CN108827149A - A kind of turntable scaling method based on line laser displacement sensor and diffusing reflection gauge block - Google Patents
A kind of turntable scaling method based on line laser displacement sensor and diffusing reflection gauge block Download PDFInfo
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- CN108827149A CN108827149A CN201810598149.2A CN201810598149A CN108827149A CN 108827149 A CN108827149 A CN 108827149A CN 201810598149 A CN201810598149 A CN 201810598149A CN 108827149 A CN108827149 A CN 108827149A
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- gauge block
- turntable
- measurement surface
- displacement sensor
- diffusing reflection
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of the turntable scaling method based on line laser displacement sensor and gauge block, especially a kind of method using diffusing reflection gauge block calibration turntable center and turntable law vector direction.This method is suitable for four axis measuring machine structures, using line laser displacement sensor diffusing reflection gauge block measurement surface, and rotated by turntable, the diffusing reflection gauge block measurement surface center of gravity under turntable different location is extracted, according to measured a series of center of gravity calculation turntable centers and turntable normal vector.The present invention demarcates turntable using diffusing reflection gauge block, in such a way that fitting measures plane center of gravity, when reducing with standard ball calibration turntable, because measurement standard sphere area is smaller, leads to turntable center calibration offset caused by fit standard ball centre of sphere inaccuracy.
Description
Technical field：
The invention belongs to photoelectric field, a kind of turntable scaling method based on line laser displacement sensor and gauge block, especially
It is a kind of method using diffusing reflection gauge block calibration turntable center and turntable law vector direction.
Background technique：
Coordinate measuring machine is one of the basic measurement equipment in digitized measurement field.Traditional three coordinate measuring machine only has three
A freedom degree, therefore the measurement to body surface can only be realized by the movement of tri- linear axis of X, Y, Z.Four axis measuring machines relative to
Traditional three coordinate measuring machine is added to a rotary table, when measurement, testee is placed on rotary table real
Existing 360 wheel measurings.And the four more five axis measuring machines of axis measuring machine relative angle, structure are simple, it is cheap, therefore right
There is highly important application in the multi-angle topography measurement of complex profile object.
In recent years, with the rise of optical measuring technique, contact measuring head is replaced to be installed on coordinate optical sensing gauge head
One is had become on measuring machine cannot be neglected development trend.Optical sensing gauge head can complete complex object in a shorter time
The measurement of three-dimensional appearance.Its measuring speed is fast, and measurement data amount is big, not only increases the efficiency of commercial measurement, and is subsequent
Data analysis provide solid data basis.
It, should be to its turn for the contactless measuring system combined by optical sensing gauge head and four axial coordinate measuring machines
Platform axis is strictly demarcated, and guarantees the accuracy of its centre of gyration, and in this, as the splicing benchmark of different angle measurement result.
Summary of the invention：
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind to be based on line laser displacement sensor
With the turntable scaling method of gauge block, especially a kind of side using diffusing reflection gauge block calibration turntable center and turntable law vector direction
Method.This method is suitable for four axis measuring machine structures, using line laser displacement sensor diffusing reflection gauge block measurement surface, and leads to
Turntable rotation is crossed, the diffusing reflection gauge block measurement surface center of gravity under turntable different location is extracted, according to a series of measured centers of gravity
Calculate turntable center and turntable normal vector.
This method demarcates turntable using diffusing reflection gauge block, in such a way that fitting measures plane center of gravity, reduces and uses standard
When ball demarcates turntable, because measurement standard sphere area is smaller, lead to turntable center mark caused by fit standard ball centre of sphere inaccuracy
Determine deviation.This approach includes the following steps：
Step 1: installing laser line scanning feeler according to calibration demand, line laser displacement sensor and measuring machine are established
Communication connection.
Step 2: placement diffusing reflection gauge block and lathe establish frame of reference O'-XYZ after returning to zero and line laser displacement passes
Sensor coordinate system o-xyz.
