CN106354094B - Lathe slave laser scanning coordinate scaling method based on space criteria ball - Google Patents
Lathe slave laser scanning coordinate scaling method based on space criteria ball Download PDFInfo
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- CN106354094B CN106354094B CN201610824794.2A CN201610824794A CN106354094B CN 106354094 B CN106354094 B CN 106354094B CN 201610824794 A CN201610824794 A CN 201610824794A CN 106354094 B CN106354094 B CN 106354094B
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
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Abstract
The present invention is based on the lathe slave laser scanning coordinate scaling methods of space criteria ball to belong to vision measurement field, is related to a kind of lathe slave laser scanning coordinate scaling method based on space criteria ball.Scaling method provides third dimension data using the motion module of lathe for line laser measurement sensor, realize that lathe coordinate system and the data of line laser measuring coordinate system are unified by being fitted the center of circle to space known radius standard ball scanning survey, the default axis calibration for first carrying out measuring coordinate system is moved according to machine tool motion and laser plane, axis calibration is measured again, the integral calibrating for finally realizing three-dimensional motion, obtains the transformation of scale matrix of lathe coordinate system and measuring coordinate system.The scaling method, which improves conventional laser measurement sensor, can only measure the defect of 2-D data, effectively extend the measurement application range of line laser measurement sensor, be a kind of scaling method with wide application prospect.
Description
Technical field
The invention belongs to vision measurement fields, are related to a kind of lathe slave laser scanning coordinate mark based on space criteria ball
Determine method.
Background technology
It is constantly progressive with industrial, parts, which measure, gradually becomes important link indispensable in production, packet
Various types of measurement problems such as profile, gap, pattern and defect are included all to put forward the accuracy of measurement method and rapidity
Go out very high requirement.Existing measurement method center line laser measurement mode with it quickly, high-precision and the measurements such as non-contact
Advantage has very extensive application in the industrial production.But traditional line laser measurement sensor can only be realized and be put down to laser
The measurement of 2-D data in face, there is no the functions of measuring three-dimensional data for measurement sensor itself, three-dimensional for needing to carry out
The case where measurement, can not operate, and which greatly limits its application ranges.Improving line laser measurement method, which makes it, is considered to this needs
The measurement of three-dimensional data may be implemented, this just needs artificially to increase one-dimensional exercise data for line laser measurement sensor to full
The needs of sufficient three-dimensional coordinate measurement.It is perpendicular to line laser measurement sensor since axis of motion direction can not be accurately controlled
Laser measurement plane, this just needs to demarcate kinematic axis with the relative position relation for measuring plane, finally accurately be removed
The third dimension measurement data outside 2-D data that line laser measurement sensor measures, accuracy and the high efficiency of calibration result will
Directly determine final measurement accuracy and measurement efficiency.It is mainly that application space affine transformation realizes the position of kinematic axis at this stage
Calibration is set, the shear transformation matrix in online laser measurement sensor motion process is realized by least four known point of space
It solves, to realize the transformation of measurement data using transformation matrix, this method principle is simple, simple operation, but calculating process
The acquisition of complexity, space known point is relatively difficult, therefore is of limited application.
For the location position of line laser measurement sensor, Liu Zhen of BJ University of Aeronautics ＆ Astronautics et al. in 2013
《Photoelectric project》The first phase has delivered article《The field calibration of big visual field line structured light vision sensor》, propose by 1-dimension drone
Vanishing point property and characteristic point between distance restraint, solve space coordinate of each characteristic point under camera coordinate system；And root
The camera coordinates that optical plane and each 1-dimension drone intersection point are calculated according to cross ratio invariability, fit optic plane equations.This method is same
The laser plane position of line structure optical sensor can be calibrated, but scaling method calculates complexity, and need a large amount of measurement points
It demarcates less efficient.Therefore it is very necessary to measure the scaling method research of spatial position for line laser.
Invention content
The present invention is to overcome the deficiencies of existing technologies, and has invented a kind of lathe slave laser scanning based on space criteria ball
Coordinate scaling method, the defect of two-dimensional measurement data can only be obtained by improving ordinary lines laser measurement sensor, by moving mould
Block and the cooperation of space criteria ball complete the location position of line laser measurement sensor to realize three-dimensional coordinate measurement, the party
Method effectively extends the measurement application range of line laser measurement sensor, is a kind of scaling method with wide application prospect.
