CN115307571B - Planar linear laser sensor pose calibration part and calibration method - Google Patents
Planar linear laser sensor pose calibration part and calibration method Download PDFInfo
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- CN115307571B CN115307571B CN202210745580.1A CN202210745580A CN115307571B CN 115307571 B CN115307571 B CN 115307571B CN 202210745580 A CN202210745580 A CN 202210745580A CN 115307571 B CN115307571 B CN 115307571B
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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
- 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
Abstract
The invention discloses a planar linear laser sensor pose calibration piece and a calibration method, wherein a non-contact three-dimensional gear measurement system is established based on the existing gear measurement center, and the design of the linear structure optical sensor pose calibration piece and the confirmation of the calibration method are realized. The pose calibration part of the geometric feature is a columnar central rotary structure 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 face, an upper end face, a plane III and an inner cylindrical surface. Each geometric feature has a shape error requirement with certain precision, and each geometric feature has a position error requirement with certain precision, so that the precision processing requirement of the geometric feature is met. The method is combined with a gear measuring center measuring process, the calibration operation is simple and feasible, and the accurate calibration of the line laser sensor can be realized. The calibration method has the advantages that the fitting technology of least squares to straight lines is mature, the precision is high, and the correlation of actual coordinate values can be truly reflected.
Description
Technical Field
The invention relates to a linear laser sensor pose calibration part and a calibration method thereof, in particular to a linear laser sensor space pose calibration part for three-dimensional gear measurement and a calibration method thereof, and belongs to the technical field of precise measurement.
Background
The traditional gear measurement mostly adopts a contact type measurement mode, and has the following defects: 1. the measurement efficiency is low, and the acquisition of the needed tooth surface information of the 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 surfaces of part of the gear teeth, the whole information of the tooth surfaces 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 measurement method, the non-contact gear laser measurement method has the obvious advantages that the measurement efficiency is greatly improved, and the tooth surface full information of all gear teeth can be obtained rapidly.
The line laser measurement is used as a typical non-contact measurement technology, is widely applied to the field of product morphology and size measurement, and has the characteristics of rapidness, high precision, high efficiency, convenience in operation, no loss and the like. The advantages of the linear laser sensor are convenient for industrial application, the technical requirements on operators are reduced due to high packaging, and the precise measurement of the measured object is more simply and conveniently realized.
The line laser measurement is a comparison type measurement technology, and before the accurate measurement of the object surface information, the accurate calibration of the spatial pose relationship between the line laser sensor and the measured object is particularly important, and is also an important precondition for realizing the accurate three-dimensional information reconstruction. For rotary structures of the gear type, the calibration of the line laser sensor is generally carried out by means of a standard spindle of simple construction or a specially manufactured calibration piece with complex geometric features. According to the calibration method based on the standard mandrel with a simple structure, fitting operation is needed to be carried out by accumulating a plurality of small sample data, and the sensor is needed to be subjected to pose adjustment for a plurality of times in the calibration process, so that a multi-source error is 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, a linear laser sensor pose calibration piece for gear measurement and a calibration method thereof are provided.
Disclosure of Invention
The invention aims to provide a linear laser sensor pose calibration piece and a linear laser sensor pose calibration method for gear measurement aiming at the problem of pose calibration of the linear laser sensor in the existing gear measurement process.
The invention relates to a pose calibration piece of a line laser sensor, which comprises a central rotating structure body, wherein the upper end face and the lower end face of the central rotating structure body are of a flat structure; the side face of the central rotating structure body is provided with a plurality of units with specific geometric shapes, 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 symmetrically up and down; a vertical section structure is arranged between each structural unit, 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 rotary structure body; as shown in fig. 1, 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 and lower end faces of the central rotating structure.
The calibration piece meets the following design requirements:
s1: the inner cylindrical surface (9) is used as a positioning reference of the calibration piece, has strict requirements on the size and form tolerance, has the same aperture size as the measured gear (figure 5), and has the cylindricity of 0.3 mu m for realizing the accuracy of radial positioning precision.
S2: plane I (1), plane II (5) and plane III (8) have the same plane structure, ensure independent flatness of 1 μm, have consistency of distance relative to a central shaft (figures 2 and 5) and are related to the diameter size of the root circle of the gear to be measured; the perpendicularity of the plane I (1), the plane II (5) and the plane III (8) to the lower end surface (6) is 1 mu m; the parallelism of the plane I (1) and the plane III (8) is 1 mu m; the symmetry of the plane I (1) and the plane III (8) is 1 mu m about the central line; the perpendicularity of the plane II (5), the plane I (1) and the plane III (8) is 1 μm.
