CN110440721A - A kind of three-dimensional mobile platform movement angle error rapid measurement device and method - Google Patents
A kind of three-dimensional mobile platform movement angle error rapid measurement device and method Download PDFInfo
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- CN110440721A CN110440721A CN201910763454.7A CN201910763454A CN110440721A CN 110440721 A CN110440721 A CN 110440721A CN 201910763454 A CN201910763454 A CN 201910763454A CN 110440721 A CN110440721 A CN 110440721A
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- 238000005259 measurement Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title abstract description 11
- 230000008859 change Effects 0.000 claims description 3
- 238000000691 measurement method Methods 0.000 claims 1
- 238000000926 separation method Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000005096 rolling process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The present invention discloses a kind of three-dimensional mobile platform movement angle error rapid measurement device and method, the device includes three-dimensional mobile work platform, the standard gauge block being mounted on the face XOY of the three-dimensional mobile work platform, and the line laser sensor for measurement standard gauge block parameter；On the mobile platform for the measured axis that the line laser sensor is mounted on three-dimensional mobile work platform；The standard gauge block is step block, which includes the 1 grade standard gauge blocks with predetermined length difference that fit closely together two, this two 1 grade standard gauge blocks with scheduled difference in height.The present invention can be using line laser sensor respectively to the triathlon angle error of workbench X, Y, Z axis into measurement, single measurement and the integrated separation for realizing uniaxial triathlon angle error can complete the rapid survey of 9 movement angle errors in mobile 21 errors of three axis.
Description
Technical field
The present invention relates to three-dimensional mobile platform field of measuring technique, fast more particularly to three-dimensional mobile platform movement angle error
Speed measuring device and method.
Background technique
21 errors (three position errors, six straightness errors, nine angle swing errors and three axis mutually it
Between three error of perpendicularitys) be the basic geometric error of three-dimensional mobile platform, in order to guarantee three-dimensional mobile platform meet use
It is required that needing to complete necessary precision measure, foundation is provided for subsequent compensation.
Quick and precisely measurement movement angle error is the research hotspot and emphasis in this field, and mature equipment is mainly at this stage
Laser interferometer detection system based on laser interference principle.The system is separated the coupling influence of multi-parameter
To measure one-way movement angle error, Multidirectional motion angle error can also be measured simultaneously, but measure field microscope group arrangement is built and light
It is complicated that road adjusts process, and is easy to be influenced by measuring system with other factor, and measurement efficiency is lower.Also many scientists grind
Study carefully and some new ways and means, but most higher cost, it cannot be generalized and be measured applied to industry spot.And
In individual error detection, measurement result may be the coupling result of a variety of errors, therefore the multiple error coupling in error-detecting field
The research for closing separation method is also widely paid close attention to.
Summary of the invention
The purpose of the present invention is being directed to three-dimensional mobile platform in line laser three-D scanning measuring system, and provide a kind of three-dimensional
Mobile platform moves angle error rapid measurement device and method, is error testing to complete to move angle error fast on-line measurement
Force feedback foundation is provided with compensation.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of three-dimensional mobile platform movement angle error rapid measurement device, including three-dimensional mobile work platform, are mounted on described
Standard gauge block on the face XOY of three-dimensional mobile work platform, and the line laser sensor for measurement standard gauge block parameter；It is described
Line laser sensor is mounted on the mobile platform of the measured axis of three-dimensional mobile work platform；The standard gauge block is step block, should
Standard gauge block includes fitting closely together the two 1 grade standard gauge blocks with predetermined length difference, this two 1 grade standard gauge blocks
Have scheduled difference in height.
Wherein, the standard gauge block is mounted on the X of the three-dimensional mobile work platform on mobile platform, and the line laser passes
Sensor is mounted on the Z-direction mobile platform of three-dimensional mobile work platform.
The object of the invention is also to provide a kind of measurement sides of three-dimensional mobile platform movement angle error rapid measurement device
Method, comprising steps of
S1. the difference in height h of standard gauge block is obtained by line laser sensor measurement0, length difference l0With surface tiltangleθ0,
And it regard starting measurement position as measurement origin；
S2. using the difference in height of the standard gauge block of actual measurement as hypotenuse, the calibrated altitude difference of standard gauge block is straight
Triangle one right-angle side in angle calculates and obtains both sides angle α0；
S3. using the length difference of the standard gauge block of actual measurement as hypotenuse, the full-length difference of standard gauge block is straight
Triangle one right-angle side in angle calculates and obtains both sides angle β0；
S4. tested mobile platform is moved to i-th of position, the difference in height of standard gauge block is measured by line laser sensor
h1, length difference l1With surface tiltangleθ1, repeat S2-S4 step and obtain αi、βi、θi；
S5.αi-α0=△ α i obtains angle change value of i-th of position relative to initial position, similarly obtains △ β i, △
θi；△αi,△βi,△θiAngle value corresponding to the movement angle error generated when as surveyed three axis of mobile platform is mobile.
