CN108534679A - A kind of cylindrical member axis pose without target self-operated measuring unit and method - Google Patents
A kind of cylindrical member axis pose without target self-operated measuring unit and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The present invention propose a kind of cylindrical member axis pose without target self-operated measuring unit and method, it is intended to meet automation, it is non-contact and without target under the premise of, improve the precision of cylindrical member pose measurement.Realize that step is：Measuring coordinate system is established around measuring device；Control computer by laser profile sensor obtain be located at it is several it is parallel it is unilateral on cylindrical member cross section profile；Control computer calculates separately the match point of cylindrical member axis and the match point of busbar on each section；Control computer calculates the pitch angle and deflection angle of cylindrical member axis；Control computer calculates the synthesis match point of cylindrical member axis, these synthesis match points carry out space line fitting, obtain the pose parameter of cylindrical member axis.The present invention can be used for the accurate measurement of cylindrical member axis pose during cylindrical member Automated assembly, so that pose adjustment mechanism is adjusted.
Description
Technical Field
The invention belongs to the technical field of precision measurement, and relates to a device and a method for automatically measuring the position and posture of an axis of a cylindrical part, which can be used for automatically measuring the position and posture of the cylindrical part in the production process.
Background
The cylindrical part is one of the most basic parts in industrial production, and when the automatic upgrading is performed in the processes of spacecraft final assembly, pipeline welding and the like, the position and posture of the axis of the cylindrical part are required to be accurately and automatically measured and adjusted. Since the measurement precision directly affects the precision of subsequent processing, the precision degree of the measurement process is required to be high. Meanwhile, in order to meet the requirements of future unmanned chemical plants, the new measurement technology should get rid of the dependence on line operators, independently complete the measurement of the measured object, and improve the efficiency of production and assembly.
In order to meet the requirement of industrial automation and improve the assembly efficiency, a control system is required to automatically and precisely measure the pose of the cylindrical part on the premise of not needing manual assistance. Therefore, the measuring device should meet the following requirements: firstly, in order to meet the basic requirements of measurement automation, the measurement process should be automatically completed, and the use of a measurement target should be avoided, so as to prevent the surface of a measured object from being stained and the labor cost from being increased; secondly, in order to ensure the assembly quality, the measuring method should have higher precision; and thirdly, considering various interferences existing in the industrial environment, the measurement method should have strong anti-interference capability.
At present, some mechanisms in China relate to the measurement problem of the axis pose of the cylindrical part, and meet the three requirements to a certain extent. For example, the large-scale product docking system based on the laser tracker is proposed in the thesis of large-scale product digital intelligent docking key technology research published in 2016 (computer integrated manufacturing technology) at volume 22, page 3 and page 694 by the department of the university of Beijing aerospace, and the like. In the system, the position of a target ball attached to the surface of a measured part is measured by a laser tracker, so that the spatial pose of the measured part is solved. According to the method, manual participation is not needed in the measuring process, the requirement of automatic pose measurement is met to a certain extent, but a corresponding measuring target ball needs to be installed manually on each measured part, and the requirement of automatic measurement cannot be completely met. The method actually obtains the position of the target ball relative to the measuring instrument, and if the position of the target ball is installed with errors, the measuring errors cannot be avoided. Jinhe honor et al, published in 2017 in the paper "cabin segment automatic assembly pose solving method research" of "chinese mechanical engineering" volume 28, phase 1, 88-92, measure the positions of a plurality of mark points on the surface of a measured cabin segment by using binocular vision, thereby solving the spatial pose of the measured object. The method solves the problem of mounting the target ball to a certain extent, but still needs to spray corresponding mark points on the surface of the part to be measured. To avoid the introduction of a measurement target or target ball, as in chinese patent application publication No. CN 106197266a entitled "method for measuring the pose of a columnar object having a circular arc surface", a method for measuring the pose of a columnar object is disclosed. In the method, profile data of the section of a measured object is measured in real time through a linear laser two-dimensional measuring sensor, obtained data points are screened, measuring data which do not belong to an elliptical arc are eliminated, the elliptical arc is fitted to obtain characteristic parameters of the ellipse, and then the parameters are subjected to spatial calculation processing to obtain pose information of a cylinder. The method focuses on screening whether the obtained data points belong to the elliptical contour, obtains the geometric parameters of the section ellipse through partial ellipse fitting, and obtains the position of the axis of the measured object according to the mapping relation between the position and the section ellipse. In the method, the interference on the measurement result caused by the problems of the accuracy, the vibration and the like of the sensor cannot be eliminated, on the premise, for an incomplete elliptical arc with a central angle of less than 180 degrees, the smaller measurement noise can cause the larger deviation of the fitting result, so the method for estimating the axis of the measured cylindrical profile through the geometric parameters of one section has lower accuracy, and the problem of multiple solutions can be caused because the projection relation is uncertain.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a non-target automatic measuring device and method for the axis pose of a cylindrical part, which are used for improving the measuring precision while ensuring the automation degree.