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 reference inner circular surface (9) of the calibration piece is 1 mu m.
S4: the outer circular surface is divided into an outer circular surface I (2) and an outer circular surface II (4) by the V-shaped groove (3), and the full runout of conical surfaces at two sides of the V-shaped groove is 1 mu m; 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 each of the auxiliary reference faces is independently provided with flatness of 1 mu m; the perpendicularity of 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 have a flatness of 1 μm; the dimension between the two planes correlates with the tooth width of the gear under test (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 (5) establishing a coordinate system of the calibration system.
Establishing a calibration system coordinate system as shown in fig. 6, including: calibration part coordinate system delta c :O c -X c Y c Z c And a sensor coordinate system delta s :O s -X s Y s Z s . Wherein delta c For marking the coordinate system of the piece, O c X is the origin of the coordinate system of the calibration piece c 、Y c 、Z c Is three coordinate axes of the coordinate system of the calibration piece. Delta s Is the label of the sensor coordinate system, O s X is the origin of the sensor coordinate system s 、Y s 、Z s Is three coordinate axes of a sensor coordinate system. The sensor is arranged at the circumference of the calibration piece, and the origin O of the coordinate system of the sensor s Origin O of coordinate system relative to calibration piece c The offsets in the three coordinate axis directions of the coordinate system of the calibration piece are a, b and c respectively. Three coordinate axes X of 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 and gamma respectively. Thus, a, b, c, α, β, γ constitute six degree of freedom parameters of the sensor in the coordinate system of the calibration piece, and the spatial pose of the sensor is calibrated, i.e. the six degree of freedom parameters are calibrated.
S2: and (5) obtaining calibration data and transforming coordinates.
According to the coordinate system and the coordinate relation established in the S1, a calibration piece is arranged on a main shaft of a measuring instrument, the calibration piece can do rotary motion along with the given speed of the main shaft, a main shaft rotary signal of the measuring instrument is used as a trigger signal to trigger a sensor to conduct data acquisition, and point cloud information { D (D) of the surface of the calibration piece under the coordinate system of the sensor is obtained s }. According to the coordinate relation of S1, obtaining the point cloud information { D ] of the calibration piece under the coordinate system of the calibration piece by the formula (1) c }。
D c ＝M·D s (1)
Wherein M is a transformation matrix between the sensor coordinate system and the calibration piece coordinate system, and is related to six degrees of freedom parameters a, b, c, alpha, beta and gamma of the sensor space pose.
S3: and (5) extracting calibration characteristics.
According to the point cloud information of the calibration piece acquired in the step S2{D c :x c ,y c ,z c The calibration piece information can be extracted into cylindrical point cloud information { D } according to geometric features c-Y :x c-Y ,y c-Y ,z c-Y Planar point cloud information { D } c-P :x c-P ,y c-P ,z c-P Sum V-groove point cloud information { D } c-V :x c-V ,y c-V ,z c-V And as shown in fig. 7. Each piece of characteristic information comprises six degrees of freedom parameters a, b, c, alpha, beta and gamma of the sensor space pose. Wherein x is c ,y c ,z c Respectively calibrating three-dimensional coordinate values, x of the point cloud information of the piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate values, x, of cylindrical surface point cloud information of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of plane point cloud information of the calibration piece in space c-V ,y c-V ,z c V is the three-dimensional coordinate value of the V-shaped groove point cloud information of the calibration piece in space.
S4: calibration of six-degree-of-freedom parameters.
And (3) determining six degrees of freedom parameters of the sensor space pose one by one according to the characteristic information of the calibration piece extracted in the step (S3).
First, according to the cylindrical point cloud information { D ] extracted in S3 c-Y :x c-Y ,y c-Y ,z c-Y Using a least squares fit optimization procedure from equation (2), two deflection angles α, β of the sensor spatial pose are determined.
Wherein r is 0 Is the radius of the outer cylinder of the calibration piece.
