CN112902872A - Bearing inner hole measuring device and method based on laser sensor - Google Patents
Bearing inner hole measuring device and method based on laser sensor Download PDFInfo
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- CN112902872A CN112902872A CN202110285459.0A CN202110285459A CN112902872A CN 112902872 A CN112902872 A CN 112902872A CN 202110285459 A CN202110285459 A CN 202110285459A CN 112902872 A CN112902872 A CN 112902872A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention provides a bearing inner hole measuring device and method based on a laser sensor, which comprises a base, a bearing clamp, a sliding platform, a rotary joint, a laser ranging sensor and a control module, and specifically comprises the following steps: step S1, determining a kinematic model and parameters of the laser ranging sensor, and establishing a three-dimensional coordinate system; s2, measuring the inner wall of the bearing by using a laser range finder to obtain three-dimensional point cloud data of the inner wall of the bearing; step S3, extracting the characteristics of the obtained three-dimensional point cloud data; s4, denoising, namely smoothing the point cloud data by using filtering; and step S5, reconstructing the processed point cloud data by using a three-dimensional reconstruction algorithm to obtain a corresponding complete three-dimensional model of the inner wall of the bearing. The method can quickly and conveniently acquire the information of the inner hole of the bearing and draw a three-dimensional model.
Description
Technical Field
The invention belongs to the technical field of laser measurement, and particularly relates to a bearing inner hole measuring device and method based on a laser sensor.
Background
The bearing is an indispensable mechanical part of the machine during the transmission process, plays a role of fixing and reducing the load friction coefficient, is arranged on the machine and generates relative motion with other parts on the shaft, and is used for reducing the friction coefficient during the power transmission process and keeping the central position of the shaft fixed. Its main function is to support the mechanical rotating body to reduce the friction coefficient of mechanical load of equipment in the transmission process. The bearing belongs to a high-precision product, and the precision of the bearing plays a role in lifting the whole performance of the bearing.
The bearing is small in inner hole, so that the detection precision is poor by manual measurement. And human errors can occur, a large amount of human resources are consumed in the manual detection process, and the economic benefit is low. The current detection method has low efficiency, so that the detection technology cannot meet the market demand, is not beneficial to the development of the field of bearing machinery, and cannot keep up with the modern technical trend.
With the rapid development of laser measurement technology and three-dimensional modeling technology, people seek higher and higher high precision and high efficiency, the three-dimensional laser measurement technology overcomes the traditional measurement limitation, and the three-dimensional laser measurement technology can carry out full-automatic measurement without touching with a measured object to acquire required data information. The technology can acquire the information of any specific object and carry out certain processing, and a solid three-dimensional model is generated through a three-dimensional modeling technology.
Disclosure of Invention
The invention aims to solve the technical problems and provides a bearing inner hole measuring device and method based on a laser sensor.
The technical scheme adopted by the invention for solving the technical problems is as follows: bearing hole measuring device based on laser sensor, its characterized in that, including base, bearing anchor clamps, sliding platform, swivel joint, laser range finding sensor and control module, bearing anchor clamps are vertical to be fixed in base one side fixes the bearing that awaits measuring on it, sliding platform passes through driving motor and slides along the sliding guide who installs on the base, swivel joint installs on sliding platform through the support, laser range finding sensor installs in swivel joint's end, control module includes controller and host computer, the input of controller links to each other with laser range finding sensor, and the output links to each other with swivel joint and laser range finding sensor respectively, and the controller links to each other with the host computer, realizes the information interaction.
According to the scheme, the bearing clamp comprises a fixing plate, an upper clamping arm and a lower clamping arm, wherein the upper clamping arm and the lower clamping arm are stacked and fixed on the fixing plate, the bottom of the fixing plate is fixed on the base, the distance between the upper clamping arm and the lower clamping arm is the same as the outer diameter of a bearing to be tested, and clamping and fixing are achieved.
According to the scheme, the rotary joint is a stepping motor, the laser ranging sensor is installed at the end head of the output shaft of the stepping motor, and the output shaft of the stepping motor is arranged corresponding to the inner hole of the bearing to be measured.
According to the scheme, the laser ranging sensor is a monocular laser ranging sensor, and the direction of the laser light source is perpendicular to the sliding direction of the sliding platform.
