CN115307571A - Planar line laser sensor pose calibration piece and calibration method - Google Patents
Planar line laser sensor pose calibration piece and calibration method Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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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
- G01B11/2416—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures of gears
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Abstract
The invention discloses a planar line laser sensor pose calibration piece and a calibration method. The pose calibration piece with geometric characteristics is a columnar central rotating structural body and specifically comprises a plane I, an outer cylindrical surface I, a V-shaped groove, an outer cylindrical surface II, a plane II, a lower end surface, an upper end surface, a plane III and an inner cylindrical surface. The geometric features have shape error requirements with certain precision, and the geometric features have position error requirements with certain precision, so that the precision machining requirements of the geometric features are met. The method is combined with the measurement process of the gear measurement center, the calibration operation is simple and easy to implement, and the accurate calibration of the line laser sensor can be realized. The calibration method utilizes the fitting technology of least squares to straight lines to be mature, has higher precision and can truly reflect the interrelation of actual coordinate numerical values.
Description
Technical Field
The invention relates to a line laser sensor position and pose calibration piece and a calibration method thereof, in particular to a line laser sensor space position and pose calibration piece for three-dimensional measurement of a gear and a calibration method thereof, and belongs to the technical field of precision measurement.
Background
The traditional gear measurement mostly adopts a contact measurement mode, and has the following defects: 1. the measurement efficiency is low, and the acquisition of the tooth surface information of the needed gear teeth is difficult to realize in a short time. 2. The whole gear is judged only by specific information such as points, lines and the like of the tooth surface of a part of gear teeth, so that the full information of the tooth surface cannot be obtained, and the evaluation is incomplete. 3. The contact type measuring head has the problems of abrasion, radius compensation and the like. Compared with the non-contact gear laser measuring method, the non-contact gear laser measuring method has obvious advantages, greatly improves the measuring efficiency, and can acquire all the tooth surface information of all the gear teeth quickly.
The line laser measurement is taken as a typical non-contact measurement technology, is widely applied to the field of product appearance and dimension measurement, and has the characteristics of high speed, high precision, high efficiency, convenience in operation, no loss and the like. The line laser sensor has the advantages that the line laser sensor is convenient for industrial application, the technical requirements on operators are reduced due to high packaging, and the precise measurement on a measured object is realized more simply and conveniently.
Line laser measurement is a comparative measurement technology, and before precise measurement of object surface information, accurate calibration of the spatial pose relationship between a line laser sensor and a measured object is particularly important, and is also an important premise for realizing accurate three-dimensional information reconstruction. For rotary structures of the gear type, calibration of the line laser sensor is generally done by means of a standard mandrel of simple construction or a special calibration piece with complex geometric features. According to the calibration method based on the standard mandrel with the simple structure, the small sample data are accumulated for many times to perform fitting operation, the pose of the sensor is required to be adjusted for many times in the calibration process, and multi-source errors are inevitably introduced in the process; the calibration method based on the special complex geometric feature calibration piece brings great challenges to the processing and precision requirements of the calibration piece.
Based on the current situation and the problems, the invention provides a line laser sensor pose calibration piece for gear measurement and a calibration method thereof.
Disclosure of Invention
The invention aims to provide a line laser sensor pose calibration piece and a calibration method for gear measurement, aiming at the problem of pose calibration of a line laser sensor in the existing gear measurement process.
The invention relates to a line laser sensor pose marking piece which comprises a central rotating structural body, wherein the upper end surface and the lower end surface of the central rotating structural body are of flat structures; the side surface of the central rotating structure body is provided with a plurality of specific geometric shape units, each structural unit comprises an outer cylindrical surface I (2), a V-shaped groove (3) and an outer cylindrical surface II (4), the V-shaped groove (3) is arranged between the outer cylindrical surface I (2) and the outer cylindrical surface II (4), and the outer cylindrical surface I (2) and the outer cylindrical surface II (4) are arranged in a vertically symmetrical mode; a vertical section structure is arranged among the structural units and is a side vertical structural surface of the central rotating structural body; an inner cylindrical surface (9) is arranged in the middle of the central rotating structure body; as shown in fig. 1, the vertical cross-section structure includes a plane I (1), a plane II (5), and a plane III (9); the lower end face (6) and the upper end face (7) are the upper end face and the lower end face of the central rotating structure body.
