CN104613897B - The adaptively sampled device of vehicle exterior cladding element mold freedom curved surface and measuring method - Google Patents
The adaptively sampled device of vehicle exterior cladding element mold freedom curved surface and measuring method Download PDFInfo
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Abstract
The adaptively sampled device of vehicle exterior cladding element mold freedom curved surface and measuring method.A kind of adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, its composition includes：Gauge head handle（1）, described gauge head handle and laser displacement sensor pedestal（2）Connection, described laser displacement sensor pedestal and laser displacement sensor butterfly（3）Connection, described laser displacement sensor butterfly respectively with left laser displacement sensor（6）, right laser displacement sensor（8）Connection, described left laser displacement sensor, described right laser displacement sensor respectively with laser displacement sensor connecting plate（4）Knob is installed on connection, described laser displacement sensor connecting plate（5）.The present invention is applied to Digit Control Machine Tool on-machine measurement technical field.
Description
Technical field：
The present invention relates to a kind of adaptively sampled device of vehicle exterior cladding element mold freedom curved surface and measuring method.Belong to high
Precision compression molds processing technique field.
Background technology：
With the development of modern processing, the competitive pressure in market is increasing, is mutually being fastened with Modern Manufacturing Technology
The fields such as close Aero-Space, automobile, such as impeller, the part of the free form surface such as automobile panel series have obtained increasingly extensive
Application, therefore the crudy of part has obtained extensive concern, it is necessary to by being digitized measurement inspection to free form surface
Its machining accuracy is surveyed, Surface Digitizing measurement mainly includes contact type measurement and the major class of non-contact measurement two, contact type measurement
Realize the measurement of various surfaces externally and internallies using a variety of gauge heads, the points of sampled point just become one with reasonable layout and important ground
Study carefully problem, wherein the measuring method principle such as equidistant is simple and is easily achieved, is widely used in actually measurement but there is also very
It is clearly disadvantageous；Other such as arc length uniform grid partitioning technology, on the one hand realizes drawing for non-uniform grid by man-machine interaction
Point, the boundary curve of known curved surface is on the other hand required, the arc length such as real can not be realized.Traditional method of sampling is due to relating to
And the calculating of curvature of curved surface, therefore be limited only to sample to the free form surface of known mathematical model (specific function expression)
Point planning, but the free form surface Sampling of known CAD model can not be solved, it is difficult to realize CAD systems and On-machine Test system
(OMV) effective docking.For mould unknown free curved face, pass through the noncontacting measurement combined by 3 laser displacement sensors
Device, adaptively sets sampled point.Change i.e. based on curved surface normal vector, in curved surface degree of crook large area, sampled point is close
Collection, conversely, the degree of crook zonule of curved surface, sampled point is also than sparse；If tested Unknown curve surface plans direction in sampling
Side changes big, and some bias points etc. can be adaptively arranged as needed.This research uses laser heed contacted measure method pair
The free form surface of car outer covering piece mould carries out adaptively sampled planning.
The content of the invention：
It is an object of the invention to provide a kind of adaptively sampled device of car outer covering piece mold freedom curved surface and measuring method.
Above-mentioned purpose is realized by following technical scheme：
A kind of adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, its composition includes：Gauge head handle, described survey
Head handle is connected with laser displacement sensor pedestal, described laser displacement sensor pedestal and laser displacement sensor butterfly
Connection, described laser displacement sensor butterfly is connected with left laser displacement sensor, right laser displacement sensor respectively,
Described left laser displacement sensor, described right laser displacement sensor are connected with laser displacement sensor connecting plate respectively,
Knob is installed on described laser displacement sensor connecting plate.
The described adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, described laser displacement sensor connection
Preceding laser displacement sensor is installed, described preceding laser displacement sensor is connected by laser displacement sensor connecting plate between plate
It is connected on laser displacement sensor pedestal.