Then, according to the plane point cloud information { D ] extracted in S3 c-P :x c-P ,y c -P,z c -P }, optimizing twice by equation (3) using a least squares fit optimization procedure, optimizing and correcting the result of the first optimization as the initial value of the second optimization to determine the sensor space bitAn angle parameter gamma and two position parameters a, b of the pose.
min{∑|x c-P cosθ 0 +y c-P sinθ 0 -r f |} (3)
Wherein r is f The parameter related to the measured gear tooth root circle is the calibration piece plane and is the radius of the measured gear tooth root circle; θ 0 Is the initial position angle of the calibration piece plane.
Finally, according to the V-shaped groove point cloud information { D ] extracted in the step S3 c-V :x c-V ,y c-V ,z c-V And (3) determining the intersection line position of the two conical surfaces of the V-shaped groove according to the formula (4), and further determining the last position parameter c of the sensor space pose.
z c-V ＝z s +c (4)
And confirming the space pose relation of the line laser sensor so as to finish calibration.
The invention provides a linear laser sensor space pose calibration piece and a calibration method for three-dimensional measurement of gears, which are characterized by comprising the following steps:
1. the calibration piece is simple in integral structure, and the existing machining and manufacturing process can well meet the machining requirement of geometric features on high precision.
2. The gear measuring center measuring process is combined, the calibration operation is simple and feasible, and the accurate calibration of the line laser sensor can be realized.
3. The calibration method has the advantages that the fitting technology of least squares to straight lines is mature, the precision is high, and the correlation of actual coordinate values can be truly reflected.
Drawings
Integral structure diagram of the calibration piece of FIG. 1
Top view block diagram of the calibration piece of fig. 2
YOZ plane cross-sectional structure diagram of the calibration part of FIG. 3
FIG. 4 is a diagram showing the comparison of the structures of the calibration member and the gear product to be measured
FIG. 5 is a diagram showing a comparison of YOZ plane cross-sectional structures of a calibration member and a gear product to be tested
FIG. 6 is a schematic diagram of a coordinate system setup of the calibration system
FIG. 7 (a) calibration part point cloud information
FIG. 7 (b) calibration piece external cylindrical surface point cloud information
FIG. 7 (c) calibration part plane point cloud information
FIG. 7 (d) calibration piece V-groove point cloud information
In the figure: 1. plane I,2, outer cylindrical surface I,3, V-shaped groove, 4, outer cylindrical surface II,5, plane II,6, lower end surface, 7, upper end surface, 8, plane III,9, inner cylindrical surface, I, calibration piece, II, and contrast gear
Detailed Description
The invention is further described below with reference to the accompanying drawings and working examples.
The invention relates to a space pose calibration piece of a line laser sensor, which comprises a central rotating structure body, wherein the upper end face and the lower end face of the central rotating structure body are of a flat structure; the side face of the central rotating structure body is provided with a plurality of units with specific geometric shapes, 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 symmetrically up and down; a vertical section structure is arranged between each structural unit, 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 rotary structure body; as shown in fig. 1, 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 and lower end faces of the central rotating structure.
The inner cylindrical surface (9) of the calibration piece is used as a positioning reference of the calibration piece, the size and the form and position tolerance of the calibration piece are strictly required, the calibration piece and the gear to be measured 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, ensure that the independent flatness is 1 mu m, have the consistency of the distance between the plane I (1), the plane II (5) and the plane III (8) relative to the central shaft (figures 2 and 5) and are related to the diameter size of the root circle of the gear to be measured; the perpendicularity of the plane I (1), the plane II (5) and the plane III (8) to the lower end surface (6) is 1 mu m; the parallelism of the plane I (1) and the plane III (8) is 1 mu m; the symmetry of the plane I (1) and the plane III (8) is 1 mu m about the central line; the perpendicularity of the plane II (5), the plane I (1) and the plane III (8) is 1 μm.
The outer cylindrical surface I (2) and the outer cylindrical surface II (4) of the calibration piece 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) of the calibration piece is 1 mu m.
The V-shaped groove (3) of the calibration part is formed by machining an outer cylindrical surface of the calibration part, the outer cylindrical surface is divided into an outer cylindrical surface I (2) and an outer cylindrical surface II (4), and the total runout of conical surfaces at two sides of the V-shaped groove is 1 mu m; the V-groove has a specific width value, which is determined according to the gear parameters.
The lower end face (6) and the upper end face (7) of the calibration piece are auxiliary reference faces of the calibration piece, and the flatness of the auxiliary reference faces is 1 mu m respectively and 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 with the tooth width of the gear under test (fig. 4, 5).
The above is a specific embodiment of the calibration member of the present invention.