The technical solution adopted by the present invention is a kind of lathe slave laser scanning coordinate calibration side based on space criteria ball
Method, feature, scaling method provides third dimension data using the motion module of lathe for line laser measurement sensor, by sky
Between the known radius standard ball scanning survey fitting center of circle realize that the data of lathe coordinate system and line laser measuring coordinate system are unified, root
The default axis calibration for first carrying out measuring coordinate system is moved according to machine tool motion and laser plane, then measures axis calibration, it is last real
The integral calibrating of existing three-dimensional motion, obtains the transformation of scale matrix of lathe coordinate system and measuring coordinate system.Scaling method it is specific
Calibration process is as follows：
The first step, selection and arrangement space standard ball
Line laser sensor (3) is connect with main shaft of numerical control machine tool (1) by line laser measurement sensor connecting plate (2),
Make its movement with lathe and moves；Laser plane (6) is set to be surveyed perpendicular to plane, the line laser of different model is measured when installation
The laser line length of quantity sensor is different, for the ease of the striation information on extraction standard ball (4) surface, selection standard ball
The half of a diameter of laser line length；Standard ball (4) is mounted in fixed plate (5), and is placed on platen (7),
When ensureing to move along a certain axis in lathe working range, the laser rays of line laser measurement sensor (3) is all scanned to entire mark
Quasi- ball (4) surface；
The default axis calibration of second step, line laser measurement sensor
Three coordinate systems are determined first, first, the coordinate system O of laser incising type latheJXJYJZJ, the coordinate system be it is fixed,
It is not moved with the movement of lathe, specific coordinate values are directly read from lathe CNC Panel；Second coordinate system is just
The measuring coordinate system O of beginning position laser measurement sensorLXLYLZL, which is fixed in measurement sensor, can be with lathe
Movement and move, laser measurement sensor obtains specific coordinate value (XL,ZL), YLNumerical value need the movement by lathe
It obtains, is the default axial coordinate for needing to demarcate；Third coordinate system is with moving coordinate system OLnXLYLZL, refer to initial measurement
Coordinate system OLXLYLZLWith the variation coordinate system of machine tool motion；
It goes to touch fixed standard ball (4) using lathe probe, obtains at least three non-colinear umbilical points and sat in lathe
Three-dimensional coordinate under mark system, coordinate (Xs of the standard ball centre of sphere O under lathe coordinate system is determined by these fit spheresJO,
YJO,ZJO), platen (7) is adjusted later along single YJAxis is moved, laser measurement sensor (3) following scanning mark
Quasi- ball (4), laser sensor obtains a series of two-dimensional measurement coordinate during scanning standard ball, these coordinates are spherical surfaces
Two-dimensional measurement data of the point in the case where measuring with moving coordinate system, standard ball (4) radius of selection are denoted as R；
In a series of concentric circles that are projected as of standard spherical surface, the circle center line connecting DB in section perpendicular to laser scanning plane (6),
As laser measurement coordinate system YLThe direction of axis, the laser striation of extraction standard ball surface, obtains series of arc, passes through fitting
The radius of section circular arc finds laser section greatest circle, and the center of circle of this circle is theoretically the centre of sphere O of standard ball, thus looks for
Largest contours position of the laser plane in standard ball has been arrived, the circular arc of the position is fitted, the two-dimensional coordinate for obtaining the center of circle is
The standard ball centre of sphere is in laser measurement coordinate system OLXLYLZLUnder coordinate (XLO,ZLO), it is assumed that the Y of the positionLCoordinate value is 0, then
The centre of sphere is in measuring coordinate system OLXLYLZLUnder coordinate be (XLO,0,ZLO)；Lathe continues from the position along YJAxis displacement distance is L,
It obtains a laser plane section in position 1 to justify, the 1 laser plane section center of circle of position is B, 1 laser plane section of position circle
Radius is r, then the spacing OB of the section disk and largest contours disk is YLThe coordinate value in direction, two centers of circle away from
Axis move distance l default from i.e. laser measurement sensor, obtains according to the angular position relationship in space：
So, haveDue to lathe coordinate system YJAxis and laser measurement coordinate system YLThe variation of axis is
Linear, in machine coordinates YJWhen variation, the numerical value change rule of corresponding measuring coordinate system is：
I.e.