A target-free automatic measuring device for the axis pose of a cylindrical part comprises a base 1, a supporting unit 2, a measuring unit 3 and a control computer 4;
the supporting unit 2 comprises a supporting guide rail 21 and a supporting tray 22 erected on the supporting guide rail 21, the supporting guide rail 21 comprises two parallel guide rails and is fixed on the base 1 through an installation seat, a transfer motor 24 is fixed at a position, located between the two parallel guide rails, at one end of the installation seat, and the transfer motor 24 drives the supporting tray 22 to move along the length direction of the supporting guide rail 21 through a transfer lead screw 23 connected with the transfer motor 24;
the measuring unit 3 comprises a linear module 32, a driving motor 33, an encoder 34, a supporting slide block 35 and a cable support 36; the linear module 32 is fixed on the base 1, and the length direction of the guide rail is parallel to the guide rail on the support guide rail 21; the encoder 34 is connected to the tail part of the driving motor 33; the driving motor 33 is connected with an input shaft of the linear module 32 through a coupler; the laser profile sensor 31 is fixed on the supporting slide block 35, and the lower end of the supporting slide block is connected with the linear module 32; the cable support 36 is fixed on the base 1 through two support rods 37 and is used for supporting a drag chain connected with the laser profile sensor 31; the driving motor 33 drives the laser profile sensor 31 to translate along the guide rail of the linear module 32 through the supporting slide block 35;
the control computer 4 is configured to process the measurement data of the laser profile sensor 31 and the encoder 34, and control the transfer motor 24 and the driving motor 33.
Preferably, the transmission part of the linear module 32 adopts a lead screw or a synchronous belt structure.
Preferably, the support slider 35 includes a module slider 351 and a sensor support plate 352 vertically fixed to the module slider 351; two limiting blocks 354 for limiting the height of the laser profile sensor 31 are fixed on one side of the surface of the sensor supporting plate 352, and a counterweight 353 is fixed on the other side of the surface of the sensor supporting plate 352; the module slider 351 is attached to the lower surface of the sensor support plate 352.
A method for automatically measuring the axis pose of a cylindrical piece without a target comprises the following steps:
(1) establishing a measurement coordinate system:
establishing a measurement coordinate system O-XYZ by taking one end of the linear module as a measurement origin O, taking the advancing direction of the support slider as an X axis, the depth direction of the view field of the laser profile sensor as a Y axis and the width direction of the view field as a Z axis;
(2) control computer obtains section profile L of cylindrical parti：
(2a) The laser profile sensor scans the side face of the cylindrical part along the X-axis direction of a measuring coordinate system O-XYZ, the obtained scanning point cloud is uploaded to the control computer, and meanwhile, the encoder uploads the recorded X-axis coordinates of each scanning point to the control computer;
(2b) the control computer establishes N cross sections parallel to the plane YOZ through N points selected between the maximum value and the minimum value of the X-axis coordinate of the scanning point cloud, and obtains N cross section outlines L of the cylindrical part by taking the intersection of each cross section and the scanning point cloud as a cross section outlineiWherein i is the serial number of the section profile, i is 1,2, …, N is the total number of the section profile;
(3) control computer calculating fitting point C of cylinder axisiFitting point P of busi：
(3a) Control computer for each cross-sectional profile LiPerforming ellipse least square fitting on the plane to which the ellipse belongs to obtain N ellipses;
(3b) for the center of each ellipse (y)Ci,zCi) Adding the X coordinate of the cross section where the X coordinate is located to obtain N coordinates (X)i,yCi,zCi) And is taken as a fitting point C of the cylinder axisi(ii) a Wherein xiIs the X coordinate, y, of the cross section of the ellipse at the centerCi，zCiY coordinates and Z coordinates of the center of the ellipse are respectively;