The described adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, described left laser displacement sensor,
Described right laser displacement sensor launches downwards three beams of laser in mould processing table with described preceding laser displacement sensor
Face forms a triangle plane measured zone, and the area size is adjusted laser displacement sensor and projected by knob to swash
The angle of light.
The described adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, described left laser displacement sensor is
LDL, described right laser displacement sensor is LDR, and described preceding laser displacement sensor is LDF.
The measuring method of the described adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, this method includes as follows
Step：
（1）Before measurement starts, it would be desirable to set up the measurement coordinate system of three laser displacement sensors, title is respectively
LDF, LDL, LDR, and three coordinate systems unifications are arrived by the frame of reference by Coordinate Conversion, three coordinate systems are connected to form
The equal equilateral triangle of one length of side, can also constitute other forms triangle.
（2）If machine origin is O, three change in coordinate axis direction are consistent with the direction of machine tool guideway, set up lathe coordinate system
Oxyz, sets up sensor measurement coordinate system, the point that LDL measured values are zero when measuring machine is started working is origin, set up
LDL corresponds to the coordinate system of lathe, and ball is finally placed on lathe and sets up the frame of reference, each coordinate system
Corresponding reference axis is all parallel with x, y, z axle and direction needs unanimously.Laser displacement sensor is carried out to rotate along Y-axis, institute
With coordinate system to be set up itself spin matrix T.
（3）Coordinate Conversion starts after finishing along setting trajectory measurement, and LDF starts to seek border, and mobile laser measuring device for measuring is arrived
Starting point, opens LDF, other two wouldn't work.Device is allowed to be moved up along one party, it is defeated when gauge head enters surface boundary R
Going out signal can undergo mutation, the at this moment Survey Software immediate record mutation coordinate value, and save as boundary point.
（4）LDF is explored the way footpath, along measurement of curved surface direction, while opening three sensors, mobile three dot laser measurement apparatus are obtained
The normal vector of triangle plane is taken, during current rear curved surface normal vector angle numerical value change, i.e., when more than Minimum deviation angle, if most
Small deflection angle is threshold value, records measurement point, data foundation is provided during for overall measurement.So in precipitous obvious region curved surface
Deflection angle between front and rear curved surface normal vector is bigger, so the spacing between consecutive points is just smaller, measurement point is just more；It is precipitous not
The normal vector deflection angle of curved surface is smaller before and after obvious region, then the spacing between consecutive points is also bigger, and measurement point is just small, so that
Realize the adaptive distribution of sampled point；
When the left and right directions of particularly measurement track is more precipitous, then the normal vector that three dot laser measurement apparatus are calculated
It can be deflected to the precipitous side of curved surface or so；The deflection side component angle of this normal vector deflection side component and above normal vector exceedes
During Minimum deviation angle, if Minimum deviation angle is threshold value, sampled point is increased along yawing moment.
Beneficial effects of the present invention：
1. the device and adaptively sampled method are very beneficial to the Free-Form Surface Machining precision for analyzing mould, the present invention is kept away
Exempt from because measurement has contact force, and contact measurement can not be carried out to the object such as soft, frangible, it is to avoid produce workpiece during measurement
Deformation, with very high measurement accuracy, good reliability and stability, the measurement data obtained need not carry out contact half
Footpath is compensated.
Three dot laser measurement apparatus of the invention are specific to vehicle exterior cladding element mold freedom curved surface, especially to mould
The measurement of sheer face has apparent specific aim, can adaptively set sampled point, the maximum error of fitting of reconstructed surface is
0.02mm。
Three dot laser measurement apparatus measuring methods of the invention are simple, for the curve that length is 100mm or so, control point one
As 30~40 more fit, can on the premise of die curve required precision is met, improve operating efficiency, experimental result card
Bright measurement efficiency is higher than contact type measurement by 15%, speed lifting 11%, and sampled point has obvious adaptive distribution.
Brief description of the drawings：
Accompanying drawing 1 is the structural representation of the present invention.
Accompanying drawing 2 is the front view of accompanying drawing 1.
Accompanying drawing 3 is the left view of accompanying drawing 1.
