CN108827149B - Turntable calibration method based on linear laser displacement sensor and diffuse reflection gauge block - Google Patents
Turntable calibration method based on linear laser displacement sensor and diffuse reflection gauge block Download PDFInfo
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- CN108827149B CN108827149B CN201810598149.2A CN201810598149A CN108827149B CN 108827149 B CN108827149 B CN 108827149B CN 201810598149 A CN201810598149 A CN 201810598149A CN 108827149 B CN108827149 B CN 108827149B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a turntable calibration method based on a linear laser displacement sensor and a gauge block, in particular to a method for calibrating the center of a turntable and the normal vector direction of the turntable by using a diffuse reflection gauge block. The method is suitable for a four-axis measuring machine structure, a line laser displacement sensor is adopted to measure the measuring surface of the diffuse reflection gauge block, the center of gravity of the measuring surface of the diffuse reflection gauge block at different positions of the rotary table is extracted through rotation of the rotary table, and the center of the rotary table and the normal vector of the rotary table are calculated according to a series of measured centers of gravity. The invention utilizes the diffuse reflection gauge block to calibrate the rotary table, and reduces the calibration deviation of the center of the rotary table caused by inaccurate center of the fitted standard sphere due to smaller area of the measured standard sphere when the rotary table is calibrated by the standard sphere in a mode of fitting and measuring the center of gravity of the plane.
Description
The technical field is as follows:
the invention belongs to the field of photoelectricity, and relates to a turntable calibration method based on a linear laser displacement sensor and a gauge block, in particular to a method for calibrating the center of a turntable and the normal vector direction of the turntable by using a diffuse reflection gauge block.
Background art:
coordinate measuring machines are one of the basic measuring devices in the field of digital measurements. The traditional three-coordinate measuring machine has only three degrees of freedom, so that the surface of the object can be measured only through the motion of X, Y, Z three linear axes. Compared with the traditional three-coordinate measuring machine, the four-axis measuring machine is additionally provided with the rotary workbench, and during measurement, a measured object is placed on the rotary workbench to realize 360-degree rotary measurement. The five-axis measuring machine with more relative angles of the four-axis measuring machine has a simple structure and low cost, so that the five-axis measuring machine has very important application in multi-angle shape measurement of objects with complex profiles.
In recent years, with the rise of optical measurement technology, it has become a trend of development to mount an optical sensing probe on a coordinate measuring machine instead of a contact probe. The optical sensing probe can finish the measurement of the three-dimensional shape of the complex object in a shorter time. The method has the advantages of high measurement speed and large measurement data volume, improves the efficiency of industrial measurement, and provides a solid data base for subsequent data analysis.
For a non-contact measurement system combining an optical sensing measuring head and a four-axis coordinate measuring machine, a turntable shaft of the non-contact measurement system is strictly calibrated to ensure the accuracy of a rotation center of the non-contact measurement system, and the rotation center is used as a splicing reference of measurement results of different angles.
The invention content is as follows:
in view of the above defects or improvement requirements of the prior art, the present invention provides a turntable calibration method based on a linear laser displacement sensor and a gauge block, and particularly provides a method for calibrating the center of a turntable and the normal vector direction of the turntable by using a diffuse reflection gauge block. The method is suitable for a four-axis measuring machine structure, a line laser displacement sensor is adopted to measure the measuring surface of the diffuse reflection gauge block, the center of gravity of the measuring surface of the diffuse reflection gauge block at different positions of the rotary table is extracted through rotation of the rotary table, and the center of the rotary table and the normal vector of the rotary table are calculated according to a series of measured centers of gravity.
The method utilizes the diffuse reflection gauge block to calibrate the rotary table, and reduces the calibration deviation of the center of the rotary table caused by inaccurate center of the fitted standard sphere due to smaller area of the measured standard sphere when the rotary table is calibrated by the standard sphere in a mode of fitting and measuring the center of gravity of the plane. The method comprises the following steps:
step one, installing a laser line scanning measuring head according to a calibration requirement, and establishing communication connection between a line laser displacement sensor and a measuring machine.
