CN102636110B - Reference detecting device of automatic drilling and riveting system of airplane components and detecting method thereof - Google Patents
Reference detecting device of automatic drilling and riveting system of airplane components and detecting method thereof Download PDFInfo
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Abstract
The invention relates to a reference detecting device of an automatic drilling and riveting system of airplane components and a detecting method thereof. The detecting method comprises the following steps of: acquiring information of a reference profile by a 2D laser displacement sensor and a distance sensor, establishing a parameter space of a reference hole center coordinate by applying a least square method, then realizing transformation from a reference hole boundary space domain to the reference hole center coordinate by applying generalized Hough transformation, fitting and calculating a reference center position, and realizing detection of an actual position of the reference, thus realizing determination of the actual position for the processing reference of the automatic drilling and riveting system so as to determine the deviation between the theoretical position and the actual position of the reference. The positions of points to be preprocessed on a product are compensated and corrected, so that the manufacture and installation errors are eliminated, and the drilling and riveting accuracy is increased; and the detecting method is simple, the solving speed is high and the online detection of the reference can be realized.
Description
Technical field
The present invention relates to a kind of benchmaring device and detection method thereof of boring riveting system, specifically a kind of benchmaring device for aircraft components automatic Drilling/Riveting system and benchmaring method thereof.
Background technology
At present, manufacture field in Aero-Space, the application of aircraft flexible assembly technology has become the mainstream development trend of domestic and international aircraft industry Digitized manufacturing.Due in current aircraft structure assembling process based on mechanical connection, mechanical connection has brought a large amount of drilling problem, just must solve an accurate hole fabrication techniques difficult problem to meet aircraft long life requirement, therefore the accurate hole fabrication techniques of robot becomes an important application and the research direction of aircraft flexible assembly technology.
Investigation and application abroad about robot automatic punching technology is quite ripe: Electroimpact company of the U.S. and Air Passenger company of the Britain co-design automatic drilling system of a set of robot (O.N.C.E), is mainly used in boring and the spot-facing of the wing trailing edge flaps of Boeing F/A-18E/F; EOA company of the U.S. and the Boeing's joint research and development multi-functional drilling system of a kind of robot (EOA), can complete the boring to aircraft skins such as titanium alloy, aluminium alloy, compound substance and laminations, spot-facing and fraising work; Novator company of Sweden develops the multi-functional drilling system of a set of robot (Orbital E-D100) according to Orbital drill bit patented technology.The large-sized gantry formula hole-drilling system (JGADS) of Lockheed Martin Corporation F-35 aircraft carbon fiber epoxy composite wing wainscot drilling represents the direction of robot hole technology forefront application.Domestic Aircraft assembling field remains in larger gap compared with aeronautical technology advanced country, is in the starting stage, therefore needs to greatly develop the R&D and production demand with satisfied aircraft of new generation to the automatic Drilling/Riveting systematic research of robot.
Based in the automatic Drilling/Riveting system of industrial robot, bore riveting process and need realize industrial robot, data conversion between end effector and product, but due to the impact of type frame manufacture and the factor such as alignment error, Product processing rigging error, often also need appointment benchmark at processed product, the benchmark before processing first in measurement products.The precision of brill riveting depends on the measuring accuracy to product benchmark to a great extent.Namely benchmaring is the position determining reference on product, so as with the comparing of theoretical principle, and to be compensated by certain method, thus eliminated making and installation error, improve and bore riveting precision.
Document " Zhang Jianjian; Zhu Di; Li Hansong. based on small group hole rapid detection system [J] of digital image processing techniques. sensor and micro-system; 2009 (6); 73-79. " a kind of detection method based on digital image processing techniques is proposed, realize the detection of small group's hole workpiece fast speed non-contact.The method, just to throw the mode of backlight, adopts cmos sensor to connect the image of the method shooting test specimen of micro-lens, and gathered image information is inputted computing machine automatically.Computing machine first carries out Image semantic classification to it, then extracts group hole on framework, adopts each aperture of pattern matching algorithm identification, obtains the information such as the diameter of each aperture and circularity with minimum area method one by one.Concrete steps are as follows:
Step 1): Image semantic classification.
Image semantic classification comprises: 1. gradation of image process, is converted into grayscale format by picture format, simplified image data; 2. Edge contrast, adopts Laplace operator, image outline information is strengthened; 3. denoising, adopts median filtering method, suppressor pulse interference preferably and verification noise, and effectively can protect image outline 4. Threshold segmentation, is come in group hole, and be binary image by greyscale image transitions to picture and background segment.
