CN106736867B - Machine tool chief axis double structure light quick calibrating method - Google Patents
Machine tool chief axis double structure light quick calibrating method Download PDFInfo
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- CN106736867B CN106736867B CN201611035153.5A CN201611035153A CN106736867B CN 106736867 B CN106736867 B CN 106736867B CN 201611035153 A CN201611035153 A CN 201611035153A CN 106736867 B CN106736867 B CN 106736867B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
- B23Q17/249—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using image analysis, e.g. for radar, infrared or array camera images
Abstract
The present invention relates to vision detection technologies, to solve the problems, such as that traditional rotating axis calibration method is unable to complete machine tool chief axis calibration, the present invention is intended to provide a kind of double structure optical sensor being made of two lasers and a camera, and realize using the sensor Fast Calibration of machine tool chief axis.The technical solution adopted by the present invention is that, machine tool chief axis double structure light quick calibrating method, step is, the double structure optical sensor being made of two lasers and a camera, in the calibration process of machine tool chief axis, using the point on two laser optical planes and the intersection on knife handle surface as characteristic point, when being demarcated using this line-structured light, it need to guarantee that cutter is located in the field range of camera.Present invention is mainly applied to vision-based detection occasions.
Description
Technical field
The present invention relates to vision detection technologies, specifically, are related to machine tool chief axis double structure light quick calibrating method.
Background technique
Structured light three-dimensional vision measuring technique, the non-contact, speed with vision measurement is fast, high degree of automation, flexible
The advantages that good.Structured light three-dimensional vision is based on optic triangle method principle, by the various optical mode characteristic points for calculating acquisition image
Offset information inverse go out the surface profile of testee.The determining optical mode of optical projection device projection, so that structure light image
Information is easy to extract, thus measurement accuracy is higher, is widely used in the on-line checking of various industrial products.
Typical line structured light vision sensor is made of a line-structured light laser and matched camera.Pass through laser
Device vertical incidence measured object surface, the mode of camera tilt obtain laser plane and measured object surface crossing laser striation
Image.By vision measurement model, the image coordinate of optical losses is converted to the two-dimensional coordinate of measured object surface profile.Into
When the measurement of row revolving body, a turntable need to be added in measuring system, to realize the measurement to 360 ° of testee.To protect
Measured object is demonstrate,proved with the accuracy measured after turntable rotation, needs to demarcate turntable, finds out the rotation axis of turntable.
Traditional rotating axis calibration method is that calibration object is placed on turntable, is being rotated through using the characteristic point of calibration object
Variation in journey solves rotary axis parameter.However, when carrying out cutter on-position measure using line structure optical sensor, machine tool chief axis
Become the turntable with cutter rotation, main-shaft axis is turntable.In the measurements, due to the limit by actual processing condition
System can not fix calibration object on machine tool chief axis, therefore cannot be demarcated with traditional rotating axis calibration method.For this
One problem needs to design a set of scaling method suitable for this kind of shaft that can not fix calibration object of machine tool chief axis.
Summary of the invention
In order to overcome the deficiencies of the prior art, solve the problems, such as that traditional rotating axis calibration method is unable to complete machine tool chief axis calibration,
The present invention is intended to provide a kind of double structure optical sensor being made of two lasers and a camera, and utilize the sensor
Realize the Fast Calibration of machine tool chief axis.The technical solution adopted by the present invention is that machine tool chief axis double structure light Fast Calibration side
Method, step are the double structure optical sensors being made of two lasers and a camera, in the calibration process of machine tool chief axis
In, using the point on two laser optical planes and the intersection on knife handle surface as characteristic point, demarcated using this line-structured light
When, it need to guarantee that cutter is located in the field range of camera.