And step two, establishing a reference coordinate system O' -XYZ and a linear laser displacement sensor coordinate system O-XYZ after placing the diffuse reflection gauge block and zeroing the machine tool.
And thirdly, scanning the measuring surface of the measuring block at the current position in a subsection mode, splicing point cloud data of the measuring surface of each measuring block through a coordinate relation, and finally obtaining a complete measuring surface of the measuring block.
And fourthly, according to the distance between each point of the measuring block measuring surface point cloud, setting a proper threshold value, and carrying out duplication elimination on the measuring block measuring surface point cloud data.
And fifthly, eliminating the measuring block chamfer point cloud data and extracting measuring block measuring surface point cloud data.
And step six, calculating the gravity center coordinate value of the measurement surface of the current position gauge block.
Step seven, rotating the rotary table to obtain the rotating positions of the gauge blocks under the angles of the rotary table of 30 degrees, -30 degrees, 150 degrees, 180 degrees and 210 degrees, and measuring and calculating the gravity center coordinate value C of the measuring surface of the gauge blocks at the positions2、C3、C4、C5、C6. Because of C4、C5、C6And C1、C2、C3Not the same measuring surface, and is therefore according to C4、C5、C6Corresponding unit normal vector n of measuring surface4、n5、n6Calculating the center of gravity C of the same measuring block measuring surface4'、C5'、C6', wherein C4'＝C4+L*n4,C5'＝C5+L*n5,C6'＝C6+L*n6。
And step eight, calculating the center of the rotary table and the normal vector of the rotary table. According to C1、C2、C3、C4'、C5'、C6' calculating the coordinate value of the center of the turntable as C ═ C1+C2+C3+C4'+C5'+C6')/6. And (3) calculating a normal vector N of a plane formed by the gravity centers of 6 positions by using an SVD decomposition method, namely the normal vector direction of the turntable.
Compared with the prior art, the invention can obtain the following beneficial effects:
1. the method utilizes the linear laser displacement sensor and the diffuse reflection gauge block to calibrate the turntable of the four-axis measuring machine, and is convenient and rapid.
2. According to the method, the measured data is compensated by using the accurately calibrated direction of the linear laser displacement sensor, the calculation precision is high, and the system error caused by turntable calibration is effectively reduced.
Description of the drawings:
FIG. 1: a turntable calibration process schematic diagram based on a gauge block; the measuring block comprises a line laser displacement sensor 1, a connecting plate 2, a measuring block clamp A and a diffuse reflection measuring block B;
FIG. 2: a diffuse reflection gauge block schematic diagram; 3, the left end of the diffuse reflection gauge block, and 4, the right end of the diffuse reflection gauge block;
FIG. 3: establishing a coordinate system of a turntable calibration system;
FIG. 4: and (4) placing a map of the diffuse reflection gauge block calibrated by the rotary table.
C1-gauge block position at turntable angle 0 °; c2-gauge block position at 30 ° turntable angle; c3-gauge block position at turntable angle-30 °; c4-gauge block position at turntable angle 150 °; c5-gauge block position at turntable angle 180 °; c6 — gage block position at turntable angle 210 °.
The specific implementation mode is as follows:
the invention is described in further detail below with reference to the accompanying drawings:
a method for calibrating a turntable based on a linear laser displacement sensor and a gauge block, in particular to a method for calibrating the center of the turntable and the normal vector direction of the turntable by using a diffuse reflection gauge block, which comprises the following steps:
step one, as shown in figure 1, installing a line laser displacement sensor 1 according to the calibration requirement, wherein the line laser displacement sensor 1 is connected with the Y axis of a measuring machine through a connecting plate 2, and the installation plane of the line laser displacement sensor is ensured to be basically parallel to the yoz plane of the measuring machine. Meanwhile, a grating signal of a Z axis of the measuring machine is divided into two paths, one path is connected to the measuring machine controller, and the other path is connected with the laser displacement sensor controller and serves as an encoder trigger signal of the linear laser displacement sensor.