Step 2): group hole identifies.
Group hole identifies that comprising group hole on framework extracts and group's hole on framework identification two parts.The center of the skeleton finger-hole in hole.
The flow process that group's hole on framework extracts is: 1. each hole is generated border to picture, and indicate these frontier points; 2. check that each hole is to picture, if hole is to there being a non-frontier point in picture, then remove all frontier points of this hole to picture, otherwise, indicate that this some holes frontier point is interim centre point, the interim centre point of same hole to picture takes Unified number, and these interim centre points are the skeleton of this hole to picture, and skeletal extraction completes; 3. repeat 1. 2. two steps, by constantly removing the new border of hole to picture, shrinkage cavity to picture to each hole to picture, skeletal extraction completes.
The identification of group's hole on framework adopts pattern matching algorithm, and its specific rules is as follows: 1. each hole can not more than 7 pixels to the skeleton of picture; 2. each hole must be communicated with the skeleton of picture, otherwise, deleted; 3. setting hole is to the maxima and minima of picture radius, rejects the incongruent aperture of radius to picture.
Step 3): step 2) in pattern matching algorithm can identify little hole on framework fast, determine that its corresponding aperture is to picture from little hole on framework.For satisfactory aperture to picture, ask for its interim centre point coordinate mean value, obtain the central coordinate of circle of this aperture to picture.Determined the scope of each aperture by the center of circle of each aperture and radius, adopt minimum area method to calculate diameter, the circularity of each aperture one by one with single aperture image detecting method.
Although the maximum metrical error of said method is no more than 0.01mm, meet the requirement that small group hole is detected fast, and, also can be applied to other requires efficient, non-contacting occasion, but the internal memory taking system due to image procossing is large, the speed of image transmitting and process is slow, is unfavorable for the on-line checkingi of benchmark.
Summary of the invention
The present invention is directed to the deficiency of the problems referred to above, propose one and can eliminate making and installation error, riveting precision is bored in raising and its detection method is simple, solving speed is fast, can realize benchmaring device and the detection method thereof of the aircraft components automatic Drilling/Riveting system of benchmark on-line checkingi.
The present invention is the technical scheme solving the problems of the technologies described above proposition: a kind of benchmaring device of aircraft components automatic Drilling/Riveting system, the detection of the benchmark physical location of four datum holes on product, these four datum holes are positioned at same plane or almost plane, comprise processor, the controller of 2D laser displacement sensor, the controller of linear actuator and pedestal, described pedestal is provided with slide block guide rail and linear actuator, described slide block guide rail slidably connects web joint, and linear actuator is connected with web joint, slide on slide block guide rail for making web joint, described web joint is provided with 2D laser displacement sensor and range sensor, described processor is by the two-dimensional coordinate of the controller control 2D laser displacement sensor scanning survey baseline profile unique point of 2D laser displacement sensor, described processor controls linear actuator moving linearly by the controller of linear actuator, and described range sensor is for measuring the amount of movement of slide block guide rail, described processor process, from the measured value of 2D laser displacement sensor and range sensor, realizes benchmaring.
Based on the detection method of the benchmaring device of a kind of aircraft components automatic Drilling/Riveting system described above, comprise the following steps: the first step, definition basis coordinates system A-XYZ, true origin is space any point A, horizontal direction is X-axis, vertical direction is Z axis, and Y-axis is the direction that right-handed coordinate system specifies; Definition 2D laser displacement sensor coordinate is S-XYZ, 2D laser displacement sensor inner laser bundle eye point is true origin S, 2D laser displacement sensor inner laser bundle is X-axis through the direction of the striation that cylindrical objective lens dispersion is formed, with laser emitting direction for Z axis, Y-axis is the direction of the regulation meeting right-handed coordinate system, and this 2D laser displacement sensor coordinate system is referred to as sensor coordinate system; Definition datum hole plane coordinate system O-XYZ, so that in the plane of datum hole place, any point is for true origin O, orthogonal in the plane two straight lines of datum hole are X, Y-axis, datum hole planar process is to being Z axis, and described datum hole place plane is datum hole plane or is reference plane; First by demarcating 2D laser displacement sensor scanning initial coordinate system S before benchmaring
0-XYZ is relative to the rotation matrix R of basis coordinates system A-XYZ and sensor coordinate system origin coordinates initial point thereof the coordinate in basis coordinates system
, and determine the direction of scanning angle (α, beta, gamma) of 2D laser displacement sensor in basis coordinates system, thus determine the transformational relation of sensor coordinate system and basis coordinates system, and the transformational relation of sensor coordinate system and basis coordinates system is unique; And then determine that datum hole planimetric coordinates is tied to the rotation matrix of basis coordinates system, thus determine the transformational relation of datum hole plane coordinate system and basis coordinates system.
