CN102126162B - Numerical control machine processing online measurement method - Google Patents

Numerical control machine processing online measurement method Download PDF

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CN102126162B
CN102126162B CN 201010607016 CN201010607016A CN102126162B CN 102126162 B CN102126162 B CN 102126162B CN 201010607016 CN201010607016 CN 201010607016 CN 201010607016 A CN201010607016 A CN 201010607016A CN 102126162 B CN102126162 B CN 102126162B
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control machine
axis
machine tool
digit control
translation
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CN102126162A (en
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赵慧洁
姜宏志
吴尽龙
李旭东
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Beihang University
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Beihang University
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Abstract

The invention discloses a numerical control machine processing online measurement method. The method can realize online measurement of large workpieces. A binocular stereo vision measurement system is combined with a numerical control machine to complete integral measurement of the large workpieces under the traction of the numerical control machine. The method comprises the following steps of: calibrating internal and external parameters of a camera, and combining the measurement system and the numerical control machine; performing translation calibration and rotary calibration to calibrate direction vectors of X-axis and Y-axis of the numerical control machine and rotary matrix R and translation vector T after the measurement system rotates; dragging the measurement system to move by the numerical control machine to perform single view field scanning till traversing all surfaces of a measured workpiece; and finally, performing integral joint according to all view field point cloud data and the reading of a main shaft of the numerical control machine so as to complete integral measurement of the workpiece. The method has the characteristics of flexible use, convenience, high precision and the like, and can be used for online measurement of the large workpieces on an industrial site.