Step two, preparing the diffuse reflection gauge block shown in fig. 2, wherein the left end of the diffuse reflection gauge block and the right end of the diffuse reflection gauge block are measuring surfaces. The measurement surface requires a frosted or sprayed finish to ensure good diffuse reflection characteristics. Meanwhile, the flatness of the measuring surface of the measuring block is required to be less than 0.001mm, the parallelism between the two measuring surfaces is required to be less than 0.004mm, and the distance L between the two surfaces is subjected to higher-precision verification.
As shown in fig. 3, a machine tool coordinate system O' -XYZ is established, and the directions of X, Y and Z are the same as the directions of the machine tool grating ruler. And (3) setting the reading (0,0) position of the linear laser displacement sensor as o, and establishing a linear laser displacement sensor coordinate system o-xyz, wherein the directions of x, y and z are the same as the direction of a machine tool X, Y, Z.
The measuring machine drives the linear laser displacement sensor to return to the zero point of the machine tool. After returning to zero, the reading (0,0) of the linear laser displacement sensor is set as O. A reference coordinate system O-XYZ is established by taking O as an origin, the directions of X, Y and Z are the same as the direction of a machine tool coordinate system, and the reading of a grating ruler at the zero returning position, which is the O point, is set to be 0. At this time, the reading of the grating ruler is the coordinate value of the reference coordinate system.
As in fig. 4, the turret is zeroed and the gage block is placed on the turret at position C1.
Step three, scanning the measuring surface of the gauge block completely, and specifically comprises the following steps:
1. referring to fig. 1, the machine tool drives the linear laser displacement sensor to the edge position of the measuring surface of the gauge block, and simultaneously, the measuring surface of the gauge block is in the measuring range of the linear laser displacement sensor. The Z axis of the machine tool drives the linear laser displacement sensor to scan the whole gauge block from bottom to top, and the profile data of the partial measuring surface of the gauge block is obtained.
2. In the process of scanning the gauge block, the reading of the linear laser displacement sensor is set as (u, v), u is a coordinate value in the longitudinal direction of the laser line, and v is a coordinate value in the depth direction of the laser. The linear laser displacement sensor makes corresponding trigger along with the Z-axis grating ruler signal of the machine tool. There is one group (u, v) for each trigger of the linear laser displacement sensor. When the measuring block part is scanned, the total measuring data of the linear laser displacement sensor is (u)ij,vij)，uijThe coordinate value of the line length direction of the jth point in the ith triggering of the line laser displacement sensor is set; v. ofijAnd the coordinate value in the laser depth direction of the jth point in the ith trigger of the linear laser displacement sensor is shown.
3. Supposing that the emitting direction of the laser of the linear laser displacement sensor can use a unit vector in a reference coordinate system
Indicating that the line length direction of the laser can be represented by a unit vector
And (4) showing. When the linear laser displacement sensor is triggered each time, the coordinate value of the corresponding machine tool reference coordinate system is (x)i,yi,zi). By using
And (x)i,yi,zi) Compensating the point cloud data of the gauge block to obtain compensated point cloud data p of the gauge block under the reference coordinate system1(uijl'+vijl+xi,uijm'+vijm+yi,uijn'+vijn+zi)。
4. Moving the machine tool, repeating the steps 1-3, scanning another part of the gauge block to obtain point cloud data p of other parts of the gauge block2、p3…pn。p1、p2…pnComplete point cloud data of the gauge block measurement surface is constructed.
And step four, measuring the duplication of the surface point cloud data by the measuring block.