Second step, starts 2D laser displacement sensor by the controller of 2D laser displacement sensor, and measure the two-dimensional coordinate of scanning initial position baseline profile unique point, this two-dimensional coordinate is the coordinate in sensor coordinate system XZ plane;
3rd step, linear actuator is started by the controller starting linear actuator, 2D laser displacement sensor is made to do rectilinear scanning motion, measure the two-dimensional coordinate of baseline profile unique point on direction of scanning simultaneously, this two-dimensional coordinate is the coordinate in sensor coordinate system XZ plane, and the amount of movement of slide block guide rail measured by range sensor, and be entered in processor;
4th step, according to the two-dimensional coordinate of baseline profile unique point in sensor coordinate system XZ plane and the amount of movement of range sensor measurement slide block guide rail, by the transformational relation of sensor coordinate system and basis coordinates system, calculate the three-dimensional coordinate that baseline profile unique point is fastened in basis coordinates;
5th step, by the three-dimensional coordinate that datum hole contour feature point is fastened in basis coordinates, is converted to the two-dimensional coordinate in the XY plane of datum hole plane coordinate system through coordinate transform;
6th step, according to the two-dimensional coordinate of baseline profile unique point in datum hole plane coordinate system XY plane, the parameter space first by using least square method to set up datum hole centre coordinate; Then use Generalized Hough Transform to realize the conversion of datum hole boundary space territory to the parameter space of datum hole centre coordinate, realize datum hole centre coordinate and estimate; Finally the two-dimensional coordinate of this datum hole center in datum hole plane coordinate system XY plane is reversed the three-dimensional coordinate for fastening in basis coordinates.
Preferred: the method that described utilization least square method sets up the parameter space of datum hole centre coordinate is: first, the two-dimensional coordinate that described datum hole contour feature point is fastened at datum hole planimetric coordinates is numbered, forms point set (x
i, y
i), i=1 ~ n;
Secondly; To datum hole boundary space territory (x
i, y
i), i=1 ~ n, chooses t point of spatial domain according to certain intervals, use the coordinate of Least Square Method datum hole, draw datum hole coordinate (u, v) estimated value is:
，
。
Preferred again: described Generalized Hough Transform realizes datum hole boundary space territory and to the method for the conversion of the parameter space of datum hole centre coordinate is: first ask benchmark boundary space (x
i, y
i) to the error of datum hole centre coordinate parameter space:
An error range δ is set, compares
with the size of δ;
Secondly, one 2 dimension totalizer is set up
, when
time, totalizer adds 1;
Finally, compare the value of totalizer,
when getting maximum value, (u
k, v
k) be the datum hole centre coordinate estimated.
Preferred again: described 2D laser displacement sensor coordinate system S-XYZ, in the detection campaign in step 2, step 3 or local motion process, motion state is unique, and the transformational relation of described sensor coordinate system and basis coordinates system is unique.
The benchmaring method of aircraft components automatic Drilling/Riveting system of the present invention, compared to existing technology, there is following beneficial effect: owing to being obtained the information of baseline profile by 2D laser displacement sensor and range sensor, by the parameter space using least square method to set up datum hole centre coordinate, then Generalized Hough Transform is used to realize the conversion of datum hole boundary space territory to the parameter space of datum hole centre coordinate, matching also calculates reference center position, realize the detection of benchmark physical location, therefore the determination of the physical location to automatic Drilling/Riveting system machining benchmark is realized, to determine the deviation of benchmark theoretical position and physical location, to the position compensating approach in addition of preprocessing point on product, thus making and installation error is eliminated, improve and bore riveting precision, and its detection method is simple, solving speed is fast, benchmark on-line checkingi can be realized, benchmaring device of the present invention is independently measured simultaneously, accuracy of detection and automatic Drilling/Riveting system performance element absolute fix precision have nothing to do, the high precision test of benchmark can be realized, and the technical requirement accuracy of detection of the machining benchmark of automatic Drilling/Riveting system being reached to 0.05mm can be realized.