Step 3: dividing partial scan current location gauge block measurement surface, each section gauge block measurement is spliced by coordinate relationship
Surface point cloud data finally obtains complete gauge block measurement surface.
Step 4: suitable threshold value is arranged according to each point spacing of gauge block measurement surface point cloud, gauge block measurement surface is carried out
The duplicate removal of point cloud data.
Step 5: rejecting gauge block chamfering point cloud data, gauge block measurement surface point cloud data is extracted.
Step 6: calculating the barycentric coodinates value on current location gauge block measurement surface.
Step 7: revolving-turret, obtaining turntable angle is that the gauge block under 30 °, -30 °, 150 °, 180 °, 210 ° rotates position
It sets, measures and calculate the barycentric coodinates value C on the gauge block measurement surface at these positions2、C3、C4、C5、C6.Because of C4、C5、C6With
C1、C2、C3It is not same measurement surface, so and according to C4、C5、C6Corresponding measurement surface unit normal line vector n4、n5、
n6, calculate the center of gravity C on same gauge block measurement surface4'、C5'、C6', wherein C4'=C4+L*n4,C5'=C5+L*n5,C6'=C6+
L*n6。
Step 8: calculating turntable center and turntable law vector.According to C1、C2、C3、C4'、C5'、C6' calculate turntable center seat
Scale value is C=(C1+C2+C3+C4'+C5'+C6')/6.The normal vector of 6 constituted planes of position center of gravity is calculated with SVD decomposition method
N, as turntable law vector direction.
Compared with prior art, the present invention can achieve the following beneficial effects：
It is demarcated 1. this method carries out four axis measuring machine turntables using line laser displacement sensor and diffusing reflection gauge block, method is just
It is prompt rapid.
2, measurement data, computational accuracy are compensated using the line laser displacement sensor direction that accurate calibration goes out in this method
Height effectively reduces turntable calibration bring systematic error.
Detailed description of the invention：
Fig. 1：Turntable calibration process schematic diagram based on gauge block；1 is line laser displacement sensor, and 2 be connecting plate, and A is amount
Block fixture, B are diffusing reflection gauge block；
Fig. 2：Diffusing reflection gauge block schematic diagram；3 diffusing reflection gauge block left ends, 4 be diffusing reflection gauge block right end；
Fig. 3：Turntable calibration system establishment of coordinate system figure；
Fig. 4：The diffusing reflection gauge block of turntable calibration places figure.
Gauge block position under 0 ° of C1 --- turntable angle；Gauge block position under 30 ° of C2 --- turntable angle；C3 --- turntable
Gauge block position under -30 ° of angle；Gauge block position under 150 ° of C4 --- turntable angle；Amount under 180 ° of C5 --- turntable angle
Block position；Gauge block position under 210 ° of C6 --- turntable angle.
Specific embodiment：
The invention will be described in further detail with reference to the accompanying drawing：
A kind of turntable scaling method based on line laser displacement sensor and gauge block, it is especially a kind of to use diffusing reflection gauge block
The method for demarcating turntable center and turntable law vector direction, specifically comprises the steps of：
Step 1: as shown in Figure 1, according to demand hookup wire laser displacement sensor 1, line laser displacement sensor 1 is demarcated
It is connected by connecting plate 2 with the Y-axis of measuring machine, guarantees that the mounting plane of line laser displacement sensor is basically parallel to measuring machine
Yoz plane.The grating signal of measuring machine Z axis is divided into two simultaneously, all the way access measurement machine controller, the connection of another way signal
Line laser displacement sensor controller, the encoder trigger signal as line laser displacement sensor.
Step 2: preparing the diffusing reflection gauge block such as Fig. 2, diffusing reflection gauge block left end and diffusing reflection gauge block right end are measurement table
Face.It measures surface requirements and carries out frosted or spray treatment, to guarantee good diffusing characteristic diffuser.Gauge block measurement surface is required simultaneously
Flatness be less than 0.001mm, the depth of parallelisms between two measurement surfaces are less than 0.004mm, and the distance L of two interplanars is by more
High-precision verifies.