Since there are a series of repeated points between each point cloud during the scanning of the surface of the gauge block in step three, and these repeated points interfere with the extraction process of the gravity center of the surface measured by the subsequent gauge block, it is necessary to filter out the repeated points between each point cloud. The specific steps of point cloud data deduplication are as follows:
by a point cloud p1As a basis, calculate the point cloud p2From any one point to p1Distance d of all points ini. We set a suitable filtering threshold d, if diIs less than d, the point cloud p is considered2Is a repeat point, from the point cloud p2And (4) removing. By the use of such aMethod for searching point clouds p2Removing all points from the point cloud p1Repeating the points to obtain a new point cloud p2`。
Then computing the point cloud p3From any one point to p1And p2Distances d of all points in the systemiFiltration of p3After the repeated points in (1), new point cloud data p is obtained3'. And so on, filtering the point cloud segments of all measuring block measuring surfaces to obtain a series of new point clouds p1、p2'、p3'…pn'. Handle p1、p2'、p3'…pn' the coordinate values are put together to synthesize a complete measuring block measuring surface point cloud p.
And step five, extracting the measuring block to measure the surface.
There may be a chamfer design at the edge of the gauge block measuring surface, and during the scanning of the gauge block data, the profile of the chamfer part can be recorded by the line laser displacement sensor, thereby influencing the calculation of the gravity center of the gauge block measuring surface. Therefore, the method for extracting the gauge block measuring surface and removing the interference of the data of the non-measuring surface comprises the following specific steps:
when the gauge block is scanned, the measurement data at the abscissa (-1,1) of the linear laser displacement sensor is set as safety data, namely the measurement value in the interval is always the surface data of the gauge block. And extracting the measurement point cloud of the interval, and performing plane fitting by using the measurement point cloud of the interval to obtain a plane equation of the measuring surface of the gauge block. Selecting a proper filtering threshold value f0And substituting the points in the measuring block measuring surface point cloud p into a plane equation, and obtaining a corresponding output result f by the plane equation. If f is greater than f0The corresponding point is removed from the point cloud p. And finally, point cloud data p' with interference of non-measured surface data removed is obtained.
Sixthly, calculating barycentric coordinates of measuring surface of measuring block at current position of measuring block
Where Σ p 'represents the sum of all coordinate values of p', Np'Represents the number of dots p' contains.
And seventhly, obtaining the barycentric coordinates of the measuring surface of the measuring block at other positions of the rotary table by rotating the rotary table. The method comprises the following specific steps:
1. as shown in fig. 4, the machine tool rotary table rotates 30 degrees and-30 degrees, the gauge block rotates from the position C1 to the position C2 and the position C3, the third step to the sixth step are repeated, the measuring surface of the gauge block is measured, and the gravity center C of the measuring surface at the position C2 and the position C3 is obtained after the measuring surface is processed2、C3。
2. As in fig. 4, the machine turret is rotated at 150 °, 180 ° and 210 °, i.e. the gauge blocks are rotated at position C4, position C5 and position C6. At this time, the second measuring surface of the gauge block faces the sensor. Repeating the third step to the sixth step to obtain point cloud data of the second measuring surface of the measuring block and the corresponding gravity center C4、C5、C6. And then fitting a plane according to the point cloud data of the second measuring surface of the measuring block. Unit normal vector n of fitted plane4、n5、n6The normal vectors of the second measuring surface of the gauge block at the 150 °, 180 ° and 210 ° positions of the turntable point in the direction of the normal vector towards the first measuring surface of the gauge block.
At this time, the center of gravity of the first measuring surface of the gauge block at the positions C4, C5 and C6 is C4'、C5'、C6', wherein C4'＝C4+L*n4,C5'＝C5+L*n5,C6'＝C6+L*n6
And step eight, calculating the center of the rotary table and the normal vector of the rotary table. According to the corresponding barycentric coordinates C of the first measuring surface at 6 positions of the rotary table1、C2、C3、C4'、C5'、C6' calculating the coordinate value of the center of the turntable as C ═ C1+C2+C3+C4'+C5'+C6')/6。
And (3) calculating a normal vector N of a plane formed by the gravity centers of 6 positions by using an SVD decomposition method, namely the normal vector direction of the turntable.
