CN110793439B - Standard device for unifying coordinates of multi-sensor measuring machine and coordinate unifying method - Google Patents

Standard device for unifying coordinates of multi-sensor measuring machine and coordinate unifying method Download PDF

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CN110793439B
CN110793439B CN201911022830.3A CN201911022830A CN110793439B CN 110793439 B CN110793439 B CN 110793439B CN 201911022830 A CN201911022830 A CN 201911022830A CN 110793439 B CN110793439 B CN 110793439B
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CN110793439A (en
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张福民
葛如月
赵炎
康岩辉
王仲
曲兴华
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Tianjin University
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points

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  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention belongs to the technical field of multi-sensor fusion, and particularly relates to a standard device with unified coordinates for a multi-sensor measuring machine, which comprises a base, two same standard balls and two same standard circles, wherein the two same standard balls and the two same standard circles are fixedly assembled on the base; the centers of the two standard balls and the centers of the two standard circles are coplanar and are respectively positioned on four vertexes of a square. In addition, the invention also provides a method for unifying the coordinates of the multi-sensor measuring machine by adopting the standard device. Compared with the prior art, the coordinate unification method is simple and convenient to calibrate and operate, convenient to implement, capable of bringing the advantages that the contact sensor is more suitable for measuring a standard ball and the image sensor is more suitable for measuring a standard circle into full play, capable of improving the measurement precision, and suitable for calibrating the pose among different measuring heads in the high-precision composite measuring machine.