Since line laser sensor is compared to laser displacement sensor, 2-D data can be obtained in single measurement, greatly
Measurement efficiency is improved greatly.Therefore, the present invention completes line laser structured light using line laser sensor and moves mobile station movement angle error
Rapid survey, realize the single rapid survey of triathlon angle error, substantially increase measurement efficiency, also avoid due to
The error of measuring device installation and introducing, provides a strong basis for the measurement of industry spot angle error.
The roll angle, deflection angle and pitch angle that the present invention can measure shifting axle when three-dimensional mobile platform is mobile simultaneously miss
Difference realizes the single rapid survey of triathlon angle error, for industry spot angle error measure and compensate provide it is strong
Foundation.
Using apparatus of the present invention by the calibrating to three-dimensional mobile platform precision, can be surveyed for optimizing structure design, compensation
The strong foundations of offers such as result, adjustment system control parameters are provided.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of three-dimensional mobile platform movement angle error rapid measurement device of the invention；
Fig. 2 is the schematic illustration surveyed around X-axis deflection angle；
Fig. 3 is rolling angle measurement schematic illustration about the z axis；
Fig. 4 is around Y-axis pitch angle measurement schematic illustration；
In figure: 1- line laser sensor；2- standard gauge block；3- computer；4- mobile platform Z axis；5- mobile platform X-axis；
6- mobile platform Y-axis；7- mobile platform controller.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
The present invention is the difference in height h, length difference l, step surface inclination angle theta by line laser sensor measurement standard step, will
Move angle error in X, Y, Z axis moving process and reflected by calculating the opposite variation of angle, realize pitch angle, deflection angle and
It is measured while three errors of roll angle.
As shown in Figure 1, line laser sensor 1 of the present invention is mounted in three-dimensional mobile platform, the three-dimensional to be measured is mobile flat
Platform includes mobile platform X-axis 4, mobile platform Y-axis 5, and mobile platform Z axis 6 passes through the movement of each axis by mobile platform controller 7
Motor control carries out the movement of three axis directions, and line laser sensor 1 is connected with computer 3, and laser sensor 1 is by the number of measurement
According to being transmitted in computer 3, the angle change that current location corresponds to original measurement position then is calculated with the data measured, from
And realize the measurement of the movement angle error for the three-dimensional mobile platform to be measured.Below in conjunction with shown in Fig. 1, measurement of the invention is walked
Rapid explanation, specific measuring process are as follows:
S1: line laser sensor is fixed on mobile platform Z axis, and as far as possible adjusts optical plane to perpendicular to movement
Platform XOY working face；
S2: 1 grade standard gauge block is ground, and two pieces of standard gauge blocks are fitted closely to form standard step and (mark hereinafter
Quasi- step), standard step is fixed on the face workbench XOY, step has precise height difference 5mm, precise length difference 5mm；
S3: line laser sensor and computer are opened, by adjusting mobile platform Z axis height control line laser sensor
It is mobile, so that the online laser sensor of standard step is farthest detected range position；
S4: being adjusted by mobile platform Z axis, and line laser sensor is mobile to mobile platform Z axis negative direction, obtain by
Stop when the quasi- step integrity profile of mark, and using this position as measurement origin；
S5: by line laser sensor measurement, the initial position difference in height h of tested standard step is obtained0, length difference l0With
Ledge surface inclination angle theta0；
S6: as shown in Fig. 2, using measured block difference in height as hypotenuse, gauge block calibrated altitude difference is right angle three
An angular right-angle side, can be calculated both sides angle α0=arccos (h0/5)；
S7: as shown in figure 3, using the length difference of measured block as hypotenuse, gauge block full-length difference is right angle
One right-angle side of triangle can be calculated both sides angle β0=arccos (l0/5)；
S8: as shown in figure 4, using measured block surface and line laser sensors X axis direction angle as inclination angle theta0；
S9: it is mobile to mobile platform Z axis negative direction by mobile platform Z axis using 0.5mm as interval, it is sensed by line laser
Device obtains the h of i-th of positioni、li、θiValue；
S11: by αi-α0=△ αiThe position i is obtained relative to initial position angle changing value, corresponds to mobile platform Z axis edge
The deflection angle that X-direction generates；
S12: by βi-β0=△ βiThe position i is obtained relative to initial position angle changing value, corresponds to mobile platform Z axis edge
The roll angle that Z-direction generates；
S13: by θi-θ0=△ θiThe position i is obtained relative to initial position angle changing value, corresponds to mobile platform Z axis edge
The roll angle that Y-direction generates；
S14: with △ αi, △ βi, △ θiFor ordinate, mobile platform Z axis position is that abscissa makees line chart, is as moved
The triathlon angular error of platform Z axis；
S15: shifting axle is changed to mobile platform X-axis, △ αiCorresponding to the roll angle that mobile platform X-axis generates in X direction,
△βiCorresponding to the deflection angle that mobile platform X-axis is generated along Z-direction, △ θiIt bows corresponding to mobile platform X-axis along what Y-direction generated
The elevation angle repeats step S5-S14 and misses to get to the triathlon angle of mobile platform X-axis；
S16: shifting axle is changed to mobile platform Y-axis, △ αiCorresponding to the pitch angle that mobile platform Y-axis generates in X direction,
△βiCorresponding to the deflection angle that mobile platform Y-axis is generated along Z-direction, △ θiThe rolling generated corresponding to mobile platform Y-axis along Y-direction
Angle is filled, repeats step S5-S14 to get the triathlon angular error of mobile platform Y-axis is arrived.