Accompanying drawing explanation
Fig. 1 is a kind of benchmaring apparatus structure schematic diagram for aircraft components automatic Drilling/Riveting system of the present invention;
Fig. 2 is the detection method schematic diagram of Fig. 1;
Wherein: 1-2D laser displacement sensor, 2-web joint, 3-slide block guide rail, 4-range sensor, 5-linear actuator, 6-pedestal, the controller of 7-2D laser displacement sensor, the controller of 8-linear actuator, 9-processor.
Embodiment
Accompanying drawing discloses the structural representation of a preferred embodiment of the invention without limitation, explains technical scheme of the present invention below with reference to accompanying drawing.
Embodiment
As shown in Figure 1, a kind of benchmaring device of aircraft components automatic Drilling/Riveting system, the detection of the benchmark physical location of four datum holes on product, these four datum holes are positioned at same plane or almost plane, comprise processor 9, the controller 7 of 2D laser displacement sensor, the controller 8 of linear actuator and pedestal 6, described pedestal 6 is provided with slide block guide rail 3 and linear actuator 5, described slide block guide rail slip 3 is connected with web joint 2, and linear actuator 5 is connected with web joint 2, slide on slide block guide rail 3 for making web joint 2; Described web joint 2 is provided with 2D laser displacement sensor 1 and range sensor 4, described processor 9 is by the two-dimensional coordinate of the controller 7 control 2D laser displacement sensor 1 scanning survey baseline profile unique point of 2D laser displacement sensor, described processor 9 controls linear actuator 5 moving linearly by the controller 8 of linear actuator, and described range sensor 4 is for measuring the amount of movement of slide block guide rail 3, described processor 9 processes the measured value from 2D laser displacement sensor 1 and range sensor 4, realizes benchmaring; Processor 9 of the present invention can be the big-endian processor such as computing machine.
Based on the detection method of the benchmaring device of a kind of aircraft components automatic Drilling/Riveting system described above, comprise the following steps: the first step, definition basis coordinates system A-XYZ, true origin is space any point A, horizontal direction is X-axis, vertical direction is Z axis, and Y-axis is right-handed coordinate system prescribed direction; Definition 2D laser displacement sensor coordinate is S-XYZ, 2D laser displacement sensor 1 inner laser bundle eye point is true origin S, 2D laser displacement sensor 1 inner laser bundle is X-axis through the direction of the striation that cylindrical objective lens dispersion is formed, with laser emitting direction for Z axis, Y-axis is the direction of the regulation meeting right-handed coordinate system; Definition datum hole plane coordinate system O-XYZ, so that in the plane of datum hole place, any point is for true origin O, orthogonal in the plane two straight lines of datum hole are X, Y-axis, datum hole planar process is to being Z axis, and described datum hole place plane is datum hole plane or is reference plane; Because slide block guide rail 3 drives 2D laser displacement sensor 1 to do translation scan motion, therefore 2D laser displacement sensor coordinate system S-XYZ is moving coordinate system, first determines that 2D laser displacement sensor 1 scans initial coordinate system S by demarcation before benchmaring
0-XYZ relative to basis coordinates system A-XYZ and rotation matrix R and sensor coordinate system origin coordinates initial point at the coordinate of basis coordinates system
, and determine the direction of scanning angle (α, beta, gamma) of 2D laser displacement sensor 1 in basis coordinates system, thus determine the transformational relation of sensor coordinate system and basis coordinates system; And then determine that datum hole planimetric coordinates is tied to the rotation matrix of basis coordinates system, thus determine the transformational relation of datum hole plane coordinate system and basis coordinates system.
