CN111536877A - Method for calibrating attitude of line laser sensor on three-coordinate measuring machine - Google Patents
Method for calibrating attitude of line laser sensor on three-coordinate measuring machine 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
- 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
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Abstract
The invention relates to the technical field of measurement, and particularly discloses a method for calibrating the posture of a line laser sensor on a three-coordinate measuring machine, wherein the line laser sensor is installed on the three-coordinate measuring machine, a bat is arranged in the measuring range of the three-coordinate measuring machine, and the method for calibrating the posture of the line laser sensor on the three-coordinate measuring machine comprises the following steps: acquiring measurement data obtained after a line laser sensor scans and measures a ball rod according to a preset scanning measurement path, wherein the measurement data is measurement data in a laser coordinate system; converting the measurement data in the laser coordinate system into the measurement data in the coordinate system of a three-coordinate measuring machine; establishing a cost function with an error coefficient; and calculating according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine to obtain an error calibration result. The method for calibrating the attitude of the line laser sensor on the three-coordinate measuring machine can improve the measuring precision of the three-coordinate measuring machine.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a method for calibrating the posture of a linear laser sensor on a three-coordinate measuring machine.
Background
The complex free-form surface has important application in the fields of aeroengines, turbines and the like, and meanwhile, the intelligent manufacturing strategy also puts higher requirements on high-efficiency and high-precision detection of the complex free-form surface. The traditional three-coordinate measuring machine has high-precision detection capability and very wide application range. However, for the detection of complex curved surfaces, the traditional three-coordinate measuring machine has complex measurement path planning and low measurement efficiency due to the use of a contact sensor for measurement, and meanwhile, the actual contact point of the measuring needle and the curved surface is difficult to accurately estimate, thereby seriously affecting the measurement precision. Therefore, it is a future trend to equip high-precision measuring machines with optical sensors.
Disclosure of Invention
The invention provides a method for calibrating the posture of a line laser sensor on a three-coordinate measuring machine, which solves the problem of low measurement precision of the three-coordinate measuring machine in the related technology.
As an aspect of the present invention, there is provided a method for calibrating a posture of a line laser sensor on a three-coordinate measuring machine, wherein the three-coordinate measuring machine is provided with the line laser sensor, a bat is disposed in a measuring range of the three-coordinate measuring machine, and the method for calibrating the posture of the line laser sensor on the three-coordinate measuring machine includes:
acquiring measurement data obtained after a line laser sensor scans and measures a ball rod according to a preset scanning measurement path, wherein the measurement data is measurement data in a laser coordinate system;
converting the measurement data in the laser coordinate system into the measurement data in the coordinate system of a three-coordinate measuring machine;
establishing a cost function with an error coefficient;
and calculating according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine to obtain an error calibration result.
Further, the preset scanning measurement path satisfies the following condition:
the double balls of the bat are always kept in the measuring range of the on-line laser sensor; and the number of the first and second groups,
when the line laser sensor is triggered twice, the Z-axis numerical value of the corresponding three-coordinate measuring machine forms an arithmetic progression.
Further, the ball on the left side of the bat is labeled as ball a, the ball on the right side of the bat is labeled as ball B, and the preset scanning measurement path includes:
the sequence from ball a to ball B starts and first moves from the left side of ball a to the right side of ball a to stop and then moves from the left side of ball B to the right side of ball B to end.
Further, the acquiring measurement data of the line laser sensor after scanning and measuring the ball rod according to the preset scanning and measuring path includes:
when the scattered coordinate measuring machine drives the line laser sensor to move along the preset scanning measuring path, the measured value of the line laser sensor at the same moment is obtained
And the coordinate values of the corresponding three-coordinate measuring machine
Further, the measured values of the line laser sensors at the same time
And the coordinate values of the corresponding three-coordinate measuring machine
The method comprises the following steps:
measurement point of A sphere
The coordinates in the coordinate system of the three-coordinate measuring machine are recorded as
Measurement point of B ball
On a three-coordinate measuring machine baseThe coordinates under the coordinate system are recorded as
Wherein,MTLexpressing the theoretical relation between the line laser sensor and the coordinate system of the three-coordinate measuring machine determined according to the theoretical installation position; t iserrorAn error matrix is represented.