(3c) control computer in N section profiles LiRespectively extract the maximum Y coordinate YPiAnd find each maximum Y coordinate YPiN X-coordinates X of the corresponding pointiAnd Z coordinate ZPiObtaining N coordinates as (x)i,yPi,zPi) As a fitting point P of the generatrixi(ii) a Wherein x isiIs PiCross section ofX coordinate of (a), yPi、zPiAre respectively PiY and Z coordinates of (a);
(4) and (3) calculating the pitch angle and the deflection angle of the axis of the cylindrical piece by the control computer:
(4a) fitting point C of control computer to N cylindrical part axesiPerforming plane straight line fitting on the projection point on the plane XOZ, and taking the included angle between the obtained fitted straight line and the positive direction of the X axis as the pitch angle gamma of the axis of the cylindrical piece;
(4b) fitting point P of control computer to N tubular member generatricesiPerforming plane straight line fitting on the projection points on the plane XOY, and taking the included angle between the obtained fitting straight line and the positive direction of the X axis as the deflection angle β of the axis of the cylindrical piece;
(5) the control computer obtains a comprehensive fitting point of the axis of the cylindrical part:
(5a) the control computer calculates the section profile L of the cylindrical piece according to the pitch angle gamma, the deflection angle β and the radius R of the cylindrical pieceiThe theoretical major semi-axis length a and the rotation angle theta of the corresponding ellipse;
(5b) the control computer calculates the Y-axis theoretical offset deltay of the generatrix of the cylindrical piece relative to the axis:
wherein, t is a coefficient,
(5c) the control computer makes N tubular member generatrix fitting points PiTranslating the-delta Y along the Y axis to obtain N translated Y coordinates YCAiAnd will be given by xiIs an X coordinate, yCAiIs a Y coordinate, zCiN three-dimensional spatial points created for the Z coordinate, N synthetic fit points S as the cylinder axisi；
(6) Calculating the pose parameters of the axis of the cylindrical piece:
controlling computer to N synthetic fitting points SiPerforming space straight line fitting to obtain an intersection point S of the axis of the cylindrical part and the plane YOZ0(0,y0,z0) And a direction vector T representing the axial direction of the cylindrical member, and0(0,y0,z0) And T as pose parameters for the cylinder axis.
Compared with the prior art, the invention has the following advantages:
1. the invention scans the side surface of the cylinder to be measured by the laser profile sensor along the track to obtain the point cloud data of the side surface of the cylinder, obtains a plurality of elliptical profiles by the intersection of a plurality of parallel cross sections and the point cloud data, obtains an axis fitting point and a bus fitting point on each cross section by the fitting and extremum solving modes, further synthesizes the axis fitting points and the bus fitting points into a comprehensive fitting point, and obtains the pose of the cylinder by applying space straight line fitting to the comprehensive fitting points. Compared with the existing method of acquiring a profile on the section of the cylindrical part through a laser profile sensor, fitting an ellipse and estimating the axis pose through the geometric parameters of the ellipse, the method has the advantages that the data redundancy is high, the incomplete ellipse fitting error caused by measurement noise introduced by factors such as sensor precision and structure in the incomplete ellipse fitting process is avoided, and the measurement precision is effectively improved.
2. The laser profile sensor is driven by the driving motor to scan the cylindrical part to be detected, and the point cloud data obtained by scanning is processed by the control computer. Compared with the existing measuring mode of installing or spraying the target, the measuring method does not need manual participation in the measuring process, so that the damage of the target to the surface of the measured part is avoided, and meanwhile, for products with large batches, the process of installing or spraying the target is cancelled, so that the production process is simplified, and the production efficiency is improved.
3. Choose laser profile sensor for use to scan by survey part, compare and adopt the measuring method that industrial camera took a picture to the measured object, the interference killing feature of laser is stronger, and equipment stability is better.