The step is further refined as:
The calibration to the double structure optical sensor is completed first；Then, two lasers are opened, line-structured light is made to exist
Testee surface is modulated, and two striations are obtained on the knife handle known to diameter, is calculated using transducer calibration parameter
Coordinate of each point in sensor coordinate system on striation is obtained, the distance of each point to machine tool chief axis is identical on striation, is equal to
Know knife handle radius RT；The sensor coordinate system O that origin is established as coordinate origin at using the first placement position of targetS-XSYSZS, false
If some coordinates are A (x on machine tool chief axisSa,ySa,zSa), wherein xSa、ySa、zSaRespectively indicate sensor coordinate system midpoint A x,
Y, z coordinate.If the direction vector of machine tool chief axis axis isWherein lSa,mSa,nSaRespectively indicate sensor seat
Direction vector in mark systemComponent in x, y, z direction can set axis L then in sensor coordinate systemSaLinear equation such as
Shown in formula (1).
Coordinate of each point under sensor coordinate system is P on the striation of known knife handle surfaceS(xS,yS,zS), by knife handle position
The distance d of all the points on striation to axisiEqual to RT, obtain formula (2)
Solution is iterated to formula 2, that is, solves main-shaft axis equation.
Formula (2) is further processed, ySa=0 and mSa=1, which substitutes into abbreviation in formula (2), obtains formula (3)
Formula (3) are solved using least square method, solve main-shaft axis equation.
The features of the present invention and beneficial effect are:
The present invention devises a kind of double structure optical sensor being made of two lasers and a camera, and in this base
The scaling method applied to machine tool chief axis Fast Calibration is devised on plinth.
Double structure optical sensor production is simple, need to only increase a line on the basis of traditional line structure optical sensor
Laser.Cooperate corresponding rotating axis calibration method, rapid and convenient can must complete lathe master during cutter on-position measure
Axis calibration.The occasion thus demarcated in the shaft for needing that machine tool chief axis etc. can not be fixed on calibration object, as to cutter
On-position measure, this programme have preferable technical advantage.
Detailed description of the invention:
Fig. 1 measuring system.
Fig. 2 measurement point coordinate transform.
Specific embodiment
The present invention provides a kind of double structure optical sensors being made of two lasers and a camera.In lathe master
In the calibration process of axis, using the point on two laser optical planes and the intersection on knife handle surface as characteristic point.Utilize this knot
It when structure light is demarcated, only need to guarantee that cutter is located in the field range of camera, and calibration can be completed without live spindle.
The quasi- each point information using on the striation of knife handle position of the design solves machine tool chief axis axis parameter, passes through geometrical analysis
It was found that intersecting each point on curve obtained when the angle of a plane and cylinder axis is smaller with periphery using the plane and believing
When breath solves cylinder axis equation as known conditions, can occur the case where finding out mistake solution because effective known conditions is very few.For
Guarantee that correct solution can be acquired when plane and axis angle are any, needs to intersect using two planes with periphery
Two curves are as known conditions.Therefore, it needs to provide two striation information using two lasers when measuring tool axis.For
This, constitutes a double structure optical sensor using a CMOS camera and two laser line generators, to meet certain visual field model
It encloses and operating distance, needs to be installed by certain relative position between camera and laser, as shown in Figure 1.
After completing transducer calibration, machine tool chief axis calibration can be carried out.When calibration, two lasers are opened, cable architecture is made
Light is modulated on testee surface, and two striations are obtained on the knife handle known to diameter, utilizes transducer calibration parameter
It can be calculated coordinate of each point in sensor coordinate system on striation.By periphery each point to cylindrical center's line distance all
Equal to cylindrical radius r it is found that the distance of each point to machine tool chief axis is identical on striation, it is equal to known knife handle radius RT。
The sensor coordinate system O that origin is established as coordinate origin at using the first placement position of targetS-XSYSZS, such as Fig. 2
It is shown.If a point A (x on machine tool chief axisSa,ySa,zSa) and the direction vector of axis beThen sat in sensor
In mark system, axis L can be setSaLinear equation such as formula (1) shown in.
Coordinate of each point under sensor coordinate system is P on the striation of known knife handle surfaceS(xS,yS,zS), by knife handle position
The distance d of all the points on striation to axisiEqual to RT, obtain formula (2).