Further, the calculating an error calibration result according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine includes:
respectively aligning the center coordinates O of the ball A of the bat according to a least square fitting methodAAnd the center of sphere coordinate O of ball BBFitting, wherein the fitting radius is equal to the standard sphere radius corresponding to two balls of the bat, the position of the bat is unchanged relative to the coordinate system of the three-coordinate measuring machine, and the standard radius of the ball A is RAB sphere having a standard radius of RBDistance between ball A and ball B
Is constant.
Further, a cost function is established through the relation between the measuring point and the sphere center under the coordinate system of the three-coordinate measuring machine, and an error matrix and the sphere center coordinates of the sphere A and the sphere B are obtained through a least square method, wherein the expression of the cost function is as follows:
wherein the expression of the cost function satisfies
Denotes the measurement point selection coefficient, naDenotes the number of points generated when measuring the A sphere, nbIndicating the number of points generated when measuring the B-ball.
Further, the error matrix includes: an euler angle alpha rotating around an X axis of a coordinate system of the three-coordinate measuring machine, an euler angle beta rotating around a Y axis of the coordinate system of the three-coordinate measuring machine, and an euler angle gamma rotating around a Z axis of the coordinate system of the three-coordinate measuring machine.
According to the method for calibrating the posture of the line laser sensor on the three-coordinate measuring machine, the measuring head of the three-coordinate measuring machine is selected as the line laser sensor, then the position relation between the line laser sensor and the three-coordinate measuring machine is calibrated, and the measuring result of the three-coordinate measuring machine is supplemented according to the calibration result, so that the problem of low measuring efficiency of other measuring heads can be solved on the premise of ensuring micron-sized precision, and the method can be well matched with the three-coordinate measuring machine for application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a flowchart of a method for calibrating the attitude of a line laser sensor on a three-coordinate measuring machine according to the present invention.
FIG. 2 is a schematic diagram of parameters to be calibrated according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this embodiment, a method for calibrating a posture of a line laser sensor on a three-coordinate measuring machine is provided, where the three-coordinate measuring machine is provided with the line laser sensor, and a bat is arranged in a measuring range of the three-coordinate measuring machine, as shown in fig. 1, the method for calibrating a posture of a line laser sensor on a three-coordinate measuring machine includes:
s110, acquiring measurement data obtained after a line laser sensor scans and measures the ball rod according to a preset scanning measurement path, wherein the measurement data is measurement data in a laser coordinate system;
s120, converting the measurement data in the laser coordinate system into the measurement data in the coordinate system of a three-coordinate measuring machine;
s130, establishing a cost function with an error coefficient;
and S140, calculating according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine to obtain an error calibration result.
According to the method for calibrating the posture of the line laser sensor on the three-coordinate measuring machine, provided by the embodiment of the invention, the measuring head of the three-coordinate measuring machine is selected as the line laser sensor, then the position relation between the line laser sensor and the three-coordinate measuring machine is calibrated, and the measuring result of the three-coordinate measuring machine is supplemented according to the calibration result, so that the problem of low measuring efficiency of other measuring heads can be solved on the premise of ensuring micron-sized precision, and the method can be well matched with the three-coordinate measuring machine for application.
Specifically, a linear laser sensor is arranged on an X axis of a three-coordinate measuring machine, and is designed to measure a path of a bat according to the structure of the three-coordinate measuring machine and perform scanning measurement and data acquisition; then converting the coordinate value measured under the laser coordinate system to a coordinate system of a three-coordinate measuring machine through the conversion relation between the laser coordinate system and the machine coordinate system; and finally, calculating by using an optimization method through establishing a cost function with an error matrix to obtain an error calibration result.
It should be noted that the pose of the line laser sensor is adjusted by instruments such as a micrometer, and the line laser beam is kept perpendicular to the translation axis of the three-coordinate measuring machine as much as possible.
Specifically, the preset scanning measurement path satisfies the following condition:
the double balls of the bat are always kept in the measuring range of the on-line laser sensor; and the number of the first and second groups,
when the line laser sensor is triggered twice, the Z-axis numerical value of the corresponding three-coordinate measuring machine forms an arithmetic progression.
Specifically, the ball on the left side of the bat is labeled as a ball, the ball on the right side of the bat is labeled as B ball, and the preset scanning measurement path includes:
the sequence from ball a to ball B starts and first moves from the left side of ball a to the right side of ball a to stop and then moves from the left side of ball B to the right side of ball B to end.
It should be noted that, in order to ensure that the measurement error is generated due to the movement inertia of the moving shaft, the moving shaft needs to be stopped for 0.1-1 second each time the on-line laser sensor is triggered.
Specifically, the acquiring measurement data of the line laser sensor after scanning and measuring the ball rod according to the preset scanning and measuring path includes:
when the scattered coordinate measuring machine drives the line laser sensor to move along the preset scanning measuring path, the measured value of the line laser sensor at the same moment is obtained
And corresponding three-coordinate measuring machine seatMarking value
It can be understood that the moving shaft of the three-coordinate measuring machine drives the line laser sensor to move along the preset scanning measuring path, triggers the line laser sensor and records the measured value of the same line laser sensor at the same time
And the coordinate values of the corresponding three-coordinate measuring machine
In particular, the measured values of the line laser sensors at the same time
And the coordinate values of the corresponding three-coordinate measuring machine
The method comprises the following steps:
measurement point of A sphere
The coordinates in the coordinate system of the three-coordinate measuring machine are recorded as
Measurement point of B ball
The coordinates in the coordinate system of the three-coordinate measuring machine are recorded as
Wherein,MTLexpressing the theoretical relation between the line laser sensor and the coordinate system of the three-coordinate measuring machine determined according to the theoretical installation position; t iserrorAn error matrix is represented.
It should be noted that the theoretical relationship between the line laser sensor and the coordinate system of the three-coordinate measuring machine, which is determined according to the theoretical installation position, can be expressed as:MTL＝Rot(y,90°)×Rot(z,-90°)。
specifically, the calculating an error calibration result according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine includes:
respectively aligning the center coordinates O of the ball A of the bat according to a least square fitting methodAAnd the center of sphere coordinate O of ball BBFitting, wherein the fitting radius is equal to the standard sphere radius corresponding to two balls of the bat, the position of the bat is unchanged relative to the coordinate system of the three-coordinate measuring machine, and the standard radius of the ball A is RAB sphere having a standard radius of RBDistance between ball A and ball B
Is constant.
Specifically, a cost function is established through the relation between a measuring point and the sphere center under a coordinate system of a three-coordinate measuring machine, and an error matrix and the sphere center coordinates of a sphere A and a sphere B are obtained through a least square method, wherein the expression of the cost function is as follows:
wherein the expression of the cost function satisfies
Denotes the measurement point selection coefficient, naDenotes the number of points generated when measuring the A sphere, nbIndicating the number of points generated when measuring the B-ball.
Note that, as shown in fig. 2, the error matrix includes: an euler angle alpha rotating around an X axis of a coordinate system of the three-coordinate measuring machine, an euler angle beta rotating around a Y axis of the coordinate system of the three-coordinate measuring machine, and an euler angle gamma rotating around a Z axis of the coordinate system of the three-coordinate measuring machine.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (8)
1. A method for calibrating the posture of a line laser sensor on a three-coordinate measuring machine is characterized in that the line laser sensor is installed on the three-coordinate measuring machine, a bat is arranged in the measuring range of the three-coordinate measuring machine, and the method for calibrating the posture of the line laser sensor on the three-coordinate measuring machine comprises the following steps:
acquiring measurement data obtained after a line laser sensor scans and measures a ball rod according to a preset scanning measurement path, wherein the measurement data is measurement data in a laser coordinate system;
converting the measurement data in the laser coordinate system into the measurement data in the coordinate system of a three-coordinate measuring machine;
establishing a cost function with an error coefficient;
and calculating according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine to obtain an error calibration result.
2. The method for calibrating the attitude of a line laser sensor on a three-coordinate measuring machine according to claim 1, wherein the preset scanning measurement path satisfies the following conditions:
the double balls of the bat are always kept in the measuring range of the on-line laser sensor; and the number of the first and second groups,
when the line laser sensor is triggered twice, the Z-axis numerical value of the corresponding three-coordinate measuring machine forms an arithmetic progression.
3. The method of claim 1, wherein the ball on the left side of the bat is labeled as ball a and the ball on the right side of the bat is labeled as ball B, and the predetermined scanning measurement path comprises:
the sequence from ball a to ball B starts and first moves from the left side of ball a to the right side of ball a to stop and then moves from the left side of ball B to the right side of ball B to end.
4. The method for calibrating the attitude of a line laser sensor on a three-coordinate measuring machine according to claim 3, wherein the obtaining of the measurement data of the line laser sensor after scanning and measuring the ball rod according to the preset scanning and measuring path comprises:
when the scattered coordinate measuring machine drives the line laser sensor to move along the preset scanning measuring path, the measured value of the line laser sensor at the same moment is obtained
And the coordinate values of the corresponding three-coordinate measuring machine
5. The method as claimed in claim 4, wherein the measured values of the line laser sensors at the same time are calibrated by the method of calibrating the attitude of the line laser sensors on the three-coordinate measuring machine
And the coordinate values of the corresponding three-coordinate measuring machine
The method comprises the following steps:
measurement point of A sphere
The coordinates in the coordinate system of the three-coordinate measuring machine are recorded as
Measurement point of B ball
The coordinates in the coordinate system of the three-coordinate measuring machine are recorded as
Wherein,MTLexpressing the theoretical relation between the line laser sensor and the coordinate system of the three-coordinate measuring machine determined according to the theoretical installation position; t iserrorAn error matrix is represented.
6. The method for calibrating the attitude of a line laser sensor on a three-coordinate measuring machine according to claim 5, wherein the calculating an error calibration result according to the cost function and the measurement data in the coordinate system of the three-coordinate measuring machine comprises:
respectively aligning the center coordinates O of the ball A of the bat according to a least square fitting methodAAnd the center of sphere coordinate O of ball BBFitting, wherein the fitting radius is equal to the standard sphere radius corresponding to two balls of the bat, the position of the bat is unchanged relative to the coordinate system of the three-coordinate measuring machine, and the standard radius of the ball A is RAB sphere having a standard radius of RBDistance between ball A and ball B
Is constant.
7. The method for calibrating the attitude of a line laser sensor on a three-coordinate measuring machine according to claim 6, wherein a cost function is established by the relationship between the measurement point and the center of the sphere in the coordinate system of the three-coordinate measuring machine, and the error matrix and the coordinates of the centers of the sphere A and the sphere B are obtained by the least square method, wherein the expression of the cost function is as follows:
wherein the expression of the cost function satisfies
Denotes the measurement point selection coefficient, naDenotes the number of points generated when measuring the A sphere, nbIndicating the number of points generated when measuring the B-ball.
8. The method of claim 5, wherein the error matrix comprises: an euler angle alpha rotating around an X axis of a coordinate system of the three-coordinate measuring machine, an euler angle beta rotating around a Y axis of the coordinate system of the three-coordinate measuring machine, and an euler angle gamma rotating around a Z axis of the coordinate system of the three-coordinate measuring machine.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113358025A (en) * | 2021-05-21 | 2021-09-07 | 北京工业大学 | Line laser sensor space pose calibration piece and calibration method |
| CN113739717A (en) * | 2021-08-20 | 2021-12-03 | 中国工程物理研究院激光聚变研究中心 | Line laser sensor pose calibration method in on-machine measurement system |
| CN114485385A (en) * | 2020-10-23 | 2022-05-13 | 广东天机工业智能系统有限公司 | Workpiece coordinate system calibration method, device and system |
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