Drawings
FIG. 1 is a schematic view of the overall structure of the measuring device of the present invention;
FIG. 2 is a schematic structural view of a support slide according to the present invention;
FIG. 3 is a schematic diagram of the measurement method of the present invention;
FIG. 4 is a block diagram of a flow chart of an implementation of the measurement method of the present invention;
FIG. 5 is a schematic representation of the relationship between the ellipse formed by the intersection of the cross-section of the present invention with the outer cylindrical surface of the barrel and the yaw and pitch angles of the axis of the barrel.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
referring to fig. 1, the automatic measuring device without target for the axis pose of the cylinder comprises a base 1, a supporting unit 2, a measuring unit 3 and a control computer 4.
The support unit 2 includes a support rail 21, a support tray 22, a transfer screw 23, and a transfer motor 24. Two parallel guide rails are arranged on two sides of the upper surface of the support guide rail 21, and the lower part of the support guide rail is fixed on the base 1 through a mounting seat. The lower surface of the support tray 22 is erected on the support guide rail 21 through a guide rail slider, and the measured cylindrical part is placed on the upper surface of the support tray, so that the cylindrical part can slide along the support guide rail 21. A shifting lead screw 23 is arranged in the support guide rail, the axis of the lead screw is parallel to the central axis direction of the support guide rail 21, and the support tray is connected with the shifting lead screw 23 through a nut at the bottom of the support tray. The transfer screw 23 is connected to a transfer motor 24 fixed to the support rail 21, and the support tray 22 is driven to move along the support rail 21 by the rotation of the transfer motor 24, and the lifted cylindrical member is moved to a measurement position.
The measuring unit 3 comprises a linear module 32, a support slide 35 and a cable support 36. The linear module 32 is a linear transmission device, mainly composed of a transmission structure and a module slide rail, and is used for converting a rotary motion into a linear motion of a module slider. The linear module 32 has module rails parallel to the support rails 21 and a bottom surface connected to the base 1 by bolts. The linear module 32 has a driving motor 33 mounted at one end thereof, and an encoder 34 connected to the end of the driving motor.
Referring to fig. 2, the support slider 35 includes a module slider 351, a sensor support plate 352, a weight 353, and a stopper 354, wherein the module slider 351 is mounted on a lower surface of the sensor support plate 352. Meanwhile, the module slider 351 is mounted on the module slide rail of the linear module 32 and connected to the transmission structure of the linear module 32. Through this structure, driving motor 33 can drive sensor support plate 352 along the module slide rail removal of straight line module 32, and the position that the control computer can real-time recording module slider 352 passes through encoder 34 simultaneously. Two stoppers 354 are mounted on the sensor support plate 352 at different heights on the plane of the side facing the support unit 2 for restricting the mounting position of the laser profile sensor 31. The laser profile sensor 31 may also be referred to as a laser two-dimensional sensor or a two-dimensional laser ranging sensor, and may project a laser band to the surface of the object to be measured, and measure the spatial position of each point on the laser line. To meet the measurement requirements of cylindrical members with different diameters, the mounting position of the laser profile sensor 31 can be vertically adjusted between the two limit blocks 34.
The cable support 36 is fixed on the base 1 through two support rods 37 and located below the laser profile sensor 31, a drag chain is accommodated in the cable support 36, one end of the drag chain is connected with the cable support 36, and the other end of the drag chain is connected with the laser profile sensor 31 so as to protect a cable of the laser profile sensor. And the cable support 36 can be moved up and down along two support rods 37 to accommodate different heights of the laser profile sensor 31.
The control computer 4 is used for controlling the measuring system, namely processing the measuring data of the laser profile sensor 31 and the encoder 34, and controlling the transfer motor 24 and the driving motor 33 to move.
Referring to fig. 3, the measurement principle of the present invention is:
the laser profile sensor 31 scans the side surface of the measured cylindrical part along the X axis to obtain the section profiles L on a plurality of parallel planesiAccording to the space geometry, the contour is a partial elliptical arc, so that a group of ellipse fitting circle centers C can be obtained by performing elliptical fitting on each contour lineiPerforming space straight line fitting on the circle centers to obtain the position and posture of the axis of the cylindrical piece; simultaneously on each contour line LiUp-extracting the point P having the maximum Y coordinateiAnd performing space straight line fitting on the points to obtain a special generatrix of the cylindrical piece, wherein the special generatrix is parallel to the axis of the cylindrical piece. In the above point, however, CiPoor precision along the Y-axis, PiPoor accuracy along the Z-axis, and hence PiIs translated to replace CiAnd obtaining a comprehensive fitting point. And performing space straight line fitting on the comprehensive fitting points, so that the axis pose of the cylindrical part can be accurately measured.