Second step, 2D laser displacement sensor 1 is started by the controller 7 of 2D laser displacement sensor, measure the two-dimensional coordinate of scanning initial position baseline profile unique point, this two-dimensional coordinate is the coordinate in sensor coordinate system XZ plane, described 2D laser displacement sensor coordinate system S-XYZ, in detection motion or local motion process, motion state is unique, the contour feature point of described baseline profile unique point i.e. datum hole;
3rd step, linear actuator 5 is started by the controller 8 starting linear actuator, 2D laser displacement sensor 1 is made to do rectilinear scanning motion, measure the two-dimensional coordinate of baseline profile unique point on direction of scanning simultaneously, this two-dimensional coordinate is the coordinate in sensor coordinate system XZ plane, and the amount of movement of slide block guide rail 3 measured by range sensor 4, and is entered in processor 9, described 2D laser displacement sensor coordinate system S-XYZ, in detection motion or local motion process, motion state is unique;
4th step, the amount of movement of slide block guide rail 3 is measured according to the two-dimensional coordinate of baseline profile unique point and range sensor 4, pass through coordinate transform, namely by the transformational relation of sensor coordinate system and basis coordinates system, calculate the three-dimensional coordinate that baseline profile unique point is fastened in basis coordinates, also complete baseline profile unique point is tied to basis coordinates system coordinate conversion from sensor coordinates simultaneously, particularly, the amount of movement of slide block guide rail 3 is measured according to the two-dimensional coordinate of baseline profile unique point in sensor coordinate system XZ plane and range sensor 4, namely according to step one, two, the measured value of three, and ensure the two-dimensional coordinate of baseline profile unique point in sensor coordinate system XZ plane that 2D laser displacement sensor 1 measures and the simultaneously match of scanning amount of movement, by the three-dimensional coordinate that following formula (1) Calculation Basis contour feature point is fastened in basis coordinates, this algorithm completes baseline profile unique point is tied to basis coordinates system coordinate conversion from sensor coordinates simultaneously,
（1）
Wherein, m is certain baseline profile point sequence number, and n is scanning times, and d is the translational movement of the 2D laser displacement sensor 1 that range sensor 4 records, and R is the unit orthogonal matrix of 3 × 3, for sensor coordinate system is relative to the rotation matrix of basis coordinates system.
for sensor coordinate system origin coordinates initial point is at the coordinate of basis coordinates system,
for scanning profile point is at the coordinate of basis coordinates system,
for sensor initial detecting value; Wherein, (α, β, γ), R and
through demarcating in step one.
5th step, by the three-dimensional coordinate that datum hole contour feature point is fastened in basis coordinates, is converted to the two-dimensional coordinate in the XY plane of datum hole plane coordinate system through coordinate transform, and the XY plane of described datum hole plane coordinate system is datum hole plane; Particularly: the transformational relation being tied to basis coordinates system according to the datum hole planimetric coordinates determined, thus the three-dimensional coordinate of datum hole profile is converted to the two-dimensional coordinate of datum hole plane.
6th step, according to the two-dimensional coordinate of the baseline profile unique point obtained in the 5th step in datum hole plane coordinate system XY plane, by the parameter space using least square method to set up datum hole centre coordinate, and then use Generalized Hough Transform to realize the conversion of datum hole boundary space territory to the parameter space of datum hole centre coordinate, realize datum hole centre coordinate and estimate; Then at the transformational relation according to datum hole plane coordinate system and basis coordinates system, the two-dimensional coordinate of datum hole center in datum hole plane coordinate system XY plane is reversed the three-dimensional coordinate for fastening in basis coordinates, particularly; Because in the benchmaring of the automatic Drilling/Riveting system for aircraft components, benchmark is 4 datum holes, therefore the center of benchmark is datum hole centre coordinate.The two-dimensional coordinate of baseline profile unique point in datum hole plane coordinate system XY plane has been obtained, the estimation by following algorithm realization datum hole parameter in above-mentioned steps five:
This algorithm is the Generalized Hough Transform innovatory algorithm based on least square.The cardinal principle that Generalized Hough Transform method is asked for finds one from datum hole border (spatial domain) to the conversion of datum hole centre coordinate (parameter space), and the datum hole parameter of the correspondence met with most of datum hole frontier point describes this hole itself.This algorithm uses least square method to make improvements on this basis, basic thought is: use least square method to set up the parameter space of datum hole centre coordinate, uses Generalized Hough Transform to realize the conversion of datum hole boundary space territory to the parameter space of datum hole centre coordinate.
Specific algorithm realizes as follows:
First, datum hole boundary space territory is set up.Namely in certain sequence the two-dimensional coordinate of the contour feature point of datum hole described in step 5 in datum hole plane coordinate system XY plane is numbered, forms point set (x
i, y
i), i=1 ~ n.