Description

A kind of Digit Control Machine Tool processing On-line Measuring Method
Technical field
The present invention relates to a kind of method of Digit Control Machine Tool processing on-line measurement, this method can be used for industry spot the industrial processes product is carried out the noncontact on-position measure.The invention belongs to field of machine vision.
Background technology
Large-scale workpiece, particularly single piece, because its relative weight is light, the intensity height is applied in a lot of occasions more and more, but because its appearance and size is big, and feature to be measured is many, feasible measurement to it is difficult to realize in practice.If utilize contact type measurement, not only can not get highdensity point cloud data, and measure inefficiency, because size greatly also is difficult to measure the integral body of workpiece.Along with science and technology development, non-contact measurement, particularly simple in structure with it based on the measuring method of vision technique, price is low, and characteristics such as measurement efficient height obtain more and more wider application.Because non-cpntact measurement efficient is higher, equipment is simple, is fit to very much be applied to industry spot.
Measuring method based on vision technique has a lot of branches, and wherein based on the processing On-line Measuring Method of technique of binocular stereoscopic vision, it is dense etc. to have high accuracy, noncontact, some cloud.
Conventional online measuring system deficiency is:
(1) generally need be by exterior mechanical equipment, as mechanical arm etc., the traction vision system moves, and has therefore increased the expense of measuring system, and increases the performance etc. that exterior mechanical may have influence on lathe itself in the working site.
(2) existing measurement means for large-scale workpiece needs to paste index point, does not realize the automation of large-scale metrology.
Summary of the invention
Technology of the present invention is dealt with problems and is: propose a kind of Digit Control Machine Tool processing On-line Measuring Method, by combining with lathe, increased the utilization ratio of Digit Control Machine Tool greatly, and solved large scale splicing problem.
Technical solution of the present invention is: a kind of Digit Control Machine Tool processing On-line Measuring Method, it is characterized in that, and may further comprise the steps:
Preparation comprises that the inside and outside parameter of demarcating two video cameras, debugging prepare host computer Survey Software etc., and Survey Software refers to the data processing software for the exploitation of this On-line Measuring Method.
(1) measuring system is installed: the machine tool chief axis cutter is unloaded, and measuring system, namely the binocular stereo vision measuring system is installed on the main shaft, connects data wire, combines with Digit Control Machine Tool.
(2) translation is demarcated: lathe translation, X-axis and the direction vector V of Y-axis under the measuring system coordinate system of demarcation Digit Control Machine Tool x, V y
The a pair of marker post that is stained with index point is placed on the measured workpiece limit.Two marker post placement directions are respectively along X-axis and the Y-axis of Digit Control Machine Tool; The control Digit Control Machine Tool along X-axis and the moving several times of y-axis shift, is taken two marker posts in the mobile interval respectively, each mobile certain and each moving direction unanimity at interval.Foundation
(Mx i-Mx i-1)V x＝Px i-Px i-1
(My i-My i-1)V y＝Py i-Py i-1
Wherein, Mx i, My iX-axis reading and the Y-axis reading of lathe when being the i time shooting index point, Px i, Py iIt is the index point coordinate that reappears after the i time shooting.
Difference solving equation group optimal solution, i.e. the direction vector V of Digit Control Machine Tool X-axis and Y-axis under the measuring system coordinate system xAnd V y
(3) rotation is demarcated: lathe rotation, the postrotational spin matrix R of calibration measurements system and translation vector T.
According to route programming result, the rotation of control lathe, the three-dimensional circular index point that reappears in benchmark visual field and the visual field, rotation back comprises that extract in the center of circle, polar curve mates and three-dimensional reproduction respectively, carries out the three-dimensional point coupling, utilizes quaternary element method, calculates spin matrix R jWith translation vector T j, R jAnd T jSpin matrix and translation vector for the j time rotation of rotation timing signal measuring system.
(4) the traction main shaft of numerical control machine tool moves to part to be measured with measuring system, treat that main shaft is stable after, workpiece is carried out monoscopic scanning, obtain the monoscopic cloud data;
(5) repeating step (4) obtains all visual field cloud datas until measured workpiece surface traversal is finished, and finishes full-field scanning;
(6) cloud data that obtains according to step (4), (5) splices.
The coordinate system of first visual field of measuring system as world coordinate system, and is spliced each visual field cloud data according to following formula:
P W = Σ i , j ( R j · P i + T j + ( X i - X 1 ) V x + ( Y i - Y 1 ) V y ) ,
Wherein, P i, X i, Y iBe respectively i cloud data, Digit Control Machine Tool X-axis reading, the Digit Control Machine Tool Y-axis reading of measuring the visual field, R jAnd T jBe spin matrix and the translation vector of j wheel measuring visual field, V xAnd V yFor marking direction vector, P WScan cloud data under the world coordinate system.
The present invention's advantage compared with prior art is:
(1) the present invention provides a kind of On-line Measuring Method, by being combined with Digit Control Machine Tool, improves the processing detection efficiency of whole work-piece.Owing to be on-line measurement, so workpiece needn't unload from lathe after processing, significantly reduces workpiece because the distortion that assembling produces need not part is transported to measuring room, significantly improves and measures efficient.
(2) simple in measurement system structure that the present invention relates to, field calibration method is succinct, can adapt to the industry spot environment fully.Combine with Digit Control Machine Tool, take full advantage of the advantage of lathe, splicing speed is fast, need not to paste index point at measured workpiece, can obtain fine and close cloud data.
Description of drawings
Fig. 1 is the flow chart of On-line Measuring Method of the present invention.
Fig. 2 demarcates Digit Control Machine Tool direction of motion process schematic diagram for the present invention.One camera is represented measuring system among the figure, and the dotted line of band arrow is the demarcation route of Digit Control Machine Tool traction measuring system among the figure.
Fig. 3 measures route map for the present invention.One camera is represented measuring system among the figure, and the dotted line of band arrow is the measurement route of Digit Control Machine Tool traction measuring system among the figure.
The specific embodiment
For a better understanding of the present invention, below in conjunction with drawings and Examples technical scheme of the present invention is explained in detail.
With reference to accompanying drawing 1, a kind of Digit Control Machine Tool processing On-line Measuring Method comprises following steps:
With measuring system before Digit Control Machine Tool is combined, earlier measuring system is carried out necessary preparation, measuring system refers to the binocular tri-dimensional sense sensor, comprises two video cameras and a projector; The preparation of described necessity comprises the inside and outside parameter of demarcating two video cameras, and host computer Survey Software etc. is prepared in debugging;
1. measuring system is installed, and the main shaft of numerical control machine tool cutter is unloaded, and measuring system is installed on the main shaft, connects data wire, combines with Digit Control Machine Tool.
2. translation is demarcated, lathe translation, X-axis and the direction vector V of Y-axis under the measuring system coordinate system of demarcation Digit Control Machine Tool x, V y
The a pair of marker post that is stained with index point is placed on the measured workpiece limit.Respectively along X-axis and the Y-axis of Digit Control Machine Tool, and the initial point of two marker posts is in the same angle of measured workpiece to modes of emplacement with reference to 2, two marker post placement directions of accompanying drawing.
Demarcate the path according to translation, along X-axis and the moving several times of y-axis shift, moving method is taken two marker posts with reference to accompanying drawing 2 in the mobile interval to the control Digit Control Machine Tool respectively, each mobile certain and each moving direction unanimity at interval.Mobile interval can not be excessive, remains on about 100mm.X-direction and the Y direction reading of each right moment for camera bed are designated as Mx iAnd My i, it is Px that three-dimensional reappears the index point central coordinate of circle that iAnd Py i(in the visual field a plurality of points, Px may be arranged iAnd Py iMay be the set of a plurality of points).
Can obtain according to measurement data:
(Mx i-Mx i-1)V x＝Px i-Px i-1
(My i-My i-1)V y＝Py i-Py i-1
Utilize Px iAnd Px I-1The middle common point that exists calculates.Get i=2,3,4..., then above-mentioned two formulas can be formed equation group respectively, and they all have optimum solution V xAnd V y, namely under the measuring system coordinate system, the direction vector of Digit Control Machine Tool X-axis and Y-axis.
3. rotation is demarcated, lathe rotation, the postrotational spin matrix R of calibration measurements system and translation vector T.
Demarcate the path according to rotation, the rotation of control lathe is taken pictures, and obtains rotation back image.The three-dimensional circular index point that reappears in benchmark visual field and the visual field, rotation back comprises that extract in the center of circle, polar curve mates and three-dimensional reproduction respectively, carries out the three-dimensional point coupling, utilizes quaternary element method, calculates spin matrix R jWith translation vector T j, get j=2,3,4..., R jAnd T jSpin matrix and translation vector for the j time rotation of rotation timing signal measuring system.
4. according to route programming result, the whole route of measuring is with reference to accompanying drawing 3, and the traction main shaft of numerical control machine tool moves to part to be measured with measuring system, treat that main shaft is stable after, workpiece is scanned, obtain the monoscopic cloud data, the cloud data note is made P i, Digit Control Machine Tool X, Y-axis reading note are made X at this moment iAnd Y i
5. repeating step 4 obtains all visual field cloud datas until measured workpiece surface traversal is finished, and finishes full-field scanning;
6. the cloud data that obtains according to step 4,5 splices.
By step 4,5, measuring system travels through whole measured workpiece, obtains all visual field cloud datas.All cloud datas are transformed in the unified coordinate system, namely finish splicing.Be specially: as world coordinate system, and it is unified according to following formula each visual field cloud data to be carried out coordinate system with the coordinate system of first visual field of measuring system:
P W = Σ i , j ( R j · P i + T j + ( X i - X 1 ) V x + ( Y i - Y 1 ) V y ) ,
Wherein, P i, X i, Y iBe respectively i cloud data, Digit Control Machine Tool X-axis reading, the Digit Control Machine Tool Y-axis reading of measuring the visual field, R jAnd T jBe spin matrix and the translation vector of j wheel measuring visual field, V xAnd V yFor marking direction vector, P WScan cloud data under the world coordinate system.
P then WResult for all visual field cloud data unified coordinate system namely finishes splicing.