Since cutter is reflective, knife handle surface will form a reflective striation, to avoid reflective striation and effective striation distance
It is interfered when close, as soon as the angle of two striation of knife handle surface and tool axis need to be controlled in lesser range, this makes
Obtain two optical plane less parallels.Therefore, the z coordinate difference very little of the identical point of y-coordinate on two striations, two striation information phases are controlled
Closely, this problem is caused when being solved using least square method to formula (2), the number of iterations excessively cause calculate the time compared with
It is long, or even there is the case where axis that can not be solved or find out is not inconsistent with practical axis, for this purpose, further place need to be done to formula (2)
Reason.
In actual measurement, main-shaft axis is close with the axis direction vector of sensor coordinate system, according to this property, to axis
Y in line equationSaAnd mSaValue analyzed.Since the straight line in space has unlimited ductility, main-shaft axis must
With plane XSOSZSIntersection, i.e., must have the y of any on axisSCoordinate is zero.Therefore, y is enabledSa=0.According to the direction vector of straight line
Property it is found that in direction vectorIn, lSa, mSa, nSaIt only needs to meet certain proportionate relationship, it can be simultaneously
Zoom in or out several times.Accordingly, m is enabledSa=1, this not only reduces a unknown numbers, also define lSaAnd nSaNumerical value
Size, so that it will not excessive or too small situation occur.YSa=0 and mSa=1, which substitutes into abbreviation in formula (2), obtains formula (3).
Formula (3) are solved using least square method, discovery greatly reduces the time required to calculating, and can accurately solve spindle shaft
Line equation.
According to measurement range, design meets the double structure optical sensor of field range, complete using ZhangShi scaling method
At transducer calibration.According to the rotating axis calibration method of proposition, the relative position of sensor and machine tool chief axis is adjusted, is extracted in striation
The heart, each point, which is brought into formula (3), can solve machine tool chief axis axial equation.When measurement, the axial equation of calibration is utilized
Complete the three-dimensionalreconstruction of tool surface.
Using this programme, machine tool chief axis calibration, obtained main-shaft axis parameter such as 1 institute of table are carried out at five different locations
Show.
1 different location main-shaft axis equation parameter (mm) of table
From the data in table 1, it can be seen that the present invention can substitute common rotating axis calibration method, needs are applied to similar lathe master
In the measuring system that the shaft that axis etc. can not fix calibration object is demarcated.
Claims (1)
1. a kind of machine tool chief axis double structure light quick calibrating method, characterized in that step is: by two lasers and a phase
The double structure optical sensor of machine composition, in the calibration process of machine tool chief axis, by two laser optical planes and knife handle surface
Point on intersection is as characteristic point, when being demarcated using this line-structured light, need to guarantee that cutter is located at the field range of camera
It is interior；Specific steps are further refined as:
The calibration to the double structure optical sensor is completed first；Then, two lasers are opened, make line-structured light tested
Body surface is modulated, and two striations are obtained on the knife handle known to diameter, is calculated using transducer calibration parameter
Coordinate of each point in sensor coordinate system on striation, the distance of each point to machine tool chief axis is identical on striation, is equal to known knife
Handle radius RT；The sensor coordinate system O that origin is established as coordinate origin at using the first placement position of targetS-XSYSZS, it is assumed that machine
Some coordinates are A (x on bed main shaftSa,ySa,zSa), wherein xSa、ySa、zSaRespectively indicate the x, y, z of sensor coordinate system midpoint A
Coordinate, if the direction vector of machine tool chief axis axis isWherein lSa,mSa,nSaRespectively indicate sensor coordinate system
Middle direction vectorComponent in x, y, z direction can set axis L then in sensor coordinate systemSaLinear equation such as formula (1)
It is shown:
Coordinate of each point under sensor coordinate system is P on the striation of known knife handle surfaceS(xS,yS,zS), by the striation of knife handle position
All the points to axis distance diEqual to RT, obtain formula (2)
Solution is iterated to formula (2), that is, solves main-shaft axis equation;
Formula (2) is further processed, ySa=0 and mSa=1, which substitutes into abbreviation in formula (2), obtains formula (3)
Formula (3) are solved using least square method, solve main-shaft axis equation.
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