The invention is funded by a scientific and technological significant special subject of 'high-grade numerical control machine tools and machine tool manufacturing equipment'.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (2)
1. A turntable calibration method based on a linear laser displacement sensor and a diffuse reflection gauge block comprises the following steps:
the method is suitable for a four-axis measuring machine structure, a linear laser displacement sensor is adopted to measure the measuring surface of the diffuse reflection gauge block, the center of gravity of the measuring surface of the diffuse reflection gauge block at different positions of the rotary table is extracted through rotation of the rotary table, and the center of the rotary table and the normal vector of the rotary table are calculated according to a series of measured centers of gravity, so that the rotary table is calibrated;
step one, installing a laser line scanning measuring head according to a calibration requirement, and establishing communication connection between a line laser displacement sensor and a measuring machine; the communication connection mode of the line laser displacement sensor and the four-axis measuring machine required in the first step is that a grating signal of a Z axis of the measuring machine is divided into two parts, one part is connected to a measuring machine controller, the other part is connected with the line laser displacement sensor controller as an encoder trigger signal, and when the Z axis of the measuring machine moves, the laser displacement sensor can obtain corresponding trigger;
secondly, placing a diffuse reflection gauge block and establishing a reference coordinate system O' -XYZ and a linear laser displacement sensor coordinate system O-XYZ after the machine tool returns to zero;
step three, scanning the measuring surface of the measuring block at the current position in a subsection mode, splicing point cloud data of the measuring surface of each measuring block through a coordinate relation, and finally obtaining a complete measuring surface of the measuring block;
fourthly, according to the distance between each point of the measuring block measuring surface point cloud, setting a proper threshold value, and carrying out duplication elimination on the measuring block measuring surface point cloud data;
fifthly, eliminating the gauge block chamfer point cloud data, and extracting gauge block measurement surface point cloud data;
step six, calculating the gravity center coordinate value of the measurement surface of the current position gauge block;
step seven, rotating the rotary table to obtain the rotating positions of the gauge blocks under the angles of the rotary table of 30 degrees, -30 degrees, 150 degrees, 180 degrees and 210 degrees, and measuring and calculating the gravity center coordinate values of the gauge blocks at the positions on the same measuring surface;
step eight, calculating the center of the rotary table and the normal vector of the rotary table;
the standard gauge block used for calibration is a diffuse reflection gauge block, the flatness of the measuring surface of the gauge block is required to be less than 0.001mm, the parallelism between the two measuring surfaces is required to be less than 0.004mm, and the distance L between the two planes is verified with higher precision.
2. The turntable calibration method as claimed in claim 1, wherein: the gravity center C of the gauge block obtained by measuring the angles of the rotary table at 150 degrees, 180 degrees and 210 degrees4、C5、C6Processing by a formula to obtain the gravity center of the measuring surface with the same angle of 0 degree, 30 degrees and-30 degrees of the rotary table; i.e. according to C4、C5、C6Corresponding unit normal vector n of measuring surface4、n5、n6Calculate C4'、C5'、C6'，
Wherein, C4'＝C4+L*n4,C5'＝C5+L*n5,C6'＝C6+L*n6。
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| CN109520420B (en) * | 2018-12-21 | 2020-10-09 | 中国航空工业集团公司北京航空精密机械研究所 | Method for determining space coordinates of rotary center of rotary table |
| CN109458958B (en) * | 2018-12-21 | 2020-10-09 | 中国航空工业集团公司北京航空精密机械研究所 | Calibration method for center position of rotary table in four-axis vision measurement device |
| CN111366070B (en) * | 2018-12-25 | 2022-04-29 | 苏州笛卡测试技术有限公司 | Multi-axis space coordinate system calibration method for combined type line laser measurement system |
| CN114440957A (en) * | 2020-11-05 | 2022-05-06 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
| CN114061459B (en) * | 2022-01-18 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Non-contact photographic hole measurement calibration device and method |
| CN114838650B (en) * | 2022-03-28 | 2024-04-09 | 北京航天控制仪器研究所 | Displacement sensor calibration device and method based on turntable |
| CN115365891A (en) * | 2022-09-22 | 2022-11-22 | 山东大学 | Online measurement-error correction device and method for inner surface of special-shaped shell |
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