Such as Fig. 3, lathe coordinate system O'-XYZ is established, X, Y, Z-direction are identical as lathe grating scale direction.If line laser is displaced
It is o at sensor reading (0,0), establishes line laser displacement sensor coordinate system o-xyz, x, y, z direction and lathe X, Y, Z-direction
It is identical.
Measuring machine drives line laser displacement sensor to return to lathe zero point.After clear point, if line laser displacement sensing at this time
It is O at the reading (0,0) of device.Frame of reference O-XYZ, direction and the lathe coordinate system direction phase of X, Y, Z are established by origin of O
Together, it O point, that is, returns to zero the grating scale reading at position and is set to 0.At this point, grating scale reading is frame of reference coordinate value.
Such as Fig. 4, turntable is returned to zero, and gauge block is placed on turntable at the C1 of position.
Step 3: the measurement surface of complete scan gauge block, specific step is as follows：
1. lathe drives line laser displacement sensor to the marginal position on gauge block measurement surface, while making gauge block such as Fig. 1
In the measurement range for measuring the online laser displacement sensor in surface.Machine Z-axis drives line laser displacement sensor to sweep from bottom to top
Entire gauge block is retouched, the outline data on gauge block part measurement surface is obtained.
2., if the reading of line laser displacement sensor is (u, v), u is laser rays length direction during scanning gauge block
Coordinate value, v be laser depth direction on coordinate value.Line laser displacement sensor follows machine Z-axis grating scale signal to make
Corresponding triggering.The every triggering of line laser displacement sensor is primary, just there is one group (u, v).When then scanning through a gauge block part, line
Laser displacement sensor overall measurement data are (uij,vij), uijFor j-th point in the triggering of line laser displacement sensor i-th of line
The coordinate value of length direction；vijFor the coordinate on j-th point in the triggering of line laser displacement sensor i-th of laser depth direction
Value.
3. it is assumed that the exit direction of line laser displacement sensor laser is in frame of reference available units vector
It indicates, the wire length direction available units vector of laserIt indicates.It is corresponding when line laser displacement sensor triggers every time
Lathe frame of reference coordinate value is (xi,yi,zi).With (xi,yi,zi) to the point cloud number of gauge block
According to compensating, obtain gauge block under the frame of reference by compensated point cloud data p1(uijl'+vijl+xi,uijm'+
vijm+yi,uijn'+vijn+zi)。
4. mobile machine tool position, repeat above-mentioned 1-3 step, another part of gauge block be scanned, obtain gauge block other
Partial point cloud data p2、p3…pn。p1、p2…pnConstitute the complete point cloud data on gauge block measurement surface.
Step 4: the duplicate removal of gauge block measurement surface point cloud data.
Because having a series of duplicate points between each cloud during step 3 scans gauge block surface, these
Duplicate point can interfere the extraction process of subsequent gauge block measurement surface center of gravity, so needing to filter out the repetition between each cloud
Point.Specific step is as follows for point cloud data duplicate removal：
With a cloud p1On the basis of, calculate point cloud p2In any one point arrive p1The distance d of middle all the pointsi.We are arranged one
Suitable filtering threshold d, if diMinimum value be less than d, then it is assumed that point cloud p2In this point be to repeat point, this point from point
Cloud p2Middle removal.Adopt this method Searching point cloud p2In all point, remove all with point cloud p1It is duplicate, obtain one
New point cloud p2`。
Point cloud p is calculated later3In any one point arrive p1And p2The distance d of all the points in `i, filter p3In repetition point after,
Obtain new point cloud data p3'.The rest may be inferred, and that has filtered all gauge block measurement surfaces orders cloud sheet section, obtains a series of new
Point cloud p1、p2'、p3'…pn'.P1、p2'、p3'…pn' coordinate value put together, synthesize a complete gauge block measurement surface
Point cloud p.
Step 5: extracting gauge block measurement surface.