Referring to fig. 4, a method for automatically performing axis pose of a cylindrical piece without targets comprises the following steps:
step 1) establishing a three-dimensional measurement coordinate system: with one end of the linear module 32 as a measurement origin O, the traveling direction of the support slider 35 as an X axis, the depth direction of the field of view of the laser profile sensor 31 as a Y axis, and the width direction of the field of view as a Z axis, a measurement coordinate system O-XYZ as shown in fig. 4 is established.
When describing the pose of a spatial line intersecting plane YOZ, the spatial pose can be completely determined by the pitch angle γ, which is defined as the angle between the projection of the line on plane XOZ and the positive X-axis direction, the yaw angle β, which is defined as the angle between the projection of the line on plane XOY and the positive X-axis direction, and the intersection with plane YOZ.
Step 2) controlling the computer 4 to obtain the section profile L of the cylindrical parti：
Step 2a) under the driving of the control computer 4, the laser profile sensor 31 scans the side surface of the cylindrical part along the X-axis direction of the measurement coordinate system O-XYZ, and uploads the obtained scanning point cloud to the control computer 4, and simultaneously, the encoder 34 uploads the real-time recorded X-axis coordinates of each scanning point to the control computer.
Wherein the scanning point cloud refers to the Y coordinate and the Z coordinate of a plurality of discrete points uniformly distributed on the side surface of the cylindrical piece, which are measured by a laser profile sensor in a coordinate system O-XYZ, and the X coordinate of the points measured by an encoder.
Step 2b) the control computer 4 establishes N sections parallel to the plane YOZ through N points selected between the maximum value and the minimum value of the X-axis coordinate of the scanning point cloud, and obtains N section profiles L of the cylindrical part by taking the intersection of each section and the scanning point cloud as a section profileiWhere i is the number of the cross-sectional profile, i is 1,2, …, N is the cross-sectional profile LiThe total number of (c);
step 3) controlling a computer to calculate a fitting point C of the axis of the cylindrical partiFitting point P of busi：
Step 3a) according to the spatial geometry, the intersection line of the section with the outer cylindrical surface of the tubular element should be an ellipse, so that each section profile LiShould belong to the same ellipse. Control computer for each cross-sectional profile LiPerforming ellipse least square fitting on the plane to obtain N ellipses, i.e. the major semiaxis length, the minor semiaxis length, and the position of the center of the ellipse (y)Ci,zCi) And rotation of the ellipseAnd (4) an angle.
Step 3b) only the Y coordinates and Z coordinates of the centers of N ellipses can be obtained through the steps, so that the center (Y) of each ellipse needs to be measuredCi,zCi) Adding the X coordinate of the cross section where the X coordinate is located to obtain N coordinates (X)i,yCi,zCi) The spatial point of (a). Wherein xiIs the X coordinate, y, of the cross section of the ellipse at the centerCi，zCiRespectively the Y coordinate and the Z coordinate of the center of the ellipse. According to the space geometry, the points are theoretically located on the axis of the cylindrical part, the spatial straight line fitting is carried out on the points, the axis of the cylindrical part can be obtained, and therefore the points are called fitting points C of the axis of the cylindrical parti。
The cross section profile L obtained by measurement is caused by the error of the measuring instrument, the environmental interference and other factorsiAll the points are affected by noise, so that the center of the ellipse obtained by fitting will generate certain error. The cross-sectional profile L is taken into account that the measured cylinder cannot be completely covered by a single laser profile sensoriIn the coordinate system O-XYZ, this problem will result in a reduced accuracy of the deflection angle β of the fitting axis and the Y coordinate of the intersection of the axis and the plane YOZ.
Step 3c) to solve the above problem, the control computer controls the computer to control the profile L of the N sectionsiRespectively extract the maximum Y coordinate YPiAnd calculating N X coordinates X of the corresponding pointiAnd Z coordinate ZPiThus obtaining N coordinates of (x)i,yPi,zPi) The spatial point of (a). According to the space geometry, the N space points are located on the same generatrix of the cylindrical part, and the N space points are subjected to space straight line fitting to obtain a special generatrix of the cylindrical part, so that the N space points are called fitting points P of the generatrixi. Wherein xiIs PiX-coordinate of the cross-section in which it is located, yPi、zPiAre respectively PiY-coordinate and Z-coordinate.