The above-mentioned standardization piece satisfies the following design requirements:
s1: the inner cylindrical surface (9) is a positioning reference of the calibration piece, has strict requirements on the size and form and position tolerance, has the same aperture size with the measured gear (figure 5), and requires the cylindricity of the inner cylindrical surface to be 0.3 mu m to realize the accuracy of radial positioning precision.
S2: the plane I (1), the plane II (5) and the plane III (8) have the same plane structure, the independent flatness is ensured to be 1 mu m, the distances of the planes relative to the central axis have consistency (figures 2 and 5) and are related to the diameter size of a root circle of a gear to be measured; the verticality of the plane I (1), the plane II (5) and the plane III (8) relative to the lower end face (6) is 1 mu m; the parallelism between the plane I (1) and the plane III (8) is 1 mu m; the plane I (1) and the plane III (8) have the symmetry degree of 1 mu m around the central line; the mutual verticality of the plane II (5), the plane I (1) and the plane III (8) is 1 mu m.
S3: the outer cylindrical surface I (2) and the outer cylindrical surface II (4) have consistent cylindricity of 0.3 mu m; the overall dimensions are associated with the addendum circle of the gear to be measured (fig. 2, 5); the coaxiality of the positioning datum inner circular surface (9) and the calibration piece is 1 mu m.
S4: the outer circle surface is divided into an outer circle surface I (2) and an outer circle surface II (4) by the V-shaped groove (3), and the total runout of conical surfaces on two sides of the V-shaped groove is 1 micrometer; the V-shaped groove has a specific width value and is determined according to the parameters of the gear to be measured.
S5: the lower end face (6) and the upper end face (7) are auxiliary reference faces of the calibration piece and respectively and independently have the flatness of 1 mu m; the perpendicularity between the two planes and the positioning reference inner cylindrical surface (9) of the calibration piece is 1 mu m; the two planes are parallel to each other and the flatness is 1 mu m; the dimension between the two planes is correlated to the tooth width of the gear being tested (fig. 4, 5).
The invention designs a line laser sensor space pose calibration method for gear measurement based on the calibration piece, which comprises the following specific steps:
s1: and establishing a coordinate system of the calibration system.
Establishing a coordinate system of the calibration system as shown in fig. 6, including: coordinate system delta of the calibration unit c :O c -X c Y c Z c And the sensor coordinate system delta s :O s -X s Y s Z s . Wherein, delta c Is the reference number of the coordinate system of the index member, O c Is the origin of the coordinate system of the calibration piece, X c 、Y c 、Z c Three coordinate axes of a coordinate system of the calibration piece. Delta s Is the index of the sensor coordinate system, O s Is the origin of the sensor coordinate system, X s 、Y s 、Z s Three coordinate axes of the sensor coordinate system. The sensors are arranged in the circumferential direction of the calibration piece, and the origin O of a sensor coordinate system s Relative to the origin O of the coordinate system of the calibration piece c The offsets in the three coordinate axis directions of the coordinate system of the calibration piece are respectively a, b and c. Three coordinate axes X of the sensor coordinate system s 、Y s 、Z s Three coordinate axes X relative to the coordinate system of the calibration piece c 、Y c 、Z c The deflection angles of (b) are respectively α, β, γ. Therefore, a, b, c, alpha, beta and gamma form six-degree-of-freedom parameters of the sensor in the coordinate system of the calibration piece, and the sensor sensesAnd (4) calibrating the space pose of the device, namely calibrating the six-degree-of-freedom parameters.
S2: and obtaining calibration data and transforming coordinates.
According to the coordinate system and the coordinate relation established in the S1, the calibration piece is installed on a main shaft of the measuring instrument and can do rotary motion along with the given speed of the main shaft, a main shaft rotary signal of the measuring instrument serves as a trigger signal to trigger a sensor to acquire data, and point cloud information { D } of the surface of the calibration piece under the sensor coordinate system is acquired s }. According to the coordinate relation of S1, point cloud information { D ] of the calibration piece under the coordinate system of the calibration piece is obtained through a formula (1) c }。
D c ＝M·D s (1)
Wherein M is a transformation matrix between a sensor coordinate system and a calibration member coordinate system, and is related to six freedom degree parameters a, b, c, alpha, beta and gamma of the sensor space pose.