In the edge on gauge block measurement surface, there may be chamfer designs, during our scanning amount block number evidences, this
The profile of part chamfering can also be recorded by line laser displacement sensor, to cause shadow to the center of gravity calculation on gauge block measurement surface
It rings.So we will extract gauge block measurement surface, the interference of non-measured surface data is removed, specific step is as follows：
When scanning gauge block, the measurement data at setting line laser displacement sensor abscissa (- 1,1) is secure data,
I.e. this interval measure value is always gauge block surface data.The measurement pointcloud for extracting this section, using this section measurement pointcloud into
Row plane fitting obtains the plane equation on gauge block measurement surface.Choose suitable filtering threshold f0, gauge block measurement surface point cloud
Point in p brings plane equation into, and plane equation obtains exporting result f accordingly.If f is greater than f0, then put corresponding from point
It is removed in cloud p.Finally obtain the point cloud data p' for removing the interference of non-measured surface data.
Step 6: calculating the barycentric coodinates on gauge block current position gauge block measurement surfaceWherein ∑ p' is represented
The sum of all coordinate values of p', Np'Represent the point number that p' includes.
Step 7: obtaining barycentric coodinates of the gauge block measurement surface at turntable other positions by revolving-turret.Specific step
It is rapid as follows：
1. such as Fig. 4, lathe turntable rotates at 30 ° and -30 °, and gauge block is rotated in place at C2 and position C3 from the C1 of position,
Three are repeated the above steps to step 6, gauge block measurement surface is measured, obtains the survey at the C2 of position and at the C3 of position after treatment
The center of gravity C in scale face2、C3。
2. lathe turntable rotates at 150 °, 180 ° and 210 °, i.e., gauge block is rotated in place C4, position C5 and position such as Fig. 4
It sets at C6.At this point, second measurement surface facing sensing device of gauge block.Three are repeated the above steps to step 6, obtains gauge block second
The point cloud data and corresponding center of gravity C on a measurement surface4、C5、C6.Then the point cloud data on surface is measured according to second, gauge block
Fit Plane.The unit normal vector n of institute's fit Plane4、n5、n6For second, gauge block survey at 150 °, 180 ° and 210 ° positions of turntable
It is directed toward first measurement surface of gauge block in the direction of the normal vector in scale face, normal vector.
At this point, first corresponding center of gravity in measurement surface of gauge block is C at position C4, position C5 and position C64'、C5'、C6',
Wherein C4'=C4+L*n4,C5'=C5+L*n5,C6'=C6+L*n6
Step 8: calculating turntable center and turntable law vector.It is corresponding according to first measurement surface at 6 positions of turntable
Barycentric coodinates C1、C2、C3、C4'、C5'、C6' calculating turntable center coordinate value be C=(C1+C2+C3+C4'+C5'+C6')/6。
The normal vector N of 6 constituted planes of position center of gravity, as turntable law vector direction are calculated with SVD decomposition method.
The present invention is subsidized by ' high-grade, digitally controlled machine tools and Machine Manufacture are equipped ' scientific and technological key special subjects project.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the method and technique content using the disclosure above make it is a little more
Equivalent embodiment that is dynamic or being modified to equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the present invention
Technical spirit any simple modification, equivalent change and modification to the above embodiments, still fall within technical solution of the present invention
In range.
Claims (6)
1. a kind of turntable scaling method based on line laser displacement sensor and diffusing reflection gauge block, it is characterised in that：Suitable for four
Axis measuring machine structure is rotated using line laser displacement sensor diffusing reflection gauge block measurement surface, and by turntable, extracts and turn
Diffusing reflection gauge block measurement surface center of gravity under platform different location, according to a series of measured center of gravity calculation turntable centers and turntable
Normal vector is to demarcate turntable.