In this step, PiThe tangent to the elliptical profile at the point is nearly vertical, so when P isiWhen affected by noise, it will have a large error along the Z-axis, resulting in an error in the measurement of the fitted bus pitch angle.
As can be seen from the above, in the coordinate system O-XYZ, the fitting point C of the axesiThe measurement precision along the Z axis is higher, and the measurement precision along the Y axis is lower; fitting point P of busiThe measurement accuracy is higher along the Y axis and lower along the Z axis.
And 4) controlling a computer to calculate the pitch angle and the deflection angle of the axis of the cylindrical part:
if fitting point C to the above-mentioned axisiFitting point P of busiAnd respectively carrying out space straight line fitting, wherein the precision of the pitch angle gamma of the axis obtained by fitting is better but the precision of the deflection angle β is poorer, and the precision of the bus deflection angle β obtained by fitting is better but the precision of the pitch angle gamma is poorer.
Step 4a) fitting point C of control computer to N cylindrical part axesiPerforming plane straight line fitting on the projection point on the plane XOZ, and taking the included angle between the obtained fitted straight line and the positive direction of the X axis as the pitch angle gamma of the axis of the cylindrical piece;
step 4b) controlling the computer to fit the N tubular generatrices P because the tubular generatrices are parallel to the axisiPerforming plane straight line fitting on the projection points on the plane XOY, and taking the included angle between the obtained fitting straight line and the positive direction of the X axis as the deflection angle β of the axis of the cylindrical piece;
step 5), controlling a computer to obtain a comprehensive fitting point of the axis of the cylindrical part:
according to the space geometry, the generatrix fitting point P is known under the premise of knowing the barrel deflection angle β and the axis pitch angle gammaiFitting point C relative to its corresponding axisiIs determined. The bus fitting point P is determined without considering the measurement noiseiAxis line fitting point CiThe positional relationship can be obtained by the following procedureAnd (3) discharging:
step 5a) referring to fig. 5, the control computer calculates the cross-sectional profile L of the cylindrical part by calculating the cylindrical part from the pitch angle elevation angle γ, the yaw angle β and the radius R of the cylindrical partiTheoretical major and minor axis length of the corresponding ellipse a:
wherein MN is a segment of the cylinder axis, MA is a straight line passing through the point M and parallel to the X axis, NA is perpendicular to MA. and passes through MA to make a plane MAB parallel to the plane XOZ, passes through MA to make a plane MAC parallel to the plane XOY, NB is perpendicular to the plane MAB, NC is perpendicular to the plane MAC, ∠ BMA is gamma, ∠ CMA is β, and the intersection line of the plane NAB and the cylinder outer cylindrical surface is a section profile LiAnd the minor semi-axis length of the ellipse is equal to the radius of the outer cylindrical surface of the measured cylindrical part. Let MA equal to 1, extend NA cross the outer cylindrical surface at D ', cross D' as D 'D parallel to MN, let ND perpendicular to D' D, according to perspective relation, cross-section profile LiThe major half of the corresponding ellipse coincides with ND ', ND being the radius of the cylinder, and ND r, while MN is perpendicular to ND, ∠ DND' ∠ nmaiThe major-semiaxis length a of the corresponding ellipse is:
a＝ND'＝ND/cos∠DND'＝R/cos∠NMA (1)
wherein,then:
due to NA and cross-sectional profile LiThe major axes of the corresponding ellipses are coincident, the included angle of the Y axis is the rotation angle theta of the corresponding ellipse, and in order to avoid ambiguity, the ellipse rotation angle theta is defined as the rotation angle from the positive direction of the Y axis to the direction parallel to the major semi-axis of the ellipse along the counterclockwise direction, so that theta is the included angle between the directional line segment NA and the positive direction of the Y axis, and the included angle comprises:
(5b) all cross-sectional profiles LiThe shape of the corresponding ellipse can be represented by the following equation:
the center of the ellipse coincides with the origin of the coordinate system. Due to the bus fitting point PiThe slope at the theoretical position is infinite, so taking the relative y derivative of equation (4) and the denominator zero yields the following equation:
wherein the coefficient t is the ratio of y and z.