The present invention respectively measures the triathlon angle error of workbench X, Y, Z axis using line laser sensor,
Single measurement and the integrated separation for realizing uniaxial triathlon angle error can complete 9 fortune in mobile 21 errors of three axis
The rapid survey of dynamic angle error.It is simple to operate, it is convenient for engineering field application.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of three-dimensional mobile platform moves angle error rapid measurement device, which is characterized in that including three-dimensional mobile work platform, peace
Standard gauge block on the face XOY of the three-dimensional mobile work platform, and the line laser biography for measurement standard gauge block parameter
Sensor；On the mobile platform for the measured axis that the line laser sensor is mounted on three-dimensional mobile work platform；The standard gauge block is
Step block, the standard gauge block include fitting closely together the two 1 grade standard gauge blocks with predetermined length difference, and this two 1
Grade standard gauge block has scheduled difference in height.
2. three-dimensional mobile platform moves angle error rapid measurement device according to claim 1, which is characterized in that the standard
Gauge block is mounted on the X of the three-dimensional mobile work platform on mobile platform, and the line laser sensor is mounted on three-dimensional mobile work
Make on the Z-direction mobile platform of platform.
3. a kind of measurement method of three-dimensional mobile platform movement angle error rapid measurement device, which is characterized in that comprising steps of
S1. the difference in height h of standard gauge block is obtained by line laser sensor measurement0, length difference l0With surface tiltangleθ0, and will
Measurement position is originated as measurement origin；
S2. using the difference in height of the standard gauge block of actual measurement as hypotenuse, the calibrated altitude difference of standard gauge block is right angle three
An angular right-angle side calculates and obtains both sides angle α0；
S3. using the length difference of the standard gauge block of actual measurement as hypotenuse, the full-length difference of standard gauge block is right angle three
An angular right-angle side calculates and obtains both sides angle β0；
S4. tested mobile platform is moved to i-th of position, the difference in height h of standard gauge block is measured by line laser sensor1, it is long
Spend difference l1With surface tiltangleθ1, repeat S2-S4 step and obtain αi、βi、θi；
S5.αi-α0=△ α i obtains angle change value of i-th of position relative to initial position, similarly obtains △ β i, △ θi；△
αi、△βi、△θiAs surveyed mobile platform moves angle value corresponding to the movement angle error generated when three axis move.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111968183A (en) * | 2020-08-17 | 2020-11-20 | 西安交通大学 | Gauge block calibration method for calibrating monocular line laser three-dimensional measurement module |
| CN112536644A (en) * | 2020-11-11 | 2021-03-23 | 湖北文理学院 | Method for establishing motion error model of machine tool machining test piece |
| CN112595251A (en) * | 2020-12-15 | 2021-04-02 | 北京无线电测量研究所 | Matching block assembly gap measuring device and method based on laser measurement |
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| CN109357631A (en) * | 2018-11-30 | 2019-02-19 | 厦门大学 | A kind of measuring system center scaling method based on laser displacement sensor |
| CN210400323U (en) * | 2019-08-19 | 2020-04-24 | 天津商业大学 | Three-dimensional moving platform motion angle error rapid measurement device |
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| CN106767558A (en) * | 2017-03-27 | 2017-05-31 | 华中科技大学 | A kind of decoupled identification method of guide rail basal plane straightness error |
| CN109269422A (en) * | 2018-11-16 | 2019-01-25 | 厦门大学 | A kind of experimental method and device of the check and correction of dot laser displacement sensor error |
| CN109341546A (en) * | 2018-11-16 | 2019-02-15 | 厦门大学 | A kind of light beam scaling method of dot laser displacement sensor under any installation position appearance |
| CN109357631A (en) * | 2018-11-30 | 2019-02-19 | 厦门大学 | A kind of measuring system center scaling method based on laser displacement sensor |
| CN210400323U (en) * | 2019-08-19 | 2020-04-24 | 天津商业大学 | Three-dimensional moving platform motion angle error rapid measurement device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111968183A (en) * | 2020-08-17 | 2020-11-20 | 西安交通大学 | Gauge block calibration method for calibrating monocular line laser three-dimensional measurement module |
| CN111968183B (en) * | 2020-08-17 | 2022-04-05 | 西安交通大学 | Gauge block calibration method for calibrating monocular line laser three-dimensional measurement module |
| CN112536644A (en) * | 2020-11-11 | 2021-03-23 | 湖北文理学院 | Method for establishing motion error model of machine tool machining test piece |
| CN112536644B (en) * | 2020-11-11 | 2022-04-12 | 湖北文理学院 | Method for establishing motion error model of machine tool machining test piece |
| CN112595251A (en) * | 2020-12-15 | 2021-04-02 | 北京无线电测量研究所 | Matching block assembly gap measuring device and method based on laser measurement |
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