Similarly, when lathe is along lathe coordinate system XJAxis or ZJWhen movement, calibrate respectivelyAndIn this way when platen (7) does arbitrary translational motion in working range, maximum standard circle contour is flat
Face is as datum plane, then the respective coordinates of servo-actuated laser measurement sensor (3) default axis all are calibrated out, and lathe is opposite
In the datum plane coordinates of motion be (Δ XJ,ΔYJ,ΔZJ), laser measurement two-dimensional coordinate is (XL,ZL), corresponding measurement is three-dimensional to sit
It is designated as
Third step, line laser measure the calibration of axis and machine tool motion axis
The calibration that line laser measures axis and machine tool motion axis, the analysis demarcated by default axis are carried out using standard ball (4)
Learn, machine tool motion axis for default axis variation influence be exactly machine tool motion axis move distance in laser measurement coordinate system along YL
The projector distance of axis, as long as similarly finding machine tool motion axis move distance in the projector distance of laser measurement plane in XLAnd ZLSide
To component just solve along measure axis linear change ratio；The section of laser line scanning standard ball is observed, laser measurement is sat
Mark system is moved along the circle center line connecting direction in each section, as the directions OB, but laser measurement sensor with moving axes
System is changed along the kinematic axis of lathe, as the directions OC, therefore, the measuring coordinate in each section circle fitting center of circle relative to
Just changed with moving coordinate system, C points justify the changes in coordinates of fitting center of circle B relative to section, and the relative displacement of variation is
BC, the corresponding Δ X of variable quantity of two-dimensional coordinateLWith Δ ZLIt is exactly machine tool motion axis variable quantity to X in laser measurement coordinate systemLWith
ZLThe influence variable quantity in direction, if same lathe is L, i.e. line segment OB along unidirectional motion distance, then corresponding linear
Rule change is：
(with lathe along YLFor axis movement), it is translated in this way along any direction in working range when lathe, it is corresponding
The three-dimensional coordinate of laser measurement also can be obtained, that is, the kinematic axis for completing line laser measurement axis and lathe is demarcated.
4th step, laser measurement sensor and lathe three-dimensional motion are demarcated
Lathe coordinate system is OJXJYJZJ, laser measurement coordinate system is OLXLYLZL, since lathe drives laser measurement sensor
Always translational motion is done, so the two coordinate origin, which is moved to same position, has no effect on coordinate ratio variation relation；If
Lathe coordinate system YJAxis is respectively (α relative to the angle of three axis of laser measurement coordinate systemY、βY、γY), the X of lathe coordinate systemJAxis
And ZJThe angle of three axis of axis laser measurement coordinate system is respectively(αZ, βZ, γZ)；When platen (7)
Along YJAxis Moving Unit distance, corresponding measuring coordinate change vector areWhen platen (7)
Along XJAxis Moving Unit distance, corresponding measuring coordinate change vector areDue to ZJAxis is vertical
In XJYJPlane, when along ZJAxis Moving Unit distance, corresponding laser measurement coordinate variation vector should be：
Lathe has thus been obtained along ZJWhen axis moves, the variation numerical value of laser measurement coordinate, so as to complete Laser Measuring
The measuring coordinate transformation matrix of the calibration of quantity sensor and lathe three-dimensional motion, line laser measurement sensor is：
5th step, the real-time acquisition for measuring three-dimensional coordinate
By the calculating of the 4th step, measuring coordinate transformation matrix M is obtained, when lathe finds largest contours position, note should
The measuring coordinate system of position is initial coordinate system, and the measuring coordinate in the section circle fitting center of circle is (XL0,0,ZL0), machine coordinates are
(XJ0,YJ0,ZJ0)；Calibration opportunity edge of bed XJAxis, YJAxis and ZJThe distance of axis movement is LX, LYAnd LZ, at this point, measuring coordinate is
(XL1,0,ZL1), machine coordinates are (XJ1,YJ1,ZJ1), measuring coordinate system XLCoordinate is respectively Δ X with the variable quantity of three axisLX, Δ
XLYWith Δ XLZ, measuring coordinate system ZLCoordinate is respectively Δ Z with the variable quantity of three axisLX, Δ ZLYWith Δ ZLZ, then when lathe drives
The translational motion of laser measurement sensor is that measuring coordinate is (X to space any position, measuring coordinate is measuredLn,0,ZLn), lathe
Coordinate is (XJn,YJn,ZJn), respective coordinates solution formula of the corresponding measuring coordinate under initial measurement coordinate system is
Wherein, (Xcn,Ycn,Zcn) indicate the measuring coordinate under original measurement coordinate system, Δ X under any positionJ=XJn-
XJ0, Δ YJ=YJn-YJ0, Δ ZJ=ZJn-ZJ0, indicate the three-dimensional coordinate variable quantity of lathe during the motion；It completes entire sharp
The three-dimensional data real-time calibration of light measuring sensor (3) works.