Description

Standard device for unifying coordinates of multi-sensor measuring machine and coordinate unifying method
Technical Field
The invention belongs to the technical field of multi-sensor fusion, and particularly relates to a standard device for unifying coordinates of a multi-sensor measuring machine and a coordinate unifying method.
Background
Nowadays, the more and more complex geometric characteristics (such as shape, surface, dimension, geometric tolerance, material characteristics and the like) of the product workpiece make it difficult to realize all requirements through a single sensor in the coordinate measurement process, so that a measurement system integrated with multiple sensors is produced, and more comprehensive and stable geometric information measurement is realized.
The use of multiple sensors can enhance the system stability, increase the credibility and accuracy of the measurement result, measure the same measured object or feature by using multiple sensors, can fuse the measurement result, increase the stability of the measurement result and the comprehensiveness of the measurement information, and achieve the purpose of reducing information ambiguity. In addition, the use of multiple sensors can increase the dimension of a measuring space, different sensors usually output different effective measuring information dimensions, for example, an image sensor generally outputs two-dimensional plane information, a laser displacement sensor usually outputs one-dimensional displacement information, and when the two sensors are integrated into the same measuring system, the measurement of three-dimensional coordinate data in a working space can be accurately realized. Meanwhile, the flexibility of measurement can be increased through multi-sensor integration, and different sensors can be selected according to different requirements of measurement characteristics when the same object is measured, so that each sensor can measure the characteristics which accord with the measurement principle of the sensor, and the maximum measurement advantage of the sensor is exerted.
In a traditional multi-sensor coordinate unification scheme, different sensor measuring heads are usually used for measuring the same measured object or target, but when an image sensor is used for measuring, the measurement precision is lower than that of a measurement plane circle when a sphere is measured, so that errors caused by the target can be introduced.
Disclosure of Invention
One of the objects of the present invention is: aiming at the defects of the prior art, the standard device with unified coordinates for the multi-sensor measuring machine is provided, the measuring precision is improved, and the standard device is suitable for calibrating the pose among different measuring heads in a high-precision composite measuring machine.
In order to achieve the purpose, the invention adopts the following technical scheme:
a unified standard device of multi-sensor measuring machine coordinates is used for a combined type coordinate measuring machine integrating an image sensor and a contact sensor, and comprises a base, two same standard balls and two same standard circles, wherein the two same standard balls and the two same standard circles are fixedly assembled on the base; the centers of the two standard balls and the centers of the two standard circles are coplanar and are respectively positioned on four vertexes of a square.
As an improvement of the coordinate uniform standard device of the multi-sensor measuring machine, the diameter of the standard circle is smaller than the diameter of the measuring field range of the image sensor.
As an improvement of the multi-sensor measuring machine coordinate unification etalon of the present invention, a distance between a sphere center of the standard sphere and a center of the standard circle is smaller than a distance between the image sensor measuring head and the contact sensor measuring head.
As an improvement of the multi-sensor measuring machine coordinate unification standard device, two standard balls are respectively positioned on one diagonal line of the square, and two standard circles are respectively positioned on the other diagonal line of the square.
As an improvement of the multi-sensor measuring machine coordinate unified standard device, the two standard circles are heightened through gaskets, so that the circle centers of the two standard circles and the sphere centers of the two standard balls are positioned on the same horizontal plane.
As an improvement of the coordinate unification standard device of the multi-sensor measuring machine, the cross section of the base is rectangular, square, circular or oval.
Another object of the invention is: the coordinate unifying method of the multi-sensor measuring machine adopting the standard device comprises the following steps:
s1, fixing the standard device on the working platform of the multi-sensor coordinate measuring machine;
s2, measuring a plurality of points on the first standard ball by using the contact sensor, and fitting to obtain the center coordinates of the first standard ball;
s3, moving the contact sensor to make its probe point to the center of the first standard ball, and recording the displacement of the contact sensor in Z-axis direction as azMeasuring the first standard circle and the second standard circle by using an image sensor to obtain the center coordinates (x) of the two standard circles12，y12，z12)、(x14，y14，z14)；
S4, moving the touch sensor to measure a plurality of points on the second standard ball, and fitting to obtain the center coordinates of the second standard ball;
s5, moving the contact sensor to make its probe point to the center of the second standard ball, and recording the displacement of the contact sensor in Z-axis direction as bzMeasuring the first standard circle and the second standard circle by using an image sensor to obtain the center coordinates (x) of the two standard circles32，y32，z32)、(x34，y34，z34)；
And S6, according to the translation relation between the contact sensor and the image sensor, constructing an equation based on the standard length L between the center of the standard ball and the center of the standard circle, eliminating L to obtain the displacement relation between the image sensor and the contact sensor, and completing the coordinate unification of the multi-sensor measuring machine.
As an improvement of the method for unifying coordinates of a multi-sensor measuring machine according to the present invention, in step S6, the obtained displacement relationship between the image sensor and the touch sensor is as follows:
Figure BDA0002247778800000041
Figure BDA0002247778800000042
Figure BDA0002247778800000043
the invention has the beneficial effects that: in the invention, the standard device comprises a standard ball and a standard circle at the same time, each standard circle is imaged once through the image sensor, a plurality of points on the standard ball are measured through the contact sensor and fitted to obtain the coordinates of the center of the ball, and finally the unification of the coordinates of the contact sensor and the image sensor of the combined coordinate measuring machine and the verification of the measurement precision in the global measurement space of the measuring machine are realized through an algorithm. Compared with the prior art, the coordinate unification method is simple and convenient to calibrate and operate and convenient to implement, and special postures do not need to be guaranteed when the standard devices are placed; in addition, the method can exert the advantages that the contact sensor is more suitable for measuring a standard ball and the image sensor is more suitable for measuring a standard circle to the maximum extent, can improve the measurement precision, and is suitable for the pose calibration of different measuring heads in the high-precision composite measuring machine.
Drawings
FIG. 1 is a schematic diagram of an etalon of the present invention.
FIG. 2 is a second schematic diagram of the etalon according to the present invention.
FIG. 3 is a schematic diagram of the displacement relationship calculation in the coordinate unification method according to the present invention.
FIG. 4 is a schematic diagram of a compound CMM.
Wherein: 1-base, 2-standard ball, 3-standard circle, 4-gasket, 5-image sensor, 6-contact sensor.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and the accompanying drawings, but the embodiments of the invention are not limited thereto.
Example 1
As shown in fig. 1-2, a unified calibrator for coordinates of a multi-sensor measuring machine is used for a combined coordinate measuring machine integrating an image sensor and a contact sensor, and comprises a base 1, two identical standard balls 2 and two identical standard circles 3, wherein the two identical standard balls are fixedly assembled on the base 1; the centers of the two standard balls 2 and the centers of the two standard circles 3 are coplanar and are respectively positioned on four vertexes of a square.
Further, the diameter of the standard circle 3 is smaller than the measurement field range diameter of the image sensor.
Further, the distance between the center of the standard ball 2 and the center of the standard circle 3 is smaller than the distance between the image sensor probe and the touch sensor probe.
Further, two standard balls 2 are respectively located on one diagonal of the square, and two standard circles 3 are respectively located on the other diagonal of the square.
Further, the two standard circles 3 are all raised by the spacer 4, so that the centers of the two standard circles 3 and the centers of the two standard balls 2 are located on the same horizontal plane.
Further, the cross-sectional shape of the base 1 is rectangular, square, circular or elliptical.
Example 2
As shown in fig. 4, a multi-sensor measuring machine coordinate unifying method using the etalon of embodiment 1, comprising the steps of:
s1, fixing the standard device on the working platform of the multi-sensor coordinate measuring machine;
s2, measuring a plurality of points on the first standard ball by using the touch sensor 6, and fitting to obtain the center coordinates of the first standard ball;
s3, moving the contact sensor 6 to make its probe point to the center of the first standard ball, and recording the displacement of the contact sensor 6 in Z-axis direction as azMeasuring the first and second standard circles using the image sensor 5 to obtain the center coordinates (x) of the two standard circles12，y12，z12)、(x14，y14，z14)；
S4, moving the touch sensor 6 to measure a plurality of points on the second standard ball, and fitting to obtain the center coordinates of the second standard ball;
s5, moving the contact sensor 6 to make its probe point to the center of the second standard ball, and recording the displacement of the contact sensor 6 in Z-axis direction as bzMeasuring the first and second standard circles using the image sensor 5 to obtain the center coordinates (x) of the two standard circles32，y32，z32)、(x34，y34，z34)；
S6, according to the translation relationship between the touch sensor 6 and the image sensor 5 shown in fig. 3, an equation is constructed based on the standard length L between the center of the standard sphere and the center of the standard circle, and L is eliminated to obtain the displacement relationship between the image sensor 5 and the touch sensor 6 as follows:
Figure BDA0002247778800000061
Figure BDA0002247778800000062
Figure BDA0002247778800000063
and completing the coordinate unification of the multi-sensor measuring machine.
Variations and modifications to the above-described embodiments may also occur to those skilled in the art, which fall within the scope of the invention as disclosed and taught herein. Therefore, the present invention is not limited to the above-mentioned embodiments, and any obvious improvement, replacement or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (7)