Substituting (5) into (4) to obtain:
z＝ty (7)
according to the perspective relation, the length of the minor axis of the ellipse satisfies the following conditions:
b＝R (8)
the radius of the cylinder is generally pre-obtained in a mass assembly, and if not, for N elliptical profiles LiThe fitting is performed and the average of its minor semi-axis length is taken as the cylinder radius R.
Substituting (8) into (6) and (7) to obtain the fitting point P of anemarrhena asphodeloides lineiRelative axis fitting point CiThe translation amounts Δ y and Δ z satisfy the following three equations, that is:
Δz＝tΔy (11)
(5c) from the foregoing, the axis fitting point C obtained by measurementiThe Y coordinate precision is poor, and the bus fitting point PiThe Z coordinate precision of the N bus fitting points P is poor, so that the N bus fitting points P can be fittediTranslating the-delta Y along the Y axis to obtain N translated Y coordinates YCAi。
Thus, taking N axis fitting points CiZ coordinate of (2)CiY coordinate Y of N translated pointsCAiAnd the X coordinate X of the corresponding planeiEstablishing N coordinates as (x)i,yCAi,zCi) And is marked as a synthetic fitting point Si。
(6) Calculating the pose parameters of the axis of the cylindrical piece:
controlling computer to N synthetic fitting points SiPerforming space straight line fitting to obtain an intersection point S of the axis of the cylindrical part and the plane YOZ0(0,y0,z0) And a direction vector T representing the axial direction of the cylindrical member, and0(0,y0,z0) And the T is used as the pose parameter of the axis of the cylindrical piece, so that the pose parameter of the axis of the cylindrical piece can be accurately obtained.
The above description and examples are only preferred embodiments of the present invention and should not be construed as limiting the present invention, it will be obvious to those skilled in the art that various modifications and changes in form and detail may be made based on the principle and construction of the present invention after understanding the content and design principle of the present invention, but such modifications and changes based on the inventive concept are still within the scope of the appended claims.
Claims (5)
1. The automatic measuring device without the target for the axis pose of the cylindrical part is characterized by comprising a base (1), a supporting unit (2), a measuring unit (3) and a control computer (4);
the supporting unit (2) comprises a supporting guide rail (21) and a supporting tray (22) erected on the supporting guide rail, the supporting guide rail (21) comprises two parallel guide rails and is fixed on the base (1) through a mounting seat, a transfer motor (24) is fixed at a position, located between the two parallel guide rails, at one end of the mounting seat, the transfer motor (24) drives the supporting tray (22) to move along the length direction of the supporting guide rail (21) through a transfer lead screw (23) connected with the transfer motor;
the measuring unit (3) comprises a linear module (32), a driving motor (33), an encoder (34), a supporting slide block (35) and a cable support (36); the linear module (32) is fixed on the base (1), and the length direction of the guide rail of the linear module is parallel to the guide rail on the support guide rail (21); the encoder (34) is connected to the tail part of the driving motor (33); the driving motor (33) is connected with an input shaft of the linear module (32) through a coupler; a laser profile sensor (31) is fixed on the supporting slide block (35), and the lower end of the supporting slide block is connected with the linear module (32); the cable support (36) is fixed on the base (1) through two support rods (37) and is used for supporting a drag chain connected with the laser profile sensor (31); the driving motor (33) drives the laser profile sensor (31) to translate along a guide rail of the linear module (32) through a supporting slide block (35);
and the control computer (4) is used for processing the measurement data of the laser profile sensor (31) and the encoder (34) and controlling the transfer motor (24) and the driving motor (33) simultaneously.
2. The cylinder axis pose automatic measuring device without target according to claim 1, characterized in that the linear module (32) adopts a lead screw or synchronous belt structure for the transmission part.
3. The cylinder axis pose automatic measuring device without target according to claim 1, wherein the supporting slide (35) comprises a module slide (351) and a sensor supporting plate (352) vertically fixed on the module slide (351); two limiting blocks (354) for limiting the height of the laser profile sensor (31) are fixed on one side of the plate surface of the sensor supporting plate (352), and a counterweight (353) is fixed on the other side of the plate surface of the sensor supporting plate (352); the lower surface of the sensor support plate (352) is connected with a module slider (351).