The method for measuring the inner hole of the bearing based on the laser sensor is characterized by comprising the following steps of:
s1) establishing a coordinate system: determining a kinematic model and parameters of a laser ranging sensor, and establishing a three-dimensional coordinate system;
s2) laser measurement: measuring the inner wall of the bearing by using a laser range finder to obtain three-dimensional point cloud data of the inner wall of the bearing;
s3) feature extraction: extracting the characteristics of the obtained three-dimensional point cloud data;
s4) smoothing filtering: denoising, namely performing smooth filtering processing on the point cloud data by using a filter;
s3) model reconstruction: reconstructing the processed point cloud data by using a three-dimensional reconstruction algorithm to obtain a corresponding complete three-dimensional model of the inner wall of the bearing
According to the above scheme, the establishing of the three-dimensional coordinate system in step S1 includes the following steps: and establishing a three-dimensional coordinate system by taking the moving direction of the sliding platform as the z-axis direction and the initial position of the laser ranging sensor as the origin of the xy plane.
According to the scheme, the laser measurement in the step S2 includes the following steps: the controller controls the sliding platform to move towards the direction of the bearing to be measured, when the sliding platform reaches the end face of the bearing to be measured, the position of a z axis is 0, the position is the original point of a three-dimensional coordinate system, the sliding platform continues to move for a distance d and stops, the rotary joint and the laser ranging sensor start to work, when the rotation angle of the rotary joint is delta theta, the length from a bearing inner hole measuring point to the original point of the three-dimensional coordinate is L acquired by the laser ranging sensor, when the rotation angle reaches 360 degrees, the rotary joint stops stopping, the sliding platform continues to move for the distance d and repeats the above movement until the laser ranging sensor reaches the other end face of the bearing to be measured, the measurement is finished, and the data: (x, y, z) ═ Lcos Δ θ, Lsin Δ θ, kd, where k ∈ N, Δ θ ≦ 0 ° less than 360 °.
According to the scheme, the feature extraction in the step S3 includes the following steps: the method comprises the steps of adopting a principal component analysis method, using a covariance matrix decomposed based on eigenvalues to realize principal component analysis, reducing the dimension of a three-dimensional coordinate data set X to k, subtracting respective average values from each bit of features, then calculating the covariance matrix, solving the eigenvalues and eigenvectors of the covariance matrix by using an eigenvalue decomposition method, sorting the eigenvalues from large to small, selecting the largest k of the eigenvalues, then using the corresponding k eigenvectors as row vectors to form an eigenvector matrix P, and converting data into a new space constructed by the k eigenvectors, wherein Y is PX, and Y is the three-dimensional coordinate data set after feature extraction.
According to the scheme, the filter in the step S4 is an SG filter.
According to the scheme, the three-dimensional reconstruction algorithm in the step S4 is a Poisson surface reconstruction algorithm.
The invention has the beneficial effects that: the bearing inner hole measuring device and method based on the laser sensor are provided, the bearing inner hole data are automatically measured through the laser ranging sensor arranged on the moving platform, data processing and model reconstruction are carried out by utilizing the existing algorithm, the inner hole information of the bearing to be measured can be well obtained, a three-dimensional model is established, the automatic measurement and model reconstruction of the bearing inner hole are realized, and the bearing inner hole measuring device and method based on the laser sensor have the advantages of intuition, convenience and the like.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
FIG. 2 is a block flow diagram of one embodiment of the present invention.
FIG. 3 is a schematic diagram of a three-dimensional coordinate system according to an embodiment of the invention.
Detailed Description
For a better understanding of the present invention, reference is made to the following description taken in conjunction with the accompanying drawings and examples.
As shown in figure 1, the invention provides a bearing inner hole measuring device based on a laser sensor, which comprises a base 1, a bearing clamp 2, a sliding platform 3, a rotary joint 4, a laser ranging sensor 5 and a control module, wherein the bearing clamp is vertically fixed on one side of the base, a bearing 6 to be measured is fixed on the bearing clamp, the sliding platform slides along a sliding guide rail arranged on the base through a driving motor, the rotary joint is arranged on the sliding platform through a support, the laser ranging sensor is arranged at the end head of the rotary joint, the control module comprises a controller and an upper computer 7, the input end of the controller is connected with the laser ranging sensor, the output end of the controller is respectively connected with the rotary joint and the laser ranging sensor, the controller is connected with the upper computer to realize information interaction, and the upper computer is used for sending instructions and storing measured data.
The bearing clamp comprises a fixing plate, an upper clamping arm and a lower clamping arm, the upper clamping arm and the lower clamping arm are stacked and fixed on the fixing plate, the bottom of the fixing plate is fixed on the base, the distance between the upper clamping arm and the lower clamping arm is the same as the outer diameter of a bearing to be tested, and clamping fixation is achieved.