2. turntable scaling method as described in claim 1, which is characterized in that include the following steps：
Step 1: installing laser line scanning feeler according to calibration demand, the communication of line laser displacement sensor and measuring machine is established
Connection；
Step 2: placement diffusing reflection gauge block and lathe establish frame of reference O'-XYZ and line laser displacement sensor after returning to zero
Coordinate system o-xyz；
Step 3: dividing partial scan current location gauge block measurement surface, each section gauge block measurement surface is spliced by coordinate relationship
Point cloud data finally obtains complete gauge block measurement surface；
Step 4: suitable threshold value is arranged according to each point spacing of gauge block measurement surface point cloud, gauge block measurement surface point cloud is carried out
The duplicate removal of data；
Step 5: rejecting gauge block chamfering point cloud data, gauge block measurement surface point cloud data is extracted；
Step 6: calculating the barycentric coodinates value on current location gauge block measurement surface；
Step 7: revolving-turret, obtaining turntable angle is the gauge block rotation position under 30 °, -30 °, 150 °, 180 °, 210 °, is surveyed
Measure and calculate the barycentric coodinates value on the same measurement surface of the gauge block at these positions；
Step 8: calculating turntable center and turntable law vector.
3. turntable scaling method as claimed in claim 2, it is characterised in that：The displacement of line laser needed for the step 1 passes
The communication connection mode of sensor and four axis measuring machines is that the grating signal of measuring machine Z axis is divided into two, accesses measuring machine all the way
Controller, another way signal connecting line laser displacement sensor controller is as encoder trigger signal, when measuring machine Z axis occurs
When movement, the available corresponding triggering of laser displacement sensor.
4. turntable scaling method as claimed in claim 2, it is characterised in that：The standard meter gauge block of calibration and usage is diffusing reflection amount
Block, it is desirable that the flatness on gauge block measurement surface is less than 0.001mm, and the depth of parallelism between two measurement surfaces is less than 0.004mm, and two
The distance L of interplanar is verified by higher precision.
5. turntable scaling method as claimed in claim 2, it is characterised in that：The measurement method of the diffusing reflection gauge block is multiple
Part gauge block measurement surface point cloud is spliced into complete gauge block measurement surface by coordinate relationship.And after the point cloud for measuring surface
The continuous processing for needing duplicate removal complex point and rejecting non-flat millet cake.
6. turntable scaling method as claimed in claim 2, it is characterised in that：The turntable angle is 150 °, 180 °, 210 ° and surveys
The gauge block center of gravity C measured4、C5、C6It needs to be handled by formula, obtain and 0 ° of turntable angle, 30 °, -30 ° of identical measurements
The center of gravity on surface.I.e. according to C4、C5、C6Corresponding measurement surface unit normal line vector n4、n5、n6, calculate C4'、C5'、C6',
Wherein, C4'=C4+L*n4,C5'=C5+L*n5,C6'=C6+L*n6。
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| CN109520420A (en) * | 2018-12-21 | 2019-03-26 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of space coordinate at rotation of rotary table center determines method |
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| CN115365891A (en) * | 2022-09-22 | 2022-11-22 | 山东大学 | Online measurement-error correction device and method for inner surface of special-shaped shell |
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| CN109458958A (en) * | 2018-12-21 | 2019-03-12 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of scaling method of turntable center position in four axis vision measurement device |
| CN109520420A (en) * | 2018-12-21 | 2019-03-26 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of space coordinate at rotation of rotary table center determines method |
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| CN114440957A (en) * | 2020-11-05 | 2022-05-06 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
| CN114440957B (en) * | 2020-11-05 | 2024-06-07 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
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| CN114061459B (en) * | 2022-01-18 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Non-contact photographic hole measurement calibration device and method |
| CN114838650A (en) * | 2022-03-28 | 2022-08-02 | 北京航天控制仪器研究所 | Displacement sensor calibration device and method based on rotary table |
| CN114838650B (en) * | 2022-03-28 | 2024-04-09 | 北京航天控制仪器研究所 | Displacement sensor calibration device and method based on turntable |
| CN115365891A (en) * | 2022-09-22 | 2022-11-22 | 山东大学 | Online measurement-error correction device and method for inner surface of special-shaped shell |
| CN115365891B (en) * | 2022-09-22 | 2024-05-28 | 山东大学 | Online measurement-error correction device and method for inner shape surface of special-shaped shell |
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