Accompanying drawing 4 is the top view of accompanying drawing 1.
Accompanying drawing 5 is the structure and instrumentation plan of the present invention.
Accompanying drawing 6 is the sampling schematic flow sheet of the present invention.
Accompanying drawing 7 is establishment of coordinate system schematic diagram of the present invention.
Accompanying drawing 8 is measurement direction up-sampling implementation process A figures of the present invention.
Accompanying drawing 9 is measurement direction up-sampling implementation process B figures of the present invention.
Accompanying drawing 10 is measurement direction up-sampling implementation process C figures of the present invention.
Accompanying drawing 11 is measurement direction up-sampling implementation process D figures of the present invention.
Accompanying drawing 12 is the normal vector schematic diagram that the present invention is tested unknown small curved surface.
Accompanying drawing 13 is the normal vector group schematic diagram of the unknown small curved surface of the present invention.
Accompanying drawing 14 is the angle schematic diagram between two normal vectors of the invention.
Accompanying drawing 15 is the adaptive distribution schematic diagram of sampled point of the present invention.
Accompanying drawing 16 be when Unknown curve surface of the present invention is precipitous big swing schematic diagram from normal vector to opposite side.
Accompanying drawing 17 is the decomposing schematic representation of present invention deflection normal vector.
Embodiment：
Embodiment 1：
A kind of adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, its composition includes：Gauge head handle 1, it is described
Gauge head handle is connected with laser displacement sensor pedestal 2, and described laser displacement sensor pedestal rotates with laser displacement sensor
Baffle plate 3 is connected, and described laser displacement sensor butterfly is sensed with left laser displacement sensor 6, right laser displacement respectively
Device 8 is connected, and described left laser displacement sensor, described right laser displacement sensor are connected with laser displacement sensor respectively
Plate 4 is connected, and knob 5 is provided with described laser displacement sensor connecting plate.
Embodiment 2：
The adaptively sampled device of vehicle exterior cladding element mold freedom curved surface according to embodiment 1, described laser position
Laser displacement sensor 7 before being provided between displacement sensor connecting plate, described preceding laser displacement sensor passes through laser displacement
Sensor connecting plate is connected on laser displacement sensor pedestal.
Embodiment 3：
Swash on the adaptively sampled device of vehicle exterior cladding element mold freedom curved surface according to embodiment 1 or 2, a described left side
Optical displacement sensor, described right laser displacement sensor launch downwards three beams of laser with described preceding laser displacement sensor
In mould finished surface one triangle plane measured zone of formation, laser displacement is adjusted by knob in the area size
Sensor projects the angle of laser.
Embodiment 4：
The adaptively sampled device of vehicle exterior cladding element mold freedom curved surface according to embodiment 1 or 2 or 3, it is described
Left laser displacement sensor is LDL, and described right laser displacement sensor is LDR, and described preceding laser displacement sensor is
LDF。
Embodiment 5：
A kind of measuring method of the adaptively sampled device of vehicle exterior cladding element mold freedom curved surface described in embodiment 1-4,
It is characterized in that：This method comprises the following steps：
（1）Before measurement starts, it would be desirable to set up the measurement coordinate system of three laser displacement sensors, title is respectively
LDF, LDL, LDR, and three coordinate systems unifications are arrived by the frame of reference by Coordinate Conversion, three coordinate systems are connected to form
The equal equilateral triangle of one length of side, can also constitute other forms triangle.
（2）If machine origin is O, three change in coordinate axis direction are consistent with the direction of machine tool guideway, set up lathe coordinate system
Oxyz, sets up sensor measurement coordinate system, the point that LDL measured values are zero when measuring machine is started working is origin, set up
LDL corresponds to the coordinate system of lathe, and ball is finally placed on lathe and sets up the frame of reference, each coordinate
It is that corresponding reference axis is all parallel with x, y, z axle and direction needs unanimously.Laser displacement sensor is carried out to rotate along Y-axis,
So to set up coordinate system itself spin matrix T.