The rotary joint is a stepping motor, a laser ranging sensor is arranged at the end head of an output shaft of the stepping motor, the output shaft of the stepping motor and an inner hole of a bearing to be measured are correspondingly arranged, 360-degree rotation can be performed under the control of the control module, a specific rotation angle can be designated, and the rotation speed can be adjusted.
The laser ranging sensor is a monocular laser ranging sensor, and the direction of the laser light source is perpendicular to the sliding direction of the sliding platform.
The method for measuring the inner hole of the bearing by adopting the device comprises the following steps:
s1) establishing a coordinate system: and establishing a three-dimensional coordinate system by taking the moving direction of the sliding platform as the z-axis direction and the initial position of the laser ranging sensor as the origin of the xy plane.
S2) measurement: the controller controls the sliding platform to move towards the direction of the bearing to be measured, when the sliding platform reaches the end face of the bearing to be measured, the position of a z axis is 0, the position is the original point of a three-dimensional coordinate system, the sliding platform continues to move for a distance d and stops, the rotary joint and the laser ranging sensor start to work, when the rotation angle of the rotary joint is delta theta, the length from a bearing inner hole measuring point to the original point of the three-dimensional coordinate is L acquired by the laser ranging sensor, when the rotation angle reaches 360 degrees, the rotary joint stops stopping, the sliding platform continues to move for the distance d and repeats the above movement until the laser ranging sensor reaches the other end face of the bearing to be measured, the measurement is finished, and the data: (x, y, z) — (Lcos Δ θ, Lsin Δ θ, kd), where k ∈ N, Δ θ ≦ 0 ° < 360 °, it is obvious that the smaller the movement distance d and the rotation angle Δ θ, the higher the measurement accuracy.
S3) feature extraction: and (3) adopting a Principal Component Analysis (PCA) method, and realizing PCA by using a covariance matrix based on eigenvalue decomposition. For a three-dimensional coordinate dataset X, a drop to the k-dimension is required. And subtracting the respective average value from each bit feature, then calculating a covariance matrix, and solving an eigenvalue and an eigenvector of the covariance matrix by using an eigenvalue decomposition method. Sorting the eigenvalues from large to small, and selecting the largest k of the eigenvalues. Then, the corresponding k eigenvectors are respectively used as row vectors to form an eigenvector matrix P. And converting the data into a new space constructed by k feature vectors, namely Y is PX, and Y is the three-dimensional coordinate data set after feature extraction.
S4) smoothing filtering: the collected point cloud data of the inner wall of the bearing can not avoid noise, so that the reconstructed curved surface is not smooth, and the accuracy and the efficiency of the reconstruction of the bearing model are directly influenced. And an SG filter is selected for carrying out fairing filtering processing on the three-dimensional point cloud, and after the three-dimensional point cloud is filtered by the SG filter, a point cloud curve becomes smoother and the original topological and geometric characteristics of the sampling surface can be kept unchanged.
S5) model reconstruction: and (3) reconstructing point cloud data by using a Poisson surface reconstruction algorithm so as to obtain a complete three-dimensional model of the inner wall of the bearing.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. Bearing hole measuring device based on laser sensor, its characterized in that, including base, bearing anchor clamps, sliding platform, swivel joint, laser range finding sensor and control module, bearing anchor clamps are vertical to be fixed in base one side fixes the bearing that awaits measuring on it, sliding platform passes through driving motor and slides along the sliding guide who installs on the base, swivel joint installs on sliding platform through the support, laser range finding sensor installs in swivel joint's end, control module includes controller and host computer, the input of controller links to each other with laser range finding sensor, and the output links to each other with swivel joint and laser range finding sensor respectively, and the controller links to each other with the host computer, realizes the information interaction.
2. The laser sensor-based bearing inner hole measuring device as claimed in claim 1, wherein the bearing clamp includes a fixing plate, an upper clamp arm and a lower clamp arm, the upper and lower clamp arms are stacked and fixed on the fixing plate, the bottom of the fixing plate is fixed on the base, and the distance between the upper and lower clamp arms is the same as the outer diameter of the bearing to be measured, so as to realize clamping and fixing.
3. The bearing inner hole measuring device based on the laser sensor as claimed in claim 1 or 2, wherein the rotary joint is a stepping motor, the laser distance measuring sensor is installed at an end head of an output shaft of the stepping motor, and the output shaft of the stepping motor is arranged corresponding to the inner hole of the bearing to be measured.
