser point cloud according to claim 1, is characterized in that: described step 2) set the design radius of solid rocket motor to be detected to be R, adopt based on radius The mean filtering method of R simplifies the three-dimensional point cloud data of the solid rocket motor. The specific steps are: matrix block the three-dimensional point cloud data of the inner profile of the solid rocket motor. The block method is: when the y-axis is divided at equal intervals, The coordinates of the x-axis remain unchanged; when the x-axis is divided at equal intervals, the coordinates of the y-axis remain unchanged; the data is simplified for each divided data block. The method of streamlining is to set the initial collection point of each data block. The three-dimensional coordinates of is (x i , y i , z i ), where i=1, 2..., which represents the ith data block, and the resolutions in the x and y directions are set as Δx, Δy, Then, in the range of small data blocks whose length and width are y i +Δy and x i +Δx, the z value of the data points in the range is judged, the data whose z value exceeds R±10mm is deleted, and the z value is located in The data between R±10mm is divided into positive and negative, and the average value is calculated.
Figure FDA0002820552910000021
Finally, use the three-dimensional coordinate point
Figure FDA0002820552910000022
Replaces all data in the data block, thereby achieving data reduction. 3.根据权利要求1所述的一种基于激光点云的固体火箭发动机内型面重建方法，其特征在于：所述步骤3)对精简后的固体火箭发动机内型面三维点云数据利用三角网生长算法进行三角网格面重建，具体步骤为：选取精简后点集中的任意一点作为第一个点，选取距离该点最近的一个点作为第二个点，连接它们作为三角网生成算法的第一条搜索边；再根据Delaunay三角形的空圆准则，从剩余点集中寻找该搜索边的第三个点，从而构成一个Delaunay三角形，将生成三角形的两条新边加入到搜索边中，重复上一个操作直到所有点被连接到Delaunay三角网中，从而重建出固体 火箭发动机内型面的三维形状；如果重建曲面片Ri位于R±0.2mm则标记该曲面片为绿色，即满足设计指标；如果Ri位于R-0.2mm以内，颜色设定为淡蓝色，表示该曲面片部位存在磨损，每超过0.1mm，颜色深度增加1，利用颜色深浅来表示磨损的严重程度；如果Ri位于R+0.2mm以上，颜色设定为淡黄色，表示该曲面片部位需要打磨，每超过0.1mm，颜色深度增加1，利用颜色深浅来表示需要打磨的程度。3. a kind of solid rocket motor inner profile reconstruction method based on laser point cloud according to claim 1, is characterized in that: described step 3) utilizes triangulation to simplified solid rocket motor inner profile three-dimensional point cloud data. The mesh growth algorithm is used to reconstruct the triangular mesh surface. The specific steps are: select any point in the simplified point set as the first point, select a point closest to the point as the second point, and connect them as the triangular mesh generation algorithm. The first search edge; then according to the empty circle criterion of the Delaunay triangle, find the third point of the search edge from the remaining point set to form a Delaunay triangle, add the two new edges of the generated triangle to the search edge, repeat The last operation is performed until all points are connected to the Delaunay triangulation, so as to reconstruct the three-dimensional shape of the inner surface of the solid rocket motor; if the reconstructed surface Ri is located at R±0.2mm, mark the surface as green, that is, to meet the design index; If Ri is within R-0.2mm, the color is set to light blue, indicating that there is wear on the surface of the surface. Every time it exceeds 0.1mm, the color depth increases by 1, and the color depth is used to indicate the severity of wear; if Ri is within R+ If it is more than 0.2mm, the color is set to light yellow, indicating that the surface area needs to be polished. Every time it exceeds 0.1mm, the color depth increases by 1, and the color depth is used to indicate the degree of polishing. 4.一种基于激光点云的固体火箭发动机内型面重建装置，其特征在于：包括发动机基座(1)、固体 火箭发动机(5)、简支梁基座(7)，在所述发动机基座(1)的上表面前后对称设置有至少两对支撑轮(6)，所述固体火箭发动机(5)水平放置在支撑轮(6)上，且使支撑轮(6)的支撑点与固体火箭发动机(5)的定心部重合，在其中一个所述支撑轮(6)上安装有编码器，以测量固体火箭发动机(5)的旋转角度，在所述发动机基座(1)的上表面设置有固定座(2)，在所述固定座(2)上设置有一号电机(3)和夹紧装置(4)，所述夹紧装置(4)用于夹紧固体火箭发动机(5)的一侧，所述一号电机(3)通过带传动带动夹紧装置(4)旋转，所述简支梁基座(7)与发动机基座(1)相邻设置，在所述简支梁基座(7)上沿固体火箭发动机(5)轴线方向设置有导轨(8)，在所述导轨(8)内设置有移动小车(9)，在所述移动小车(9)上安装有二号电机(10)，所述二号电机(10)通过带传动带动移动小车(9)移动，在所述移动小车(9)的上表面设置有简支梁固定座(11)，在所述简支梁固定座(11)上安装有简支梁(12)，且所述简支梁(12)与固体火箭发动机(5)的轴线重合，在所述简支梁(12)的另一端设置有线激光位移传感器(14)。4. A solid rocket motor internal profile reconstruction device based on laser point cloud, characterized in that: comprising a motor base (1), a solid rocket motor (5), a simply supported beam base (7), and in the motor The upper surface of the base (1) is provided with at least two pairs of support wheels (6) symmetrically in the front and rear, the solid rocket motor (5) is placed horizontally on the support wheels (6), and the support point of the support wheel (6) is The centering parts of the solid rocket motor (5) coincide, and an encoder is installed on one of the support wheels (6) to measure the rotation angle of the solid rocket motor (5). The upper surface is provided with a fixing seat (2), and a No. 1 motor (3) and a clamping device (4) are arranged on the fixing seat (2), and the clamping device (4) is used for clamping the solid rocket motor ( 5) on one side, the No. 1 motor (3) drives the clamping device (4) to rotate through a belt drive, and the simply supported beam base (7) is arranged adjacent to the engine base (1). A guide rail (8) is arranged on the simply supported beam base (7) along the axis direction of the solid rocket motor (5), a moving trolley (9) is arranged in the guide rail (8), and a moving trolley (9) is arranged on the moving trolley (9). A No. 2 motor (10) is installed, and the No. 2 motor (10) drives a moving trolley (9) to move through a belt drive, and a simply supported beam fixing seat (11) is arranged on the upper surface of the moving trolley (9), A simply supported beam (12) is installed on the simply supported beam fixing seat (11), and the simply supported beam (12) is coincident with the axis of the solid rocket motor (5). The other end of the wire laser displacement sensor (14) is arranged. 5.根据权利要求4所述的一种基于激光点云的固体火箭发动机内型面重建装置，其特征在于：在所述简支梁基座(7)的左侧设置有支撑杆(15)，在所述支撑杆(15)上设置有滚轮(13)。5. A solid rocket motor interior profile reconstruction device based on laser point cloud according to claim 4, characterized in that: a support rod (15) is provided on the left side of the simply supported beam base (7) , a roller (13) is arranged on the support rod (15).
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