Secondly, least square method is utilized to set up the parameter space of datum hole centre coordinate.For the datum hole boundary space territory (x set up
i, y
i), i=1 ~ n, chooses t point of spatial domain according to certain intervals, use the coordinate of Least Square Method datum hole.
Least Square Method hole parameter algorithm is as follows:
(u is v) system of equations with the least-squares estimation value of radius R to the desirable round heart
（i=1,2，…，t） （2）
Least square solution, because (2) formula is nonlinear, solve more difficult, therefore following process done to (2) formula:
（i=1,2，…，t） （3）
Arrange (3) to obtain
（i=1,2，…，t） （4）
Order
(5)
Then (3) can abbreviation be
（6）
Now, the least-squares estimation value of u, v should make error function
（7）
Reach minimum, order
with
, obtain
（8）
Separate (8) and obtain the center of circle (u, estimated value v).
（9）
(10)
Choose the point of different interval in the spatial domain of benchmark border, use Least Square Method parameter respectively, set up datum hole centre coordinate parameter space (u
k, v
k).
Generalized Hough Transform is again used to realize the conversion of datum hole boundary space territory to datum hole coordinate parameters space.Specific algorithm is as follows:
First, benchmark boundary space (x is asked
i, y
i) to the error of datum hole centre coordinate parameter space.
（11）
An error range δ is set, compares
with the size of δ.
Secondly, one 2 dimension totalizer is set up
, when
time, totalizer adds 1.
Finally, compare the value of totalizer,
when getting maximum value, (u
k, v
k) be the datum hole centre coordinate estimated.
Finally the two-dimensional coordinate at this datum hole center is converted to the three-dimensional coordinate fastened in basis coordinates, that is, the two-dimensional coordinate at this datum hole center is the two-dimensional coordinate in datum hole plane coordinate system XY plane, according to the transformational relation having determined datum hole plane coordinate system and basis coordinates system in step 5, thus the two-dimensional coordinate of datum hole center in datum hole plane coordinate system XY plane is reversed the three-dimensional coordinate for fastening in basis coordinates.
From the above, benchmaring device navigates within the scope of reference measurement by automatic Drilling/Riveting system performance element by the present invention, but benchmaring device is independently measured, accuracy of detection and automatic Drilling/Riveting system performance element absolute fix precision have nothing to do, the high precision test of benchmark can be realized, and the determination of the physical location to automatic Drilling/Riveting system machining benchmark can be realized, to determine the deviation of benchmark theoretical position and physical location, to the position compensating approach in addition of preprocessing point on product, eliminate making and installation error, improve and bore riveting precision.The present invention utilizes 2D laser displacement sensor 1 pair of benchmark to scan, and is then calculated fast by benchmaring algorithm, the final physical location obtaining benchmark.The absolute coordinate information of benchmark is directly input in processor 9 program by controller by 2D laser displacement sensor 1 and range sensor 4, and detection method is simple, quick, can realize benchmark on-line checkingi.The present invention simultaneously can realize the technical requirement accuracy of detection of the machining benchmark of automatic Drilling/Riveting system being reached to 0.05mm.
The preferred specific embodiment of the present invention described by reference to the accompanying drawings is above only for illustration of embodiments of the present invention; instead of as the restriction to aforementioned invention object and claims content and scope; every according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belong to the technology of the present invention and rights protection category.