The beneficial effects of the invention are as follows this method to realize line laser by machine tool motion module and the cooperation of space criteria ball
The location position of measurement sensor, the fast transformation matrix of coordinates for reading to solve lathe and laser pass to realize that line laser measures
The three-dimensional coordinate measurement of sensor.The defect of 2-D data can only be measured by improving conventional laser measurement sensor, effectively be extended
The measurement application range of line laser measurement sensor is a kind of scaling method with wide application prospect.
Description of the drawings
Fig. 1 is line laser measurement sensor calibration schematic diagram, wherein 1- machine tool chief axis, 2- line laser measurement sensors connect
Fishplate bar, 3- line laser measurement sensors, 4- standard balls, 5- standard ball fixed plates, 6- measure laser plane, 7 platens
Fig. 2 is standard ball maximum cross-section calibration schematic diagram, wherein OJXJYJZJLathe coordinate system, OLXLYLZLMeasuring coordinate
System, OL1XLYLZLWith moving coordinate system, the O- standard ball centre ofs sphere, the intersection point with vertical laser plane maximum cross-section is justified in 1 section of the positions A-,
Beta-position sets the 1 section circle fitting center of circle, C- machine tool motions axis and laser plane intersection point, 0 section of the positions the D- circle fitting center of circle, R- standards
Fit radius, L- machine tool motion distances, the default axis move distance of l- laser measurement sensors are justified in the radius of a ball, 1 section of the positions r-
Fig. 3 is line laser measurement sensor demarcation flow figure
Specific implementation mode
Below in conjunction with the accompanying drawings with the technical solution specific implementation that the present invention will be described in detail.
The line laser measurement sensor 3 that the present embodiment is selected is 2420 model measuring instruments of LMI companies, the standard ball of selection
4 be the matt ceramic ball of normal diameter 10.0134mm, and lathe is Coudé numerically-controlled machine tool.
The first step, selection and arrangement space standard ball
Carry out line laser measurement sensor 3 demarcate before to carry out relevant preparation, as shown in Figure 1, need by
Laser measurement sensor 3 is mounted on by sensor connecting plate 2 on the main shaft 1 of numerically-controlled machine tool, will be demarcated quasi- ball 4 and is mounted on standard
It in ball fixed plate 5, and is placed on the workbench 7 of lathe, opens line laser measurement sensor 3, adjust the workbench 7 of lathe
Position allows measurement laser plane 6 to scan standard ball 4.
The default axis calibration of second step, line laser measurement sensor
The track of platen 7 is set along lathe XJAxis direction has moved five positions, is obtained on the surface of standard ball 4
To corresponding laser striation, fitting is extracted to the profile of striation, a series of section circle contour radius r is obtained and the center of circle is sat
Mark.Move distance l that can be in the hope of each circular section relative to standard ball maximum cross-section according to formula (1)XAverage value is
2.071mm, the variable quantity L of machine tool motion axisXAverage value is 2.500mm, can obtain default axis YLAxis is relative to lathe XJAxis
Being servo-actuated variation ratio is
Similarly the track of setting platen 7 is along lathe YJAxis direction has moved five positions, in standard ball 4
To corresponding five laser profiles, fitting obtains profile radius r and central coordinate of circle.It can be cut in the hope of each circle according to formula (1)
Move distance l of the face relative to standard ball maximum cross-sectionYAverage value is 1.566mm, the variable quantity L of machine tool motion axisYAverage value is
2.750mm can obtain default axis YLAxis is relative to lathe YJThe servo-actuated variation ratio of axis is
The calibration to the default axis of laser measurement sensor 3 is thereby realized, two directions of motion of lathe have been obtained
Servo-actuated variation ratio.