（3）Coordinate Conversion starts after finishing along setting trajectory measurement, and LDF starts to seek border, and mobile laser measuring device for measuring is arrived
Starting point, opens LDF, other two wouldn't work.Device is allowed to be moved up along one party, it is defeated when gauge head enters surface boundary R
Going out signal can undergo mutation, the at this moment Survey Software immediate record mutation coordinate value, and save as boundary point.
（4）LDF is explored the way footpath, along measurement of curved surface direction, while opening three sensors, mobile three dot laser measurement apparatus are obtained
The normal vector of triangle plane is taken, during current rear curved surface normal vector angle numerical value change, i.e., when more than Minimum deviation angle, if most
Small deflection angle is threshold value, records measurement point, data foundation is provided during for overall measurement.So in precipitous obvious region curved surface
Deflection angle between front and rear curved surface normal vector is bigger, so the spacing between consecutive points is just smaller, measurement point is just more；It is precipitous not
The normal vector deflection angle of curved surface is smaller before and after obvious region, then the spacing between consecutive points is also bigger, and measurement point is just few, so that
Realize the adaptive distribution of sampled point；
When the left and right directions of particularly measurement track is more precipitous, then the normal vector that three dot laser measurement apparatus are calculated
It can be deflected to the precipitous side of curved surface or so；The deflection side component angle of this normal vector deflection side component and above normal vector exceedes
During Minimum deviation angle, if Minimum deviation angle is threshold value, sampled point is increased along yawing moment.
Embodiment 6：
Coordinate system is changed
Because we will carry out rotating along Y-axis to laser displacement sensor, so to set up coordinate system itself spin matrix
T。
。
ArriveCoordinate Conversion can be, similarlyArriveCoordinate Conversion can be。
ArriveCoordinate transformation relation can be expressed as：
（1）
In formula, W1、K1Respectively spin matrix and translation matrix, consistent with direction are closed due to parallel between each coordinate system
System,Value can by lathe position relationship read,。
It if the length of laser is h, can be expressed as, substitute into（1）Shi Ke get；
（2）
ArriveTransformational relation can be expressed as
（3）
In formula,WithFor Spin matrix and translation matrix,
.The standard ball on workbench can be measured using LDL, ask for fitting centre coordinate and obtain
, if the centre coordinate tried to achieve is,。
Above-mentioned each value is substituted into Shi Ke get
（4）
Measured value can be just converted into by above-mentioned formula under the frame of reference, similarly LDF, LDR is same.
Embodiment 7：
Adaptive Planning measurement point
Three sensors are opened simultaneously, and laser measuring device for measuring starts measurement, and according to LDF sampled data, reasonable distribution is adopted
Sampling point.
If triangle A, B, C are respectively for the summit point of triangular form：
, they constitute a plane zonule, in the case where plane is sufficiently small, with being tested unknown Chinese yeast
Face can be seen as being approximately on same plane.
If the normal vector of a certain measured point of plane is, then：
（5）
The value for then trying to achieve m, n, q is：
（6）
If device is moved to next facet corresponding position normal vector of a bit, the method for two points
Vector is in same level as far as possible,Value it is consistent with algorithm above.
If the angle between two normal vectors is to have equation below：
（7）
According to above-mentioned formula, we can be in the hope of the value of angle：
（8）
For reasonable Arrangement sampled point, we set a Minimum deviation angle first（Threshold value）.Then according to tested unknown
The property of curved surface, the precipitous injustice of curved surface, the corner between the normal vector of precipitous obvious region curved surface is bigger, so consecutive points
Between spacing just it is smaller, measurement point just it is many；It is smaller in the normal vector corner of precipitous unconspicuous region curved surface, then consecutive points it
Between spacing it is also bigger, measurement point is just few, so as to realize the adaptive distribution of sampled point.