4. The bearing inner hole measuring device based on the laser sensor as claimed in claim 3, wherein the laser ranging sensor is a monocular laser ranging sensor, and the direction of the laser light source is perpendicular to the sliding direction of the sliding platform.
5. The method for measuring the inner hole of the bearing based on the laser sensor is characterized by comprising the following steps of:
s1) establishing a coordinate system: determining a kinematic model and parameters of a laser ranging sensor, and establishing a three-dimensional coordinate system;
s2) laser measurement: measuring the inner wall of the bearing by using a laser range finder to obtain three-dimensional point cloud data of the inner wall of the bearing;
s3) feature extraction: extracting the characteristics of the obtained three-dimensional point cloud data;
s4) smoothing filtering: denoising, namely performing smooth filtering processing on the point cloud data by using a filter;
s3) model reconstruction: and reconstructing the processed point cloud data by using a three-dimensional reconstruction algorithm to obtain a corresponding complete three-dimensional model of the inner wall of the bearing.
6. The method for measuring the inner bore of the bearing based on the laser sensor as claimed in claim 5, wherein the step S1 for establishing the three-dimensional coordinate system comprises the following steps: and establishing a three-dimensional coordinate system by taking the moving direction of the sliding platform as the z-axis direction and the initial position of the laser ranging sensor as the origin of the xy plane.
7. The method for measuring the inner bore of the bearing based on the laser sensor as claimed in claim 6, wherein the laser measurement in step S2 includes the following steps: the controller controls the sliding platform to move towards the direction of the bearing to be measured, when the sliding platform reaches the end face of the bearing to be measured, the position of a z axis is 0, the position is the original point of a three-dimensional coordinate system, the sliding platform continues to move for a distance d and stops, the rotary joint and the laser ranging sensor start to work, when the rotation angle of the rotary joint is delta theta, the length from a bearing inner hole measuring point to the original point of the three-dimensional coordinate is L acquired by the laser ranging sensor, when the rotation angle reaches 360 degrees, the rotary joint stops stopping, the sliding platform continues to move for the distance d and repeats the above movement until the laser ranging sensor reaches the other end face of the bearing to be measured, the measurement is finished, and the data: (x, y, z) ═ Lcos Δ θ, Lsin Δ θ, kd, where k ∈ N, Δ θ ≦ 0 ° less than 360 °.
8. The laser sensor-based bearing inner bore measuring method according to claim 7, wherein the feature extraction in step S3 comprises the following steps: the method comprises the steps of adopting a principal component analysis method, using a covariance matrix decomposed based on eigenvalues to realize principal component analysis, reducing the dimension of a three-dimensional coordinate data set X to k, subtracting respective average values from each bit of features, then calculating the covariance matrix, solving the eigenvalues and eigenvectors of the covariance matrix by using an eigenvalue decomposition method, sorting the eigenvalues from large to small, selecting the largest k of the eigenvalues, then using the corresponding k eigenvectors as row vectors to form an eigenvector matrix P, and converting data into a new space constructed by the k eigenvectors, wherein Y is PX, and Y is the three-dimensional coordinate data set after feature extraction.
9. The laser sensor-based bearing inner bore measuring method according to claim 5 or 8, wherein the filter in step S4 is an SG filter.
10. The laser sensor-based bearing inner hole measuring method according to claim 5 or 8, wherein the three-dimensional reconstruction algorithm in the step S4 is a Poisson surface reconstruction algorithm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110285459.0A CN112902872A (en) | 2021-03-17 | 2021-03-17 | Bearing inner hole measuring device and method based on laser sensor |
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| CN202110285459.0A CN112902872A (en) | 2021-03-17 | 2021-03-17 | Bearing inner hole measuring device and method based on laser sensor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113985438A (en) * | 2021-11-12 | 2022-01-28 | 河北农业大学 | Plant three-dimensional model reconstruction system and method |
| CN116336953A (en) * | 2023-05-30 | 2023-06-27 | 武汉工程大学 | System and method for measuring radius and depth of perforation model |
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2021
- 2021-03-17 CN CN202110285459.0A patent/CN112902872A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113985438A (en) * | 2021-11-12 | 2022-01-28 | 河北农业大学 | Plant three-dimensional model reconstruction system and method |
| CN116336953A (en) * | 2023-05-30 | 2023-06-27 | 武汉工程大学 | System and method for measuring radius and depth of perforation model |
| CN116336953B (en) * | 2023-05-30 | 2023-08-11 | 武汉工程大学 | System and method for measuring radius and depth of perforation model |
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