Claims (4)
1. the benchmaring method of an aircraft components automatic Drilling/Riveting system, the detection of the benchmark physical location of four datum holes on product, these four datum holes are positioned at same plane or almost plane, the benchmaring device that described benchmaring method uses comprises processor, the controller of 2D laser displacement sensor, the controller of linear actuator and pedestal, described pedestal is provided with slide block guide rail and linear actuator, described slide block guide rail slidably connects web joint, and linear actuator is connected with web joint, slide on slide block guide rail for making web joint, described web joint is provided with 2D laser displacement sensor and range sensor, described processor is by the two-dimensional coordinate of the controller control 2D laser displacement sensor scanning survey baseline profile unique point of 2D laser displacement sensor, described processor controls linear actuator moving linearly by the controller of linear actuator, and described range sensor is for measuring the amount of movement of slide block guide rail, described processor process, from the measured value of 2D laser displacement sensor and range sensor, realizes benchmaring, it is characterized in that, comprise the following steps: the first step, definition basis coordinates system A-XYZ, true origin is space any point A, and horizontal direction is X-axis, and vertical direction is for being Z axis, and Y-axis is the direction that right-handed coordinate system specifies, definition 2D laser displacement sensor coordinate is S-XYZ, 2D laser displacement sensor inner laser bundle eye point is true origin S, 2D laser displacement sensor inner laser bundle is X-axis through the direction of the striation that cylindrical objective lens dispersion is formed, with laser emitting direction for Z axis, Y-axis is the direction of the regulation meeting right-handed coordinate system, definition datum hole plane coordinate system O-XYZ, so that in the plane of datum hole place, any point is for true origin O, orthogonal in the plane two straight lines of datum hole are X, Y-axis, datum hole planar process is to being Z axis, and described datum hole place plane is datum hole plane or is reference plane, first 2D laser displacement sensor scanning initial coordinate system S is determined by demarcation before benchmaring
0-XYZ is relative to the rotation matrix R of basis coordinates system A-XYZ and sensor coordinate system origin coordinates initial point thereof the coordinate in basis coordinates system
and determine the direction of scanning angle (α, beta, gamma) of 2D laser displacement sensor in basis coordinates system, thus determine the transformational relation of sensor coordinate system and basis coordinates system, and then determine that datum hole planimetric coordinates is tied to the rotation matrix of basis coordinates system, thus determine the transformational relation of datum hole plane coordinate system and basis coordinates system,
Second step, starts 2D laser displacement sensor by the controller of 2D laser displacement sensor, and measure the two-dimensional coordinate of scanning initial position baseline profile unique point, this two-dimensional coordinate is the coordinate in sensor coordinate system XZ plane;
3rd step, linear actuator is started by the controller starting linear actuator, 2D laser displacement sensor is made to do rectilinear scanning motion, measure the two-dimensional coordinate of baseline profile unique point on direction of scanning simultaneously, this two-dimensional coordinate is the coordinate in sensor coordinate system XZ plane, and the amount of movement of slide block guide rail measured by range sensor, and be entered in processor;
4th step, according to the two-dimensional coordinate of baseline profile unique point in sensor coordinate system XZ plane and the amount of movement of range sensor measurement slide block guide rail, by the transformational relation of sensor coordinate system and basis coordinates system, calculate the three-dimensional coordinate that baseline profile unique point is fastened in basis coordinates;
5th step, by the three-dimensional coordinate that datum hole contour feature point is fastened in basis coordinates, is converted to the two-dimensional coordinate in the XY plane of datum hole plane coordinate system through coordinate transform;
6th step, according to the two-dimensional coordinate of baseline profile unique point in datum hole plane coordinate system XY plane, the parameter space first by using least square method to set up datum hole centre coordinate; Then use Generalized Hough Transform to realize the conversion of datum hole boundary space territory to the parameter space of datum hole centre coordinate, realize datum hole centre coordinate and estimate; Finally the two-dimensional coordinate of this datum hole center in datum hole plane coordinate system XY plane is reversed the three-dimensional coordinate for fastening in basis coordinates.
2. benchmaring method according to claim 1, it is characterized in that: the method that described utilization least square method sets up the parameter space of datum hole centre coordinate is: first, the two-dimensional coordinate that described datum hole contour feature point is fastened at datum hole planimetric coordinates is numbered, forms point set (x
i, y
i), i=1 ~ n;
Secondly; To datum hole boundary space territory (x
i, y
i), i=1 ~ n, chooses t point of spatial domain according to certain intervals, use the coordinate of Least Square Method datum hole, show that datum hole coordinate (u, v) estimated value is:
3. benchmaring method according to claim 2, is characterized in that: described Generalized Hough Transform realizes datum hole boundary space territory and to the method for the conversion of the parameter space of datum hole centre coordinate is: first ask benchmark boundary space (x
i, y
i) to the error of datum hole centre coordinate parameter space:
An error range δ is set, compares
with the size of δ;
Secondly, one 2 dimension totalizer N [u is set up
k] [v
k]=0, when
time, totalizer adds 1;
Finally, compare the value of totalizer, N [u
k] [v
k] when getting maximum value, (u
k, v
k) be the datum hole centre coordinate estimated.
4. benchmaring method according to claim 3, it is characterized in that: described 2D laser displacement sensor coordinate system S-XYZ, in detection campaign in step 2, step 3 or local motion process, motion state is unique, and the transformational relation of described sensor coordinate system and basis coordinates system is unique.
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