The invention also relates to a specific calibration method for the calibration piece, which comprises the following specific steps:
s1, establishing a position model of a line laser sensor and a calibration piece:
establishing a calibration system coordinate system as shown in fig. 6, including: calibration part coordinate system delta c :O c -X c Y c Z c And a sensor coordinate system delta s :O s -X s Y s Z s . Wherein delta c For marking the coordinate system of the piece, O c X is the origin of the coordinate system of the calibration piece c 、Y c 、Z c Is three coordinate axes of the coordinate system of the calibration piece. Delta s Is the label of the sensor coordinate system, O s X is the origin of the sensor coordinate system s 、Y s 、Z s Is three coordinate axes of a sensor coordinate system. The sensor being arranged on the targetCircumferential direction of fixed piece, origin O of sensor coordinate system s Origin O of coordinate system relative to calibration piece c The offsets in the three coordinate axis directions of the coordinate system of the calibration piece are a, b and c respectively. Three coordinate axes X of 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 and gamma respectively. Thus, a, b, c, α, β, γ constitute six degree of freedom parameters of the sensor in the coordinate system of the calibration piece, and the spatial pose of the sensor is calibrated, i.e. the six degree of freedom parameters are calibrated.
S2: and (5) obtaining calibration data and transforming coordinates.
According to the coordinate system and the coordinate relation established in the S1, a calibration piece is arranged on a main shaft of the measuring instrument, the calibration piece can perform rotary motion along with the given speed of the main shaft, a rotary signal of the main shaft of the measuring instrument is used as a trigger signal to trigger a sensor to perform data acquisition, and point cloud information { D (D) of the surface of the calibration piece under the coordinate system of the sensor is obtained s }. According to the coordinate relation of S1, obtaining the point cloud information { D ] of the calibration piece under the coordinate system of the calibration piece by the formula (1) c }。
D c ＝M·D s (1)
Wherein M is a transformation matrix between the sensor coordinate system and the calibration piece coordinate system, and is related to six degrees of freedom parameters a, b, c, alpha, beta and gamma of the sensor space pose.
S3: and (5) extracting calibration characteristics.
According to the point cloud information { D of the calibration piece obtained in S2 c :x c ,y c ,z c The calibration piece information can be extracted into cylindrical point cloud information { D } according to geometric features c-Y :x c-Y ,y c-Y ,z c-Y Planar point cloud information { D } c-P :x c-P ,y c-P ,z c-P Sum V-groove point cloud information { D } c-V :x c-V ,y c-V ,z c-V And as shown in fig. 7. Each piece of characteristic information comprises six degrees of freedom parameters a, b, c, alpha, beta and gamma of the sensor space pose. Wherein x is c ,y c ,z c Respectively calibrating three-dimensional coordinate values, x of the point cloud information of the piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate values, x, of cylindrical surface point cloud information of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of plane point cloud information of the calibration piece in space c-V ,y c-V ,z c-V And the three-dimensional coordinate values of the V-shaped groove point cloud information of the calibration piece in space are respectively obtained.
S4: calibration of six-degree-of-freedom parameters.
And (3) determining six degrees of freedom parameters of the sensor space pose one by one according to the characteristic information of the calibration piece extracted in the step (S3).
First, according to the cylindrical point cloud information { D ] extracted in S3 c-Y :x c-Y ,y c-Y ,z c-Y Using a least squares fit optimization procedure from equation (2), two deflection angles α, β for the sensor spatial pose can be determined.
Wherein r is 0 Is the radius of the outer cylinder of the calibration piece.
Then, according to the plane point cloud information { D ] extracted in S3 c-P :x c-P ,y c-P ,z c-P And (3) performing optimization twice by using a least square fitting optimization program according to the formula (3), and performing optimization correction by taking 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 measured gear tooth root circle is the calibration piece plane and is the radius of the measured gear tooth root circle; θ 0 Is the initial position angle of the calibration piece plane.
Finally, according to the V-shaped groove point cloud information { D ] extracted in the step S3 c-V :x c-V ,y c-V ,z c-V And (3) determining the intersection line position of the two conical surfaces of the V-shaped groove according to the formula (4), and further uniquely determining the last position parameter c of the sensor space pose.
z c-V ＝z s +c (4)
And confirming the space pose relation of the line laser sensor so as to finish calibration.
The invention provides a linear laser sensor space pose calibration piece and a calibration method for three-dimensional measurement of gears. The whole structure of the calibration