S3: and (5) extracting calibration characteristics.
Point cloud information { D) of the calibration piece obtained according to S2 c :x c ,y c ,z c Extracting the information of the calibration piece into cylindrical surface point cloud information { D }according to geometric characteristics c-Y :x c-Y ,y c-Y ,z c-Y }, plane point cloud information { D c-P :x c-P ,y c-P ,z c-P And point cloud information of V-shaped groove (D) c-V :x c-V ,y c-V ,z c-V As shown in fig. 7. Each characteristic information contains six freedom degree parameters a, b, c, alpha, beta and gamma of the sensor space pose. Wherein x is c ,y c ,z c Are three-dimensional coordinate values, x, of the point cloud information of the calibration piece in space respectively c-Y ,y c-Y ,z c-Y Three-dimensional coordinate value, x, of the point cloud information of the cylindrical surface of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of the planar point cloud information in space, each being a calibration piece c-V ,y c-V ,z c V is the three-dimensional coordinate value of the point cloud information of the V-shaped groove of the calibration piece in the space respectively.
S4: and (5) calibrating six freedom degree parameters.
And (4) according to the characteristic information of the calibration piece extracted in the step (S3), determining six freedom degree parameters of the sensor space pose one by one.
Firstly, extracting cylindrical surface point cloud information { D according to S3 c-Y :x c-Y ,y c-Y ,z c-Y And (3) determining two deflection angles alpha and beta of the sensor space pose by using a least square fitting optimization program in the formula (2).
Wherein r is 0 Is the radius of the outer cylinder of the calibration piece.
Then, the plane point cloud information { D ] extracted according to the S3 c-P :x c-P ,y c -P,z c And (4) performing optimization twice by using a least square fitting optimization program in the formula (3), and performing optimization correction on the result of the first optimization as an initial value of the second optimization to determine one angle parameter gamma and two position parameters a and b of the sensor spatial pose.
min{∑|x c-P cosθ 0 +y c-P sinθ 0 -r f |} (3)
Wherein r is f The parameter related to the gear tooth root circle of the measured gear is the plane of the calibration piece, and the parameter is the radius of the gear tooth root circle of the measured gear; theta 0 Is the initial position angle of the plane of the index.
Finally, extracting point cloud information { D of the V-shaped groove according to the S3 c-V :x c-V ,y c-V ,z c-V And (5) determining the position of the intersection line of the two conical surfaces of the V-shaped groove by a formula (4), and further determining the last position parameter c of the spatial pose of the sensor.
z c-V ＝z s +c (4)
And at this point, confirming the spatial pose relation of the line laser sensor and finishing calibration.
The invention provides a line laser sensor space pose calibration piece for three-dimensional measurement of a gear and a calibration method, which are characterized in that:
1. the marking piece has a simple integral structure, and the existing machining and manufacturing process can well meet the machining requirement of high precision of geometric characteristics.
2. The gear measurement center measurement process is combined, the calibration operation is simple and easy to implement, and the accurate calibration of the line laser sensor can be realized.
3. The calibration method is mature in fitting technology of least squares to straight lines, high in precision and capable of truly reflecting the mutual relation of actual coordinate values.
Drawings
FIG. 1 general structure diagram of the calibration piece
FIG. 2 is a top view of the calibration piece
YOZ plane section structure diagram of FIG. 3 calibration piece
FIG. 4 is a structural comparison of a calibration piece and a gear product to be tested
FIG. 5 is a comparison diagram of YOZ plane sectional structure of the calibration piece and the gear product to be measured
FIG. 6 is a schematic diagram of coordinate system establishment for the calibration system
FIG. 7 (a) Point cloud information for calibration
FIG. 7 (b) point cloud information of the external cylindrical surface of the calibration piece
FIG. 7 (c) calibration piece plane point cloud information
FIG. 7 (d) Point cloud information for V-shaped groove of calibration piece
In the figure: 1. plane I,2, outer cylinder face I,3, V type groove, 4, outer cylinder face II,5, plane II,6, lower terminal surface, 7, up end, 8, plane III,9, inner cylinder face, I, calibration piece, II, contrast gear
Detailed Description
The invention is further described below with reference to the drawings and the processing examples.