Third step, line laser measure the calibration of axis and machine tool motion axis
2-D data of the laser measurement sensor 3 in laser measurement plane 6 is exactly to measure two dimension with the variable quantity of lathe
The variable quantity of coordinate can obtain line laser measurement sensor and measure axis X according to the interval variation of measurement dataLAxis and ZLAxis
Servo-actuated variation ratio.The track of same setting platen 7 is along lathe XJAxis direction has moved five positions, in standard ball
4 surface obtains corresponding laser striation, and fitting is extracted to the profile of striation, obtains a series of profile central coordinate of circle.It surveys
Measure coordinate XLMean change amount Δ XLXFor 1.413mm, ZLMean change amount Δ ZLXFor -0.047mm, the change of machine tool motion axis
Change amount LXAverage value is 2.500mm, can obtain kinematic axis XLAxis and ZLAxis is relative to lathe XJThe servo-actuated variation ratio of axis is distinguished
For
Similarly the track of setting platen 7 is along lathe YJAxis direction has moved five positions, in standard ball 4
To corresponding five laser profiles, fitting obtains profile central coordinate of circle.Measuring coordinate XLMean change amount Δ XLXFor-
2.268mm ZLMean change amount Δ ZLXFor 0.041mm, the variable quantity L of machine tool motion axisXAverage value is 2.750mm, can be with
Obtain kinematic axis XLAxis and ZLAxis is relative to lathe XJThe servo-actuated variation ratio of axis is respectively
The calibration for thereby realizing the measurement axis to laser measurement sensor, has obtained the survey of two direction of motion of lathe
It measures axis and is servo-actuated variation ratio.
4th step, laser measurement sensor and lathe three-dimensional motion are demarcated
In order to realize the unification of measuring coordinate and machine coordinates, three axis to laser sensor measuring coordinate and lathe are needed
Movement relation is demarcated, we should make 6 vertical measurement plane of measurement laser plane when installing laser measurement sensor as possible,
When lathe is in XJYJWhen move in plane, the mark of machine coordinates and laser measurement coordinate can be carried out according to the method for above-mentioned two section
It is fixed, so only needing to demarcate lathe along ZJCorrespondent transform relationship when axis movement with measuring coordinate system.
Since lathe drives laser measurement sensor 3 to do translational motion always, so the two coordinate origin is moved to
Same position has no effect on coordinate ratio variation relation, when lathe is along XJAxis Moving Unit distance, corresponding measuring coordinate become
Changing vector isIt together should be along lathe along YJAxis Moving Unit distance, corresponding measuring coordinate become
Changing vector isDue to ZJAxis is perpendicular to XJYJPlane, then when along ZJAxis Moving Unit away from
From corresponding laser measurement coordinate variation vector should be
As
Lathe has thus been obtained along ZJWhen axis moves, the variation numerical value of laser measurement coordinate, so as to complete Laser Measuring
The measuring coordinate transformation matrix of the calibration of quantity sensor 3 and lathe three-dimensional motion, line laser measurement sensor is：
5th step, the real-time acquisition for measuring three-dimensional coordinate
The three-dimensional measurement coordinate that lathe is servo-actuated lower laser measurement sensor 3 can be obtained in real time by formula (6), to
Complete the three-dimensional motion coordinate calibration of laser measurement sensor.
The present invention realizes that the position of line laser measurement sensor is marked by machine tool motion module and the cooperation of space criteria ball
It is fixed, the transformation matrix of coordinates of rapid solving lathe and laser measurement sensor, to realize the three-dimensional of line laser measurement sensor
Measurement of coordinates, the defect of 2-D data can only be measured by improving conventional laser measurement sensor, effectively extend line laser measurement
The measurement application range of sensor.