1. A coordinate unification method of a multi-sensor measuring machine is characterized by comprising the following steps:
s1, fixing the standard device on the working platform of the multi-sensor coordinate measuring machine; the standard device comprises a base, two same standard balls and two same standard circles, wherein the two same standard balls and the two same standard circles are fixedly assembled on the base; the centers of the two standard balls and the centers of the two standard circles are coplanar and are respectively positioned on four vertexes of a square; the multi-sensor coordinate measuring machine is a combined coordinate measuring machine integrating an image sensor and a contact sensor;
s2, measuring a plurality of points on the first standard ball by using the contact sensor, and fitting to obtain the center coordinates of the first standard ball;
s3, moving the contact sensor to make its probe point to the center of the first standard ball, and recording the displacement of the contact sensor in Z-axis direction as azMeasuring the first standard circle and the second standard circle by using an image sensor to obtain the center coordinates (x) of the two standard circles12，y12，z12)、(x14，y14，z14)；
S4, moving the touch sensor to measure a plurality of points on the second standard ball, and fitting to obtain the center coordinates of the second standard ball;
s5, moving contactThe sensor has its probe aligned with the center of the second standard ball, and the displacement of the contact sensor in Z-axis direction is bzMeasuring the first standard circle and the second standard circle by using an image sensor to obtain the center coordinates (x) of the two standard circles32，y32，z32)、(x34，y34，z34)；
And S6, according to the translation relation between the contact sensor and the image sensor, constructing an equation based on the standard length L between the center of the standard ball and the center of the standard circle, eliminating L to obtain the displacement relation between the image sensor and the contact sensor, and completing the coordinate unification of the multi-sensor measuring machine.
2. The method for unifying coordinates of a multi-sensor measuring machine according to claim 1, wherein in step S6, the obtained displacement relationship between the image sensor and the touch sensor is as follows:
Figure FDA0002936310290000021
Figure FDA0002936310290000022
Figure FDA0002936310290000023
3. the multi-sensor measuring machine coordinate unifying method according to claim 1, characterized in that: the diameter of the standard circle is smaller than the diameter of the measuring field range of the image sensor.
4. The multi-sensor measuring machine coordinate unifying method according to claim 1, characterized in that: and the distance between the sphere center of the standard sphere and the circle center of the standard circle is smaller than the distance between the image sensor measuring head and the contact type sensor measuring head.
5. The multi-sensor measuring machine coordinate unifying method according to claim 1, characterized in that: the two standard balls are respectively positioned on one diagonal line of the square, and the two standard circles are respectively positioned on the other diagonal line of the square.
6. The multi-sensor measuring machine coordinate unifying method according to claim 1, characterized in that: the two standard circles are heightened through gaskets, so that the centers of the two standard circles and the centers of the two standard balls are located on the same horizontal plane.
7. The multi-sensor measuring machine coordinate unifying method according to claim 1, characterized in that: the cross section of the base is rectangular, square, circular or oval.
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