The invention relates to a line laser sensor space pose calibration piece, which comprises a central rotating structural body, wherein the upper end surface and the lower end surface of the central rotating structural body are flat structures; the side face of the central rotating structure body is provided with a plurality of specific geometric shape units, each structural unit comprises an outer cylindrical surface I (2), a V-shaped groove (3) and an outer cylindrical surface II (4), the V-shaped groove (3) is arranged between the outer cylindrical surface I (2) and the outer cylindrical surface II (4), and the outer cylindrical surface I (2) and the outer cylindrical surface II (4) are arranged in a vertically symmetrical mode; a vertical section structure is arranged among the structural units and is a side vertical structural surface of the central rotating structural body; an inner cylindrical surface (9) is arranged in the middle of the central rotating structure body; as shown in fig. 1, the vertical cross-section structure includes a plane I (1), a plane II (5), and a plane III (9); the lower end face (6) and the upper end face (7) are the upper end face and the lower end face of the central rotating structure body.
The inner cylindrical surface (9) of the calibration piece is used as a positioning reference of the calibration piece, strict requirements are imposed on the size and form and location tolerance of the calibration piece, the calibration piece and the measured gear have the same aperture size (figure 5), and the cylindricity of the inner cylindrical surface is required to be 0.3 mu m for realizing the accuracy of radial positioning precision.
The plane I (1), the plane II (5) and the plane III (8) of the calibration piece have the same plane structure, so that the independent flatness is 1 mu m, and the distances of the plane I (1), the plane II (5) and the plane III (8) relative to a central shaft have consistency (figures 2 and 5) and are related to the root circle diameter size of a gear to be measured; the verticality of the plane I (1), the plane II (5) and the plane III (8) relative to the lower end surface (6) is 1 mu m; the parallelism between the plane I (1) and the plane III (8) is 1 mu m; the plane I (1) and the plane III (8) have the symmetry degree of 1 mu m around the central line; the mutual verticality of the plane II (5), the plane I (1) and the plane III (8) is 1 mu m.
The outer cylindrical surface I (2) and the outer cylindrical surface II (4) of the calibration part have consistent cylindricity of 0.3 mu m; the overall dimensions are associated with the addendum circle of the gear to be measured (fig. 2, 5); the coaxiality of the positioning reference inner cylindrical surface (9) and the calibration piece is 1 mu m.
The invention relates to a V-shaped groove (3) of a calibration piece, which is formed on the outer cylindrical surface of the calibration piece in a machining mode, the outer cylindrical surface is divided into an outer cylindrical surface I (2) and an outer cylindrical surface II (4), and the total run-out of conical surfaces on two sides of the V-shaped groove is 1 micrometer; the V-shaped groove has a specific width value and is determined according to gear parameters.
The lower end surface (6) and the upper end surface (7) of the calibration piece are auxiliary reference surfaces of the calibration piece and have flatness of 1 mu m independently; the perpendicularity between the two planes and the positioning reference inner circular surface (9) of the calibration piece is 1 mu m; the two planes are parallel to each other and have a flatness of 1 μm; the dimension between the two planes correlates to the tooth width of the gear under test (fig. 4, 5).
The above is a specific embodiment of the inventive targeting element.
The invention also relates to a specific calibration method for the calibration member, which comprises the following specific steps:
s1, establishing a position model of a line laser sensor and a marking piece:
establishing a coordinate system of the calibration system as shown in fig. 6, including: coordinate system delta of the calibration piece c :O c -X c Y c Z c And the sensor coordinate system delta s :O s -X s Y s Z s . Wherein, delta c Is a reference number of the coordinate system of the calibration member, O c Is the origin of the coordinate system of the calibration piece, X c 、Y c 、Z c Three coordinate axes of a coordinate system of the calibration piece. Delta s Is a reference number of the sensor coordinate system, O s Is the origin of the sensor coordinate system, X s 、Y s 、Z s Three coordinate axes of the sensor coordinate system. The sensors are arranged in the circumferential direction of the calibration piece, and the origin O of a sensor coordinate system s Relative to the origin O of the coordinate system of the calibration piece c The offsets in the direction of the three coordinate axes of the coordinate system of the calibration piece are a, b and c respectively. Three coordinate axes X of the sensor coordinate system s 、Y s 、Z s Three coordinate axes X relative to the coordinate system of the calibration piece c 、Y c 、Z c The deflection angles of (a) are alpha, beta, gamma, respectively. Therefore, a, b, c, alpha, beta and gamma form six-degree-of-freedom parameters of the sensor in a coordinate system of the calibration piece, and the spatial pose of the sensor is calibrated, namely the six-degree-of-freedom parameters are calibrated.