Claims (1)
1. a kind of lathe slave laser scanning coordinate scaling method based on space criteria ball, characterized in that scaling method utilizes
The motion module of lathe provides third dimension data for line laser measurement sensor, is surveyed by being scanned to space known radius standard ball
The amount fitting center of circle realizes that lathe coordinate system and the data of line laser measuring coordinate system are unified, is transported according to machine tool motion and laser plane
The dynamic default axis calibration for first carrying out measuring coordinate system, then axis calibration is measured, it finally realizes the integral calibrating of three-dimensional motion, obtains
To the transformation of scale matrix of lathe coordinate system and measuring coordinate system；The specific calibration process of scaling method is as follows：
The first step, selection and arrangement space standard ball
Line laser sensor (3) is connect with main shaft of numerical control machine tool (1) by line laser measurement sensor connecting plate (2), it is made
It is moved with the movement of lathe；Make laser plane (6) perpendicular to plane is measured when installation, the line laser of different model, which measures, to be passed
The laser line length of sensor is different, for the ease of the striation information on extraction standard ball (4) surface, the diameter of selection standard ball
For the half of laser line length；Standard ball (4) is mounted in fixed plate (5), and is placed on platen (7), is ensured
When being moved along a certain axis in lathe working range, the laser rays of line laser measurement sensor (3), which all scans, arrives entire standard ball
(4) surface；
The default axis calibration of second step, line laser measurement sensor
Three coordinate systems are determined first, first, the coordinate system O of laser incising type latheJXJYJZJ, the coordinate system be it is fixed, not at random
Bed movement and move, specific coordinate values are directly read from lathe CNC Panel；Second coordinate system is initial position
The measuring coordinate system O of laser measurement sensorLXLYLZL, which is fixed in measurement sensor, can be with the movement of lathe
And move, laser measurement sensor obtains specific coordinate value (XL,ZL), YLNumerical value need the movement by lathe to obtain,
It is the default axial coordinate for needing to demarcate；Third coordinate system is with moving coordinate system OLnXLYLZL, refer to initial measurement coordinate system
OLXLYLZLWith the variation coordinate system of machine tool motion；
It goes to touch fixed standard ball (4) using lathe probe, obtains at least three non-colinear umbilical points in lathe coordinate system
Under three-dimensional coordinate, determine coordinate (Xs of the standard ball centre of sphere O under lathe coordinate system by these fit spheresJO,YJO,
ZJO), platen (7) is adjusted later along single YJAxis is moved, laser measurement sensor (3) following scanning standard ball
(4), laser sensor obtains a series of two-dimensional measurement coordinate during scanning standard ball, these coordinates are that umbilical point exists
It measures with the two-dimensional measurement data under moving coordinate system, standard ball (4) radius of selection is denoted as R；
In a series of concentric circles that are projected as of standard spherical surface, the circle center line connecting DB in section is perpendicular to laser scanning plane (6), as
Laser measurement coordinate system YLThe direction of axis, the laser striation of extraction standard ball surface, obtains series of arc, by being fitted section
The radius of circular arc finds laser section greatest circle, and the center of circle of this circle is theoretically the centre of sphere O of standard ball, thus has found
Largest contours position of the laser plane in standard ball, is fitted the circular arc of the position, the two-dimensional coordinate for obtaining the center of circle is standard
The ball centre of sphere is in laser measurement coordinate system OLXLYLZLUnder coordinate (XLO,ZLO), it is assumed that the Y of the positionLCoordinate value is 0, then the centre of sphere
In measuring coordinate system OLXLYLZLUnder coordinate be (XLO,0,ZLO)；Lathe continues from the position along YJAxis displacement distance is L, is obtained
One laser plane section in position 1 is justified, and the 1 laser plane section center of circle of position is B, 1 laser plane section radius of circle of position
For r, then the spacing OB of the section disk and largest contours disk is YLThe distance of the coordinate value in direction, two centers of circle is
The default axis move distance l of laser measurement sensor, obtains according to the angular position relationship in space：
So, haveDue to lathe coordinate system YJAxis and laser measurement coordinate system YLThe variation of axis is linear
, in machine coordinates YJWhen variation, the numerical value change rule of corresponding measuring coordinate system is：
I.e.