Embodiment 8：
Processing deflection normal vector
In measurement process, if run into free form surface is very precipitous, particularly the left and right directions of track is measured more
It is precipitous, then the normal vector that three dot laser measurement apparatus are calculated can be deflected to the precipitous side of curved surface or so.Normal vector " t ", goes out
Now to the swing of measurement track side, being now tested the normal vector deflection of any on triangle facet cannot ignore, at this moment
Carry out normal vector deflection calculation.If measurement point direction is same direction with measurement track, by this measurement point normal vector " t ", decompose
For tx、tyTwo components, and be mutually perpendicular to, wherein txAngle with t is, so tx、tyIt is equal to：
(9)
If the component angle of this point and above normal vector exceedes threshold value（One Minimum deviation angle is set）, just along deflection side
To increase sampled point, when Unknown curve surface is precipitous big swing from normal vector to side.
Embodiment 9：
Deflect the decomposition of normal vector
For being tested the precipitous of Unknown curve surface, some bias points are set in its biased direction, it is main to consider that normal vector shakes
The normal vector component in direction and the component angle of previous normal vector are put, bias point is arranged according to its numerical values recited.Arrange partially
After putting a little, original track is returned.
Curved measurement point is arranged, and returns to starting point, LDF continues to seek border, determined after starting point, along Boundary Moving,
Border is determined, data boundary is analyzed, proceeds measurement by starting point of another sampled point until measuring whole curved surface.Respectively
Individual measurement section is that, by equidistantly distributed, this can cause the unreasonable influence curve reestablishing precision of cross-sectional distribution, shown to need pair
Segment in section；First according to equidistantly measurement, the deflection of borderline method vector is calculated, is calculated further according to corner size on border
The distribution of sampled point.
Claims (2)
1. a kind of adaptively sampled device of vehicle exterior cladding element mold freedom curved surface, its composition includes：Gauge head handle, it is characterized in that：
Described gauge head handle is connected with laser displacement sensor pedestal, described laser displacement sensor pedestal and laser displacement sensor
Butterfly is connected, and described laser displacement sensor butterfly is passed with left laser displacement sensor, right laser displacement respectively
Sensor is connected, and described left laser displacement sensor, described right laser displacement sensor connect with laser displacement sensor respectively
Fishplate bar is connected, and knob is provided with described laser displacement sensor connecting plate；
Preceding laser displacement sensor, described preceding laser displacement sensing are installed between described laser displacement sensor connecting plate
Device is connected on laser displacement sensor pedestal by laser displacement sensor connecting plate；
Described left laser displacement sensor, described right laser displacement sensor and described preceding laser displacement sensor are downward
Launch three beams of laser in mould finished surface one triangle plane measured zone of formation, the area size is entered by knob
Row regulation laser displacement sensor projects the angle of laser；
Described left laser displacement sensor is LDL, and described right laser displacement sensor is LDR, described preceding laser displacement
Sensor is LDF.
2. a kind of measurement side of the adaptively sampled device of vehicle exterior cladding element mold freedom curved surface described in utilization claim 1
Method, it is characterized in that：This method comprises the following steps：
（1）Before measurement starts, it would be desirable to set up the measurement coordinate system of three laser displacement sensors, title be respectively LDF,
LDL, LDR, and three coordinate systems unifications are arrived by the frame of reference by Coordinate Conversion, three coordinate systems are connected to form one
The equal equilateral triangle of the length of side, can also constitute other forms triangle；
（2）If machine origin is O, three change in coordinate axis direction are consistent with the direction of machine tool guideway, set up lathe coordinate system Oxyz, build
Sensor of writing a biography measures coordinate system, and the point that LDL measured values are zero when measuring machine is started working is origin Op, set up LDL correspondences