S2: and obtaining calibration data and transforming coordinates.
According to the coordinate system and the coordinate relation established in the S1, the calibration piece is installed on the main shaft of the measuring instrument and can do rotary motion along with the given speed of the main shaft, the rotary signal of the main shaft of the measuring instrument serves as a trigger signal to trigger the sensor to acquire data, and point cloud information { D (dimension) of the surface of the calibration piece under the sensor coordinate system is obtained s }. Obtaining the position of the calibration piece in the calibration piece according to the coordinate relation of S1 and the formula (1)Point cloud information { D) under coordinate system c }。
D c ＝M·D s (1)
Wherein M is a transformation matrix between a sensor coordinate system and a calibration member coordinate system, and is related to six freedom degree parameters a, b, c, alpha, beta and gamma of the sensor space pose.
S3: and (5) extracting calibration characteristics.
Point cloud information { D) of the calibration piece obtained according to S2 c :x c ,y c ,z c Extracting the information of the calibration piece into cylindrical surface point cloud information { D }according to geometric characteristics c-Y :x c-Y ,y c-Y ,z c-Y And plane point cloud information { D c-P :x c-P ,y c-P ,z c-P And point cloud information of V-shaped groove (D) c-V :x c-V ,y c-V ,z c-V As shown in fig. 7. Each characteristic information contains six freedom degree parameters a, b, c, alpha, beta and gamma of the sensor space pose. Wherein x is c ,y c ,z c Three-dimensional coordinate values, x, of the point cloud information of the calibration piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate value, x, of the point cloud information of the cylindrical surface of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of the planar point cloud information in space, each being a calibration piece c-V ,y c-V ,z c-V The point cloud information of the V-shaped groove of the calibration piece is a three-dimensional coordinate value in space.
S4: and (5) calibrating six freedom degree parameters.
And (4) according to the characteristic information of the calibration piece extracted in the step (S3), determining six freedom degree parameters of the sensor space pose one by one.
First, the point cloud information { D) of the cylindrical surface extracted according to S3 c-Y :x c-Y ,y c-Y ,z c-Y And (3) determining two deflection angles alpha and beta of the sensor space pose by using a least square fitting optimization program according to the formula (2).
Wherein r is 0 Is the radius of the outer cylinder of the calibration piece.
Then, the plane point cloud information { D ] extracted according to the S3 c-P :x c-P ,y c-P ,z c-P And (4) performing optimization twice by using a least square fitting optimization program in a formula (3), and performing optimization correction by using the result of the first optimization as an initial value of the second optimization, so that one angle parameter gamma and two position parameters a and b of the sensor space pose can be uniquely determined.
min{∑|x c-P cosθ 0 +y c-P sinθ 0 -r f |} (3)
Wherein r is f The parameter related to the gear tooth root circle of the measured gear is the plane of the calibration piece, and the parameter is the radius of the gear tooth root circle of the measured gear; theta 0 Is the initial position angle of the index plane.
And finally, extracting point cloud information { D) of the V-shaped groove according to the S3 c-V :x c-V ,y c-V ,z c-V And (5) determining the position of the intersection line of the two conical surfaces of the V-shaped groove by a formula (4), and further uniquely determining the last position parameter c of the space pose of the sensor.
z c-V ＝z s +c (4)
And at this point, confirming the spatial pose relation of the line laser sensor and finishing calibration.