Similarly, when lathe is along lathe coordinate system XJAxis or ZJWhen movement, calibrate respectivelyAndIn this way when platen (7) does arbitrary translational motion in working range, maximum standard circle contour is flat
Face is as datum plane, then the respective coordinates of servo-actuated laser measurement sensor (3) default axis all are calibrated out, and lathe is opposite
In the datum plane coordinates of motion be (Δ XJ,ΔYJ,ΔZJ), laser measurement two-dimensional coordinate is (XL,ZL), corresponding measurement is three-dimensional to sit
It is designated as
Third step, line laser measure the calibration of axis and machine tool motion axis
The calibration that line laser measures axis and machine tool motion axis is carried out using standard ball (4), the analysis demarcated by default axis is learnt,
Machine tool motion axis for default axis variation influence be exactly machine tool motion axis move distance in laser measurement coordinate system along YLAxis
Projector distance, as long as similarly finding machine tool motion axis move distance in the projector distance of laser measurement plane in XLAnd ZLDirection
Component is just solved along the linear change ratio for measuring axis；Observe the section of laser line scanning standard ball, laser measurement coordinate system
It is to be moved along the circle center line connecting direction in each section, as directions OB, but laser measurement sensor is with moving coordinate system
Change along the kinematic axis of lathe, as the directions OC, therefore, the measuring coordinate in each section circle fitting center of circle is relative to servo-actuated
Coordinate system is just changed, and C points justify the changes in coordinates of fitting center of circle B relative to section, and the relative displacement of variation is BC, and two
The corresponding Δ X of variable quantity of dimension coordinateLWith Δ ZLIt is exactly machine tool motion axis variable quantity to X in laser measurement coordinate systemLAnd ZLDirection
Influence variable quantity, if same lathe is L, i.e. line segment OB along unidirectional motion distance；Lathe is along YLIt is corresponding when axis moves
Linear change rule be：
It being translated in this way along any direction in working range when lathe, the three-dimensional coordinate of corresponding laser measurement also can be obtained,
The kinematic axis for completing line laser measurement axis and lathe is demarcated；
4th step, laser measurement sensor and lathe three-dimensional motion are demarcated
Lathe coordinate system is OJXJYJZJ, laser measurement coordinate system is OLXLYLZL, since lathe drives laser measurement sensor always
Translational motion is done, so the two coordinate origin, which is moved to same position, has no effect on coordinate ratio variation relation；If lathe
Coordinate system YJAxis is respectively (α relative to the angle of three axis of laser measurement coordinate systemY、βY、γY), the X of lathe coordinate systemJAxis and ZJ
The angle of three axis of axis laser measurement coordinate system is respectively (αX, βX, γX) and (αZ, βZ, γZ)；When platen (7) is along YJAxis
Moving Unit distance, corresponding measuring coordinate change vector areWhen platen (7) is along XJ
Axis Moving Unit distance, corresponding measuring coordinate change vector areDue to ZJAxis is perpendicular to XJYJ
Plane, when along ZJAxis Moving Unit distance, corresponding laser measurement coordinate variation vector should be：
Lathe has thus been obtained along ZJWhen axis moves, the variation numerical value of laser measurement coordinate senses so as to complete laser measurement
The measuring coordinate transformation matrix of the calibration of device and lathe three-dimensional motion, line laser measurement sensor is：
5th step, the real-time acquisition for measuring three-dimensional coordinate
By the calculating of the 4th step, measuring coordinate transformation matrix M has been obtained, when lathe finds largest contours position, has remembered the position
Measuring coordinate system be initial coordinate system, section circle fitting the center of circle measuring coordinate be (XL0,0,ZL0), machine coordinates are (XJ0,
YJ0,ZJ0)；Calibration opportunity edge of bed XJAxis, YJAxis and ZJThe distance of axis movement is LX, LYAnd LZ, at this point, measuring coordinate is (XL1,0,
ZL1), machine coordinates are (XJ1,YJ1,ZJ1), measuring coordinate system XLCoordinate is respectively Δ X with the variable quantity of three axisLX, Δ XLYAnd Δ
XLZ, measuring coordinate system ZLCoordinate is respectively Δ Z with the variable quantity of three axisLX, Δ ZLYWith Δ ZLZ, then when lathe drives Laser Measuring
Quantity sensor translational motion is that measuring coordinate is (X to space any position, measuring coordinate is measuredLn,0,ZLn), machine coordinates are
(XJn,YJn,ZJn), respective coordinates solution formula of the corresponding measuring coordinate under initial measurement coordinate system is
Wherein, (Xcn,Ycn,Zcn) indicate the measuring coordinate under initial measurement coordinate system, Δ X under any positionJ=XJn-XJ0, Δ
YJ=YJn-YJ0, Δ ZJ=ZJn-ZJ0, indicate the three-dimensional coordinate variable quantity of lathe during the motion；Complete entire Laser Measuring
The three-dimensional data real-time calibration of quantity sensor (3) works.
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