In the coordinate system of lathe, ball is finally placed on lathe and sets up the frame of referenceEach coordinate system is corresponding to be sat
Parameter is all parallel with x, y, z axle and direction needs unanimously, laser displacement sensor to be carried out to rotate along Y axles, so to set up
Coordinate system itself spin matrix T；
（3）Coordinate Conversion starts after finishing along setting trajectory measurement, and LDF starts to seek border, moves laser measuring device for measuring to starting point,
LDF is opened, other two wouldn't work, and allow device to be moved up along one party, when gauge head enters surface boundary R, output letter
Number it can undergo mutation, the at this moment Survey Software immediate record mutation coordinate value, and save as boundary point；
（4）LDF explores the way footpath, along measurement of curved surface direction, while opening three sensors, mobile three dot laser measurement apparatus obtain three
The normal vector of angular facet, during current rear curved surface normal vector angle numerical value change, during more than Minimum deviation angle, if minimum deflection
Angle is threshold value, records measurement point, data foundation is provided during for overall measurement, the song so before and after precipitous obvious region curved surface
Deflection angle between the normal vector of face is bigger, so the spacing between consecutive points is just smaller, measurement point is just more；Precipitous unconspicuous
The normal vector deflection angle of curved surface is smaller before and after region, then the spacing between consecutive points is also bigger, and measurement point is just few, is adopted so as to realize
The adaptive distribution of sampling point；
When the left and right directions of measurement track is more precipitous, then the normal vector that three dot laser measurement apparatus are calculated can be left to curved surface
Right precipitous side deflection；The deflection side component angle that this normal vector deflects side component and above normal vector exceedes Minimum deviation angle
When, if Minimum deviation angle is threshold value, sampled point is increased along yawing moment；
Adaptive to set sampled point, the maximum error of fitting of reconstructed surface is 0.02mm；
The measurement data obtained need not carry out contact radius compensation；
For the curve that length is 100mm or so, control point is at 30~40.
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| CN105606037B (en) * | 2016-01-28 | 2018-02-06 | 江苏理工学院 | Device for measuring carbon fiber composite material vehicle body |
| CN106092005A (en) * | 2016-06-03 | 2016-11-09 | 哈尔滨东安发动机（集团）有限公司 | Three coordinate machine measures the method for free curve |
| CN106441168B (en) * | 2016-08-30 | 2019-01-04 | 南京理工大学 | The measurement method of linear rolling guide slider type face precision |
| CN106225718B (en) * | 2016-09-12 | 2018-06-26 | 武汉科技大学 | Contour detecting gauge head, detector and detection method |
| CN107063149A (en) * | 2017-03-09 | 2017-08-18 | 珠海格力大金精密模具有限公司 | Numerical control electric spark process equipment automatic checkout system and method |
| CN107238353B (en) * | 2017-05-31 | 2019-05-24 | 天津大学 | A kind of rotation angle measuring method based on primary standard of curved surface part |
| CN109489556B (en) * | 2019-01-05 | 2020-09-08 | 中国航空制造技术研究院 | Contact type curved surface normal measurement device and method for airplane assembly |
| CN111409023B (en) * | 2020-03-17 | 2021-06-22 | 天津大学 | Three-laser displacement sensor clamp convenient for angle adjustment |
| CN113109346A (en) * | 2021-03-08 | 2021-07-13 | 中国第一汽车股份有限公司 | Automatic surface quality detection system and method for automobile panel plate |
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| US7487063B2 (en) * | 2003-06-13 | 2009-02-03 | UNIVERSITé LAVAL | Three-dimensional modeling from arbitrary three-dimensional curves |
| CN101000499A (en) * | 2006-12-18 | 2007-07-18 | 浙江大学 | Contour machining method and system based on multi-sensor integral measuring |
| CN100538261C (en) * | 2007-10-16 | 2009-09-09 | 浙江大学 | Unknown free curved face self-adapting measuring method and gauge head unit based on the method for exploring the way |
| CN100557381C (en) * | 2008-01-14 | 2009-11-04 | 浙江大学 | Unknown free curved face measurement method and gauge head unit based on combined point laser feeler |
| JP2010181157A (en) * | 2009-02-03 | 2010-08-19 | Nikon Corp | Apparatus for three-dimensional measurement |
| CN102322793B (en) * | 2011-05-12 | 2013-06-05 | 浙江大学 | Real-time radius compensation method and measuring head device applied to portable coordinate measuring machines |
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