The invention provides a line laser sensor space pose calibration piece for three-dimensional measurement of a gear and a calibration method. The overall structure of the calibration piece is simple, and the existing machining and manufacturing process can well meet the machining requirement of high-precision geometric characteristics; the measurement process of the gear measurement center is combined, the calibration operation is simple and easy to implement, and the accurate calibration of the line laser sensor can be realized; the calibration method is mature in fitting technology of least squares to straight lines, high in precision and capable of truly reflecting the mutual relation of actual coordinate values.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a planar line laser sensor position appearance is marked and is marked ware which characterized in that: the device comprises a central rotating structure body, wherein the upper end surface and the lower end surface of the central rotating structure body are flat structures; the side face of the central rotating structure body is provided with a plurality of specific geometric shape units, each structural unit comprises an outer cylindrical surface I (2), a V-shaped groove (3) and an outer cylindrical surface II (4), the V-shaped groove (3) is arranged between the outer cylindrical surface I (2) and the outer cylindrical surface II (4), and the outer cylindrical surface I (2) and the outer cylindrical surface II (4) are arranged in a vertically symmetrical mode; a vertical section structure is arranged among the structural units, and the vertical section structure is a side vertical structural surface of the central rotating structural body; an inner cylindrical surface (9) is arranged in the middle of the central rotating structure body; the vertical section structure comprises a plane I (1), a plane II (5) and a plane III (9); the lower end face (6) and the upper end face (7) are the upper end face and the lower end face of the central rotating structure body.
2. The planar line laser sensor pose marking machine of claim 1, wherein: the inner cylindrical surface is a positioning reference of the calibration piece, has the same aperture size with the measured gear, and requires the cylindricity of the inner cylindrical surface to be 0.3 mu m to realize the accuracy of radial positioning precision.
3. The planar line laser sensor pose marking machine of claim 1, wherein: the planes I, II and III of the calibration piece have the same plane structure, so that the independent flatness is ensured to be 1 mu m, and the distances of the planes I, II and III relative to the central axis are consistent and related to the diameter of the root circle of the gear to be measured; the verticality of the plane I, the plane II and the plane III relative to the lower end surface is 1 mu m; the parallelism between the plane I and the plane III is 1 mu m; the symmetry degree of the plane I and the plane III about the central line is 1 mu m; the mutual verticality of the plane II, the plane I and the plane III is 1 mu m.
4. The planar line laser sensor pose marking machine of claim 1, wherein: the external cylindrical surface I and the external cylindrical surface II of the calibration piece have consistent cylindricity of 0.3 mu m; the overall size is related to the top circle of the gear to be measured; the coaxiality of the positioning reference inner circular surface of the calibration piece is 1 mu m.
5. The planar line laser sensor pose marking machine according to claim 1, wherein: the outer circle surface is divided into an outer circle surface I and an outer circle surface II by a V-shaped groove of the calibration piece, and the total run-out of conical surfaces at two sides of the V-shaped groove is 1 micrometer; and the width value of the V-shaped groove is determined according to the parameters of the gear to be measured.
6. The planar line laser sensor pose marking machine according to claim 1, wherein: the lower end face and the upper end face are auxiliary reference faces of the calibration piece and respectively and independently have flatness of 1 mu m; the perpendicularity between the two planes and the positioning reference inner cylindrical surface of the calibration piece is 1 mu m; the two planes are parallel to each other and the flatness is 1 mu m; the dimension between the two planes is correlated to the tooth width of the gear being tested.