4. A method for automatically measuring the axis pose of a cylindrical piece without a target is characterized by comprising the following steps:
(1) establishing a measurement coordinate system:
establishing a measurement coordinate system O-XYZ by taking one end of the linear module as a measurement origin O, taking the advancing direction of the support slider as an X axis, the depth direction of the view field of the laser profile sensor as a Y axis and the width direction of the view field as a Z axis;
(2) control computer obtains section profile L of cylindrical parti：
(2a) The laser profile sensor scans the side face of the cylindrical part along the X-axis direction of a measuring coordinate system O-XYZ, the obtained scanning point cloud is uploaded to the control computer, and meanwhile, the encoder uploads the recorded X-axis coordinates of each scanning point to the control computer;
(2b) the control computer establishes N cross sections parallel to the plane YOZ through N points selected between the maximum value and the minimum value of the X-axis coordinate of the scanning point cloud, and obtains N cross section outlines L of the cylindrical part by taking the intersection of each cross section and the scanning point cloud as a cross section outlineiWherein i is the serial number of the section profile, i is 1,2, L, N is the total number of the section profiles;
(3) control computer calculating fitting point C of cylinder axisiFitting point P of busi：
(3a) Control computer for each cross-sectional profile LiPerforming ellipse least square fitting on the plane to which the ellipse belongs to obtain N ellipses;
(3b) for the center of each ellipse (y)Ci,zCi) Adding the X coordinate of the cross section where the X coordinate is located to obtain N coordinates (X)i,yCi,zCi) And is taken as a fitting point C of the cylinder axisi(ii) a Wherein xiIs the X coordinate, y, of the cross section of the ellipse at the centerCi，zCiY coordinates and Z coordinates of the center of the ellipse are respectively;
(3c) control computer in N section profiles LiRespectively extract the maximum Y coordinate YPiAnd find each maximum Y coordinate YPiN X-coordinates X of the corresponding pointiAnd Z coordinate ZPiObtaining N coordinates as (x)i,yPi,zPi) As a fitting point of the bus bar Pi1; wherein x isiIs PiX-coordinate of the cross-section in which it is located, yPi、zPiAre respectively PiY and Z coordinates of (a);
(4) and (3) calculating the pitch angle and the deflection angle of the axis of the cylindrical piece by the control computer:
(4a) fitting point C of control computer to N cylindrical part axesiPerforming plane straight line fitting on the projection point on the plane XOZ, and taking the included angle between the obtained fitted straight line and the positive direction of the X axis as the pitch angle gamma of the axis of the cylindrical piece;
(4b) fitting point P of control computer to N tubular member generatricesiPerforming plane straight line fitting on the projection points on the plane XOY, and taking the included angle between the obtained fitting straight line and the positive direction of the X axis as the deflection angle β of the axis of the cylindrical piece;
(5) the control computer obtains a comprehensive fitting point of the axis of the cylindrical part:
(5a) the control computer calculates the section profile L of the cylindrical piece according to the pitch angle gamma, the deflection angle β and the radius R of the cylindrical pieceiThe theoretical major semi-axis length a and the rotation angle theta of the corresponding ellipse;
(5b) the control computer calculates the Y-axis theoretical offset deltay of the generatrix of the cylindrical piece relative to the axis:
wherein, t is a coefficient,
(5c) the control computer makes N tubular member generatrix fitting points PiTranslating the-delta Y along the Y axis to obtain N translated Y coordinates YCAiAnd will be given by xiIs an X coordinate, yCAiIs a Y coordinate, zCiN three-dimensional spatial points created for the Z coordinate, N synthetic fit points S as the cylinder axisi；
(6) Calculating the pose parameters of the axis of the cylindrical piece:
controlling computer to N synthetic fitting points SiPerforming space straight line fitting to obtain an intersection point S of the axis of the cylindrical part and the plane YOZ0(0,y0,z0) And a direction vector T representing the axial direction of the cylindrical member, and0(0,y0,z0and T as pose parameters for the cylinder axis.
5. The method for automatically measuring the axis pose of the cylinder without targets of claim 4, wherein the step (5a) is to calculate the cross-sectional profile L of the cylinderiCorresponding to the theoretical major-semiaxis length a and the rotation angle theta of the ellipse, the calculation formulas are respectively as follows:
wherein β is the yaw angle of the cylinder, γ is the pitch angle of the cylinder, and R is the radius of the cylinder.
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