Claims (4)

1. a Digit Control Machine Tool processing On-line Measuring Method is characterized in that, may further comprise the steps:
(1) measuring system is installed: measuring system is installed on the main shaft of numerical control machine tool;
(2) translation is demarcated: the lathe translation, demarcate the direction vector V of Digit Control Machine Tool X-axis and Y-axis x, V y
(3) rotation is demarcated: lathe rotation, the postrotational spin matrix R of calibration measurements system and translation vector T;
(4) the traction main shaft of numerical control machine tool moves to part to be measured with measuring system, scans, and obtains the monoscopic cloud data;
(5) repeating step (4) is namely finished full-field scanning until measured workpiece surface traversal is finished;
(6) cloud data that obtains according to step (4), (5) splices;
Wherein, described (2) translation is demarcated, and the direction vector V of Digit Control Machine Tool X-axis and Y-axis is demarcated in the lathe translation x, V y, required marker post is placed as: a pair of marker post that is stained with index point is placed on the measured workpiece limit, and two marker post placement directions are respectively along X-axis and the Y-axis of Digit Control Machine Tool.
2. a kind of Digit Control Machine Tool processing On-line Measuring Method according to claim 1 is characterized in that: described (2) translation demarcation, lathe translation, the direction vector V of demarcation Digit Control Machine Tool X-axis and Y-axis x, V y, accuse Digit Control Machine Tool processed respectively along X-axis and Y-axis translation several times, take marker post in the mobile interval, each mobile certain and each moving direction unanimity at interval; Foundation
(Mx i-Mx i-1)V x=Px i-Px i-1
(My i-My i-1)V y=Py i-Py i-1
Wherein, Mx i, My iX-axis reading and the Y-axis reading of lathe when being the i time shooting index point, Px i, Py iIt is the index point coordinate that reappears after the i time shooting;
Difference solving equation group optimal solution V xAnd V y, i.e. the direction vector of Digit Control Machine Tool X-axis and Y-axis under the measuring system coordinate system.
3. a kind of Digit Control Machine Tool according to claim 1 is processed On-line Measuring Method, it is characterized in that: described (3) rotation is demarcated, the lathe rotation, the postrotational spin matrix R of calibration measurements system and translation vector T are for benchmark visual field and visual field, rotation back, three-dimensional reproduction circular index point respectively, comprise that extract in the center of circle, polar curve mates and three-dimensional reproduction, carry out the three-dimensional point coupling, utilize quaternary element method, calculate spin matrix R jWith translation vector T j, R jAnd T jSpin matrix and translation vector for the j time rotation of rotation timing signal measuring system.
4. a kind of Digit Control Machine Tool according to claim 1 is processed On-line Measuring Method, it is characterized in that: the cloud data that described (6) obtain according to step (4), (5), splice, splicing be coordinate system with first visual field of measuring system as world coordinate system, and according to following formula each visual field cloud data is spliced:
P w = Σ i , j ( R j · P i + T j + ( X i - X 1 ) V x + ( Y I - Y 1 ) V y ) ,
Wherein, P i, X i, Y iBe respectively i cloud data, Digit Control Machine Tool X-axis reading, the Digit Control Machine Tool Y-axis reading of measuring the visual field, R jAnd T jBe spin matrix and the translation vector of j wheel measuring visual field, V xAnd V yFor marking direction vector, P WScan cloud data under the world coordinate system.
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