7. A method for calibrating the space pose of a line laser sensor for gear measurement comprises the following steps:
establishing a coordinate system of a calibration system;
obtaining calibration data and transforming coordinates;
extracting calibration characteristics;
calibrating parameters of six degrees of freedom;
confirming the spatial pose relation of the line laser sensor, and finishing calibration;
s1: establishing a coordinate system of a calibration system;
establishing a coordinate system of a calibration system, comprising: coordinate system delta of the calibration piece c :O c -X c Y c Z c And the sensor coordinate system delta s :O s -X s Y s Z s (ii) a It is composed ofMiddle, delta c Is the reference number of the coordinate system of the index member, O c Is the origin of the coordinate system of the calibration piece, X c 、Y c 、Z c Three coordinate axes of a coordinate system of the calibration piece; delta. For the preparation of a coating s Is the index of the sensor coordinate system, O s Is the origin of the sensor coordinate system, X s 、Y s 、Z s Three coordinate axes of a sensor coordinate system; the sensors are arranged in the circumferential direction of the calibration member, and the origin of the sensor coordinate system Os is relative to the origin of the calibration member coordinate system O c The offsets in the directions of three coordinate axes of the coordinate system of the calibration piece are a, b and c respectively; three coordinate axes X of the sensor coordinate system s 、Y s 、Z s Three coordinate axes X relative to the coordinate system of the calibration piece c 、Y c 、Z c The deflection angles of (a) are respectively alpha, beta and gamma; therefore, the a, the b, the c, the alpha, the beta and the gamma form six freedom degree parameters of the sensor under a coordinate system of the calibration piece, and the space pose of the sensor is calibrated, namely the six freedom degree parameters are calibrated; wherein x is c ,y x ,z c Three-dimensional coordinate values, x, of the point cloud information of the calibration piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate value, x, of the point cloud information of the cylindrical surface of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of the planar point cloud information in space, each being a calibration piece c-V ,y c-V ,z c-V Respectively is a three-dimensional coordinate value of point cloud information of the V-shaped groove of the calibration piece in space;
s2: obtaining calibration data and transforming coordinates;
according to the coordinate system and the coordinate relation established in the S1, the calibration piece is installed on a main shaft of the measuring instrument and can do rotary motion along with the given speed of the main shaft, a main shaft rotary signal of the measuring instrument serves as a trigger signal to trigger a sensor to acquire data, and point cloud information { D } of the surface of the calibration piece under the sensor coordinate system is acquired s }; according to the coordinate relation of S1, point cloud information { D ] of the calibration piece under the coordinate system of the calibration piece is obtained through a formula (1) c }；
D c ＝M·D s (1)
Wherein M is a transformation matrix between a sensor coordinate system and a calibration member coordinate system, and is related to six freedom degree parameters a, b, c, alpha, beta and gamma of the sensor space pose
S3: extracting calibration characteristics;
point cloud information { D) of the calibration piece obtained according to S2 c :x c ,y c ,z c Extracting the information of the calibration piece into cylindrical surface point cloud information { D }according to geometric characteristics c-Y :x c-Y ,y c-Y ,z c-Y And plane point cloud information { D c-P :x c-P ,y c-P ,z c-P And point cloud information of V-shaped groove (D) c-V :x c-V ,y c-V ,z c-V H, }; each characteristic information comprises six freedom degree parameters a, b, c, alpha, beta and gamma of the sensor space pose; wherein x is c ,y c ,z c Three-dimensional coordinate values, x, of the point cloud information of the calibration piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate value, x, of the point cloud information of the cylindrical surface of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of the planar point cloud information in space, each being a calibration piece c-V ,y c-V ,z c-V Respectively is a three-dimensional coordinate value of point cloud information of the V-shaped groove of the calibration piece in space;
s4: calibration of six-degree-of-freedom parameters:
according to the characteristic information of the calibration piece extracted in the S3, six freedom degree parameters of the sensor space pose are determined one by one;
firstly, extracting cylindrical surface point cloud information { D according to S3 c-Y :x c-Y ,y c-Y ,z c-Y Determining two deflection angles alpha and beta of a sensor space pose by using a least square fitting optimization program according to a formula (2);
wherein r is 0 The radius of the external cylinder of the calibration piece;
then, the plane point cloud information { D ] extracted according to the S3 c-P :x c-P ,y c-P ,z c-P Performing optimization twice by using a least square fitting optimization program in a formula (3), performing optimization correction by using the result of the first optimization as an initial value of the second optimization, and determining an angle parameter gamma and two position parameters a and b of the spatial pose of the sensor;
min{∑|x c-P cosθ 0 +y c-P sinθ 0 -r f |} (3)
wherein r is f The parameter related to the gear tooth root circle of the measured gear is the plane of the calibration piece, and the parameter is the radius of the gear tooth root circle of the measured gear; theta 0 Is the initial position angle of the plane of the index piece;
finally, extracting point cloud information { D of the V-shaped groove according to the S3 c-V :x c-V ,y c-V ,z c-V Determining the position of the intersection line of two conical surfaces of the V-shaped groove by a formula (4), and further determining the last position parameter c of the space pose of the sensor;
z c-V ＝z s +c (4)
and at this point, confirming the spatial pose relation of the line laser sensor and finishing calibration.
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