CN112815850A - Cylinder pose measuring method and device - Google Patents
Cylinder pose measuring method and device Download PDFInfo
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- CN112815850A CN112815850A CN202110217140.4A CN202110217140A CN112815850A CN 112815850 A CN112815850 A CN 112815850A CN 202110217140 A CN202110217140 A CN 202110217140A CN 112815850 A CN112815850 A CN 112815850A
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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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- 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
Abstract
The invention discloses a cylinder pose measuring method and a device, wherein the measuring method comprises the following steps: s1: arranging a linear laser displacement sensor around the cylinder to be measured to obtain relevant parameters of the cylinder to be measured; s2: calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model; s3: and calculating the posture of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section. The method is suitable for measuring the pose of the assembly of a plurality of products, can reduce the requirements on the geometric accuracy and the positioning accuracy of the motion assembly of the laser displacement sensor of the installation line, can ensure enough repeated positioning accuracy, is convenient for engineering realization and has higher efficiency.
Description
Technical Field
The invention relates to the technical field of cylinder pose measurement, in particular to a cylinder pose measurement method and device.
Background
The pose of the cylinder is a characteristic parameter reflecting the position and the inclination condition of the cylinder in the assembly process, usually, the cylinder is grabbed to rotate around a main shaft, a dial indicator or a point laser displacement sensor is adopted to measure a central position, the central position is measured after the cylinder is deviated by a certain height along the axis direction, the transverse deviation of the two central positions reflects the posture inclination condition of the cylinder, and the two central positions are the same after the cylinder is adjusted, so that the two central positions can represent the eccentricity relative to the rotary main shaft. The measuring method needs to rotate the cylinder, the measuring accuracy can be guaranteed only after the rotation is suspended and stabilized during each measurement, the number of measuring points is large (at least 8 points need to be measured after one rotation), and the assembly is carried out after the measurement is aligned according to the relative position relation between the main shaft and the rotation center of the assembly table, so that the efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem that the existing cylinder pose measuring method needs to rotate a cylinder, and measurement can be carried out only after the rotation is suspended and stabilized during each measurement, so that the efficiency is low.
The invention is realized by the following technical scheme:
a cylinder pose measuring method comprises the following steps:
s1: arranging a linear laser displacement sensor around the cylinder to be measured to obtain relevant parameters of the cylinder to be measured;
s2: calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model;
s3: and calculating the attitude of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, wherein a connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the attitude direction of the cylinder to be measured, and the height ratio of the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane to the vertical movement of the linear laser displacement sensor is the attitude inclination (size) of the cylinder to be measured.
The working principle is as follows: based on the fact that the pose of a cylinder is a characteristic parameter reflecting the position and the inclination condition of the cylinder in the assembling process, the existing pose measuring method of the cylinder generally grabs the cylinder to rotate around a main shaft, adopts a dial indicator or a point laser displacement sensor to measure a central position, and measures the central position after the cylinder deviates a certain height along the axis direction, the transverse deviation of the two central positions reflects the posture inclination condition of the cylinder, and the two central positions are the same after the cylinder is adjusted, so that the eccentric quantity relative to a rotary main shaft can be represented. The measuring method needs to rotate a cylinder, the cylinder needs to rotate and also involves up-and-down movement, instability exists, and measuring accuracy is affected; and more than eight points need to be measured by adopting the point laser displacement sensor to carry out circle fitting measurement, the measurement is confirmed after adjustment, and the measurement is usually repeated for several times, so that the efficiency is low.
Therefore, the invention designs a more efficient cylinder pose measuring method, and the method does not need to rotate the cylinder; the invention adopts the line laser displacement sensor, and only the line laser displacement sensor needs to be moved in the vertical direction; according to the invention, the line laser displacement sensor is adopted to measure the surface of the cylinder to be measured, so that high-point data can be directly obtained to represent the central position of the cylinder, the rotation of a product is avoided, and the measurement efficiency is improved. Firstly, arranging a linear laser displacement sensor around a cylinder to be measured to obtain relevant parameters of the cylinder to be measured; secondly, calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving (lifting or lowering) the line laser displacement sensor and adopting a cylinder position and posture measurement model; and finally, calculating the attitude of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, wherein the connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the attitude direction of the cylinder to be measured, and the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane and the height ratio of the line laser displacement sensor which vertically moves are the attitude inclination of the cylinder to be measured.
The calibration method is suitable for measuring the pose of the assembly of a plurality of products, can reduce the requirements on the geometric accuracy and the positioning accuracy of the motion assembly of the laser displacement sensor of the installation line, and is convenient for engineering realization as long as enough repeated positioning accuracy can be ensured; and the measuring efficiency is higher.
Further, the relevant parameters of the cylinder to be measured in step S1 include the diameter of the cylinder to be measured, and the distance between the line laser displacement sensor and the highest point of the cross section of the cylinder to be measured.
Further, the cylinder pose measurement model formula in step S2 is as follows:
x1+x2+d＝C1 (1)
x1+δx+d/2＝C2 (2)
y+δy+d/2＝C3 (3)
in the formula, d is the diameter of the cylinder to be measured, x1 is the distance between the first line laser displacement sensor GX1 and the highest point of the section of the cylinder to be measured, x2 is the distance between the second line laser displacement sensor GX2 and the highest point of the section of the cylinder to be measured, and y is the distance between the third line laser displacement sensor GY and the highest point of the section of the cylinder to be measured; c1, C2 and C3 are all constants; δ x and δ y are the eccentricity of the cylinder center with respect to the center of revolution.
Further, the calibration method of the constants C1, C2 and C3 is as follows:
the constant C1 is determined by measuring x1 and x2 for a standard of known diameter d, and by noting that the eccentricity δ x and δ y is 0 when the standard is at the center of rotation, the constants C2 and C3 are determined by measuring x1 'and y' for the standard.
Further, the step S1 of arranging the line laser displacement sensors around the cylinder to be measured includes:
when the diameter of the cylinder to be measured is variable, namely measuring the cylinders to be measured with different diameters, arranging three line laser displacement sensors at the same height with the cylinder to be measured, and measuring the surface of the cylinder to be measured; the two linear laser displacement sensors are oppositely arranged on two sides of the cylinder to be detected and are marked as GX1 and GX 2; the other linear laser displacement sensor is arranged in the vertical direction of the connecting line of GX1 and GX2 and is marked as GY; and the center of the cylinder to be measured and the corresponding measuring high point are both in the measuring range of the on-line laser displacement sensor.
Further, the step S1 of arranging the line laser displacement sensors around the cylinder to be measured includes:
when the diameter of the cylinder to be measured is known or constant, arranging two linear laser displacement sensors at the same height with the cylinder to be measured, and measuring the surface of the cylinder to be measured; the two linear laser displacement sensors are vertically arranged on two sides of the cylinder to be measured and are marked as GX1 and GY, namely, a connecting line of GX1 and the cylinder to be measured and a connecting line of GY and the cylinder to be measured are vertical.
Further, the step S1 of arranging the line laser displacement sensors around the cylinder to be measured includes:
when the diameter of the cylinder to be measured is variable and the installation space is limited, three line laser displacement sensors are arranged at the same height to measure the surface of the cylinder to be measured; the two linear laser displacement sensors are oppositely arranged on two sides of the cylinder to be detected and are marked as GX1 and GX 2; the third line laser displacement sensor is arranged at a certain included angle with the vertical direction of the connecting line of GX1 and GX 2.
Further, the measuring method is used for measuring the pose of the assembly of a plurality of cylindrical products.
On the other hand, the invention also provides a device of the cylinder pose measuring method, which comprises the following steps:
an acquisition unit: the device is used for arranging a linear laser displacement sensor around the cylinder to be detected and acquiring related parameters of the cylinder to be detected;
the first calculation unit is used for calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model;
the second calculation unit is used for calculating the posture of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, a connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the posture direction of the cylinder to be measured, and the ratio of the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane to the height of vertically moving the linear laser displacement sensor is the posture inclination amount of the cylinder to be measured;
and the output unit is used for outputting the attitude inclination of the cylinder to be detected.
Further, the relevant parameters of the cylinder to be measured in the step S1 include the diameter of the cylinder to be measured, and the distance between the line laser displacement sensor and the highest point of the cross section of the cylinder to be measured;
the cylinder pose measurement model formula in step S2 is as follows:
x1+x2+d＝C1 (1)
x1+δx+d/2＝C2 (2)
y+δy+d/2＝C3 (3)
in the formula, d is the diameter of the cylinder to be measured, x1 is the distance between the first line laser displacement sensor GX1 and the highest point of the section of the cylinder to be measured, x2 is the distance between the second line laser displacement sensor GX2 and the highest point of the section of the cylinder to be measured, and y is the distance between the third line laser displacement sensor GY and the highest point of the section of the cylinder to be measured; c1, C2 and C3 are all constants; δ x and δ y are the eccentricity of the cylinder center with respect to the center of revolution.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the invention, the line laser displacement sensor is adopted to measure the surface of the cylinder, so that high-point data can be directly obtained to represent the central position of the cylinder, the rotation of a product is avoided, and the measurement efficiency is improved.
2. The calibration method is suitable for measuring the pose of the assembly of a plurality of products, can reduce the requirements on the geometric accuracy and the positioning accuracy of the moving assembly of the laser displacement sensor of the installation line, can ensure enough repeated positioning accuracy, and is convenient for engineering realization.
3. The method can be applied to pose measurement of cylinders with the same diameter and pose measurement of cylinders with different diameters, and is high in measurement efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a flow chart of a cylinder pose measurement method of the present invention.
Fig. 2 is a schematic diagram of a sensor layout structure of the cylinder pose measuring device of the present invention.
FIG. 3 is a schematic diagram of the pose measurement principle of the method and apparatus of the present invention.
Detailed Description
Hereinafter, the term "comprising" or "may include" used in various embodiments of the present invention indicates the presence of the invented function, operation or element, and does not limit the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the present invention, the terms "comprises," "comprising," "includes," "including," "has," "having" and their derivatives are intended to mean that the specified features, numbers, steps, operations, elements, components, or combinations of the foregoing, are only meant to indicate that a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as first excluding the existence of, or adding to the possibility of, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.
Expressions (such as "first", "second", and the like) used in various embodiments of the present invention may modify various constituent elements in various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
As shown in fig. 1 to 3, a cylinder pose measurement method of the present invention, as shown in fig. 1, includes the steps of:
s1: arranging a linear laser displacement sensor around the cylinder to be measured to obtain relevant parameters of the cylinder to be measured;
s2: calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model;
s3: and calculating the attitude of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, wherein a connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the attitude direction of the cylinder to be measured, and the height ratio of the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane to the vertical movement of the linear laser displacement sensor is the attitude inclination (size) of the cylinder to be measured.
In this embodiment, the relevant parameters of the cylinder to be measured in step S1 include the diameter of the cylinder to be measured, and the distance between the line laser displacement sensor and the highest point of the cross section of the cylinder to be measured.
In practice, the step S1 of arranging the line laser displacement sensors around the cylinder to be measured includes:
when the diameter of the cylinder to be measured is variable, namely measuring the cylinders to be measured with different diameters, arranging three line laser displacement sensors at the same height with the cylinder to be measured, and measuring the surface of the cylinder to be measured; as shown in fig. 2, two linear laser displacement sensors are oppositely arranged at two sides of the cylinder to be measured, and are marked as GX1 and GX 2; the other linear laser displacement sensor is arranged in the vertical direction of the connecting line of GX1 and GX2 and is marked as GY; and the center of the cylinder to be measured and the corresponding measuring high point are ensured to be in the measuring range of the on-line laser displacement sensor.
As shown in fig. 3, when the distances of the highest points of the cross section of the to-be-measured cylindrical product with the measurement diameter d are respectively x1, x2 and y, and the calibration values are respectively x1 ', x2 ' and y ', the following equation (i.e. the cylinder pose measurement model formula) can be obtained:
x1+x2+d＝C1 (1)
x1+δx+d/2＝C2 (2)
y+δy+d/2＝C3 (3)
in the formula, d is the diameter of the cylinder to be measured, x1 is the distance between the first line laser displacement sensor GX1 and the highest point of the section of the cylinder to be measured, x2 is the distance between the second line laser displacement sensor GX2 and the highest point of the section of the cylinder to be measured, and y is the distance between the third line laser displacement sensor GY and the highest point of the section of the cylinder to be measured; c1, C2 and C3 are all constants; δ x and δ y are the eccentricity of the cylinder center with respect to the center of revolution.
Specifically, the relation between the measurement parameters of the linear laser displacement sensor and the position of the rotation center is determined by the standard component, and the calibration method of the constants C1, C2 and C3 is as follows:
the constant C1 may be determined by measuring x1 and x2 for a standard of known diameter d, and determining the constants C2 and C3 from the measurements x1 'and y' for the standard when the standard is at the center of rotation (eccentricity δ x and δ y are 0). The center position O1 (eccentricity) can then be determined from the measurements x1 and y.
And after the height h is increased, the central position O2 of another height cylinder can be measured again by adopting the cylinder pose measurement model formula, and the gesture direction of the cylinder to be measured can be represented by connecting lines O1-O2. The projection deviations in the horizontal plane are expressed as Deltax and Deltay, and the orientation direction can be expressed by Deltax/h and Deltay/h.
The working principle is as follows: based on the fact that the pose of a cylinder is a characteristic parameter reflecting the position and the inclination condition of the cylinder in the assembling process, the existing pose measuring method of the cylinder generally grabs the cylinder to rotate around a main shaft, adopts a dial indicator or a point laser displacement sensor to measure a central position, and measures the central position after the cylinder deviates a certain height along the axis direction, the transverse deviation of the two central positions reflects the posture inclination condition of the cylinder, and the two central positions are the same after the cylinder is adjusted, so that the eccentric quantity relative to a rotary main shaft can be represented. The measuring method needs to rotate a cylinder, the cylinder needs to rotate and also involves up-and-down movement, instability exists, and measuring accuracy is affected; and the point laser displacement sensor needs to measure more than eight points when carrying out circle fitting measurement, and measurement confirmation is needed after adjustment, and repeated measurement is usually needed for several times, so that the efficiency is low.
Therefore, the invention designs a more efficient cylinder pose measuring method, and the method does not need to rotate the cylinder; the invention adopts the line laser displacement sensor, and only the line laser displacement sensor needs to be moved in the vertical direction; according to the invention, the line laser displacement sensor is adopted to measure the surface of the cylinder to be measured, so that high-point data can be directly obtained to represent the central position of the cylinder, and the two line laser displacement sensors which are oppositely arranged are adopted to measure the diameter of the cylinder, so that the product rotation is avoided, and the measurement efficiency is improved. Firstly, arranging a linear laser displacement sensor around a cylinder to be measured to obtain relevant parameters of the cylinder to be measured; secondly, calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving (lifting or lowering) the line laser displacement sensor and adopting a cylinder position and posture measurement model; and finally, calculating the attitude of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, wherein the connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the attitude direction of the cylinder to be measured, and the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane and the height ratio of the line laser displacement sensor which vertically moves are the attitude inclination of the cylinder to be measured.
The calibration method is suitable for measuring the pose of the assembly of a plurality of products, can reduce the requirements on the geometric accuracy and the positioning accuracy of the motion assembly of the laser displacement sensor of the installation line, and is convenient for engineering realization as long as enough repeated positioning accuracy can be ensured; and the measuring efficiency is higher.
Example 2
As shown in fig. 1 to 3, the present embodiment is different from embodiment 1 in that the line laser displacement sensors are arranged around the cylinder to be measured in step S1, and includes:
when the diameter of the cylinder to be measured is known or constant, any line laser displacement sensor which is arranged oppositely can be cancelled, two line laser displacement sensors are arranged at the same height with the cylinder to be measured, and the surface of the cylinder to be measured is measured; the two linear laser displacement sensors are vertically arranged on two sides of the cylinder to be measured and are marked as GX1 and GY, namely, a connecting line of GX1 and the cylinder to be measured and a connecting line of GY and the cylinder to be measured are vertical.
The position change of the center of the cylindrical product to be measured relative to the center of rotation is determined according to the formulas (2) to (3) in the embodiment 1.
Example 3
As shown in fig. 1 to 3, the present embodiment is different from embodiment 1 in that the line laser displacement sensors are arranged around the cylinder to be measured in step S1, and includes:
when the diameter of the cylinder to be measured is variable, the layout of the line laser displacement sensors can be adjusted by considering the limitation of the installation space, and three line laser displacement sensors are arranged at the same height with the cylinder to be measured to measure the surface of the cylinder to be measured; the two linear laser displacement sensors are oppositely arranged on two sides of the cylinder to be detected and are marked as GX1 and GX 2; the third line laser displacement sensor is arranged at a certain included angle with the vertical direction of the connecting line of GX1 and GX 2.
For example, two line laser displacement sensors are arranged in the x direction, the third line laser displacement sensor is arranged at an included angle θ of 30 ° with respect to the y axis, and the product is calculated according to the formulas (1) to (3) in embodiment 1Diameter and position (of the product center relative to the center of rotation), but the value in equation (3) should be corrected by y-yFruit of Chinese wolfberry·cosθ，yFruit of Chinese wolfberryAnd measuring the actual measurement value of the third line laser displacement sensor.
Example 4
As shown in fig. 1 to fig. 3, the present embodiment is different from embodiment 1 in that the line laser displacement sensors are arranged around the cylinder to be measured in step S1, and still include three sensors: the two line laser displacement sensors are oppositely arranged, the third line laser displacement sensor is vertically arranged, but the laser lines can be inclined (the laser lines are horizontal and vertical to the rotating shaft), and the diameter and the position (of the product center relative to the rotating center) of the product can be calculated according to the formulas (1) to (3).
Example 5
As shown in fig. 1 to 3, the present embodiment differs from embodiment 1 in that the present embodiment provides a cylinder attitude measurement apparatus that supports a cylinder attitude measurement method described in embodiment 1; the device includes:
an acquisition unit: the device is used for arranging a linear laser displacement sensor around the cylinder to be detected and acquiring related parameters of the cylinder to be detected;
the first calculation unit is used for calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model;
the second calculation unit is used for calculating the posture of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, a connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the posture direction of the cylinder to be measured, and the ratio of the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane to the height of vertically moving the linear laser displacement sensor is the posture inclination amount of the cylinder to be measured;
and the output unit is used for outputting the attitude inclination of the cylinder to be detected.
Specifically, the relevant parameters of the cylinder to be measured in step S1 include the diameter of the cylinder to be measured, and the distance between the line laser displacement sensor and the highest point of the cross section of the cylinder to be measured;
the cylinder pose measurement model formula in step S2 is as follows:
x1+x2+d＝C1 (1)
x1+δx+d/2＝C2 (2)
y+δy+d/2＝C3 (3)
in the formula, d is the diameter of the cylinder to be measured, x1 is the distance between the first line laser displacement sensor GX1 and the highest point of the section of the cylinder to be measured, x2 is the distance between the second line laser displacement sensor GX2 and the highest point of the section of the cylinder to be measured, and y is the distance between the third line laser displacement sensor GY and the highest point of the section of the cylinder to be measured; c1, C2 and C3 are all constants; δ x and δ y are the eccentricity of the cylinder center with respect to the center of revolution.
The device of the invention adopts the line laser displacement sensor to measure the surface of the cylinder, and can directly obtain high-point data to represent the central position of the cylinder, thereby avoiding the rotation of the product and improving the measurement efficiency.
The calibration method is suitable for measuring the pose of the assembly of a plurality of products, can reduce the requirements on the geometric accuracy and the positioning accuracy of the moving assembly of the laser displacement sensor of the installation line, can ensure enough repeated positioning accuracy, and is convenient for engineering realization.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A cylinder pose measuring method is characterized by comprising the following steps:
s1: arranging a linear laser displacement sensor around the cylinder to be measured to obtain relevant parameters of the cylinder to be measured;
s2: calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model;
s3: and calculating the attitude of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, wherein a connection line of the central position of the first height measurement section and the central position of the second height measurement section is the attitude direction of the cylinder to be measured, and the ratio of the projection deviation of the connection line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane to the height of the linear laser displacement sensor which vertically moves is the attitude inclination of the cylinder to be measured.
2. The cylinder pose measurement method according to claim 1, wherein the relevant parameters of the cylinder to be measured in step S1 include the diameter of the cylinder to be measured, and the distance between the line laser displacement sensor and the highest point of the cross section of the cylinder to be measured.
3. The cylinder pose measurement method according to claim 1, wherein the step S1 of arranging the line laser displacement sensors around the cylinder to be measured comprises:
when the diameter of the cylinder to be measured is variable, namely measuring the cylinders to be measured with different diameters, arranging three line laser displacement sensors at the same height with the cylinder to be measured, and measuring the surface of the cylinder to be measured; the two linear laser displacement sensors are oppositely arranged on two sides of the cylinder to be detected and are marked as GX1 and GX 2; the other linear laser displacement sensor is arranged in the vertical direction of the connecting line of GX1 and GX2 and is marked as GY; and the center of the cylinder to be measured and the corresponding measuring high point are both in the measuring range of the on-line laser displacement sensor.
4. A cylinder pose measurement method according to claim 3, wherein the cylinder pose measurement model formula in step S2 is as follows:
x1+x2+d＝C1 (1)
x1+δx+d/2＝C2 (2)
y+δy+d/2＝C3 (3)
in the formula, d is the diameter of the cylinder to be measured, x1 is the distance between the first line laser displacement sensor GX1 and the highest point of the section of the cylinder to be measured, x2 is the distance between the second line laser displacement sensor GX2 and the highest point of the section of the cylinder to be measured, and y is the distance between the third line laser displacement sensor GY and the highest point of the section of the cylinder to be measured; c1, C2 and C3 are all constants; δ x and δ y are the eccentricity of the cylinder center with respect to the rotational center of the mounting table.
5. The cylinder pose measurement method according to claim 4, wherein the calibration method of the constants C1, C2 and C3 is as follows:
the constant C1 is determined by measuring x1 and x2 for a standard of known diameter d, and by noting that the eccentricity δ x and δ y is 0 when the standard is at the center of rotation, the constants C2 and C3 are determined by measuring x1 'and y' for the standard.
6. The cylinder pose measurement method according to claim 1, wherein the step S1 of arranging the line laser displacement sensors around the cylinder to be measured comprises:
when the diameter of the cylinder to be measured is known or constant, arranging two linear laser displacement sensors at the same height with the cylinder to be measured, and measuring the surface of the cylinder to be measured; the two linear laser displacement sensors are vertically arranged on two sides of the cylinder to be measured and are marked as GX1 and GY, namely, a connecting line of GX1 and the cylinder to be measured and a connecting line of GY and the cylinder to be measured are vertical.
7. The cylinder pose measurement method according to claim 1, wherein the step S1 of arranging the line laser displacement sensors around the cylinder to be measured comprises:
when the diameter of the cylinder to be measured is variable and the installation space is limited, three line laser displacement sensors are arranged at the same height to measure the surface of the cylinder to be measured; the two linear laser displacement sensors are oppositely arranged on two sides of the cylinder to be detected and are marked as GX1 and GX 2; the third line laser displacement sensor is arranged at a certain included angle with the vertical direction of the connecting line of GX1 and GX 2.
8. The apparatus for measuring the pose of a cylinder according to any one of claims 1 to 7, comprising:
an acquisition unit: the device is used for arranging a linear laser displacement sensor around the cylinder to be detected and acquiring related parameters of the cylinder to be detected;
the first calculation unit is used for calculating the central position of a first height measurement section of the cylinder to be measured by adopting a cylinder pose measurement model according to the acquired relevant parameters of the cylinder to be measured; calculating the central position of the cylinder to be measured on the second height measurement section by vertically moving the line laser displacement sensor and adopting a cylinder position and posture measurement model;
the second calculation unit is used for calculating the posture of the cylinder to be measured according to the central position of the first height measurement section and the central position of the second height measurement section, a connecting line of the central position of the first height measurement section and the central position of the second height measurement section is the posture direction of the cylinder to be measured, and the ratio of the projection deviation of the connecting line of the central position of the first height measurement section and the central position of the second height measurement section in the horizontal plane to the height of vertically moving the linear laser displacement sensor is the posture inclination amount of the cylinder to be measured;
and the output unit is used for outputting the attitude inclination of the cylinder to be detected.
9. The cylinder pose measuring apparatus according to claim 8, wherein the relevant parameters of the cylinder to be measured in step S1 include the diameter of the cylinder to be measured, the distance between the line laser displacement sensor and the highest point of the cross section of the cylinder to be measured;
the cylinder pose measurement model formula in step S2 is as follows:
x1+x2+d＝C1 (1)
x1+δx+d/2＝C2 (2)
y+δy+d/2＝C3 (3)
in the formula, d is the diameter of the cylinder to be measured, x1 is the distance between the first line laser displacement sensor GX1 and the highest point of the section of the cylinder to be measured, x2 is the distance between the second line laser displacement sensor GX2 and the highest point of the section of the cylinder to be measured, and y is the distance between the third line laser displacement sensor GY and the highest point of the section of the cylinder to be measured; c1, C2 and C3 are all constants; δ x and δ y are the eccentricity of the cylinder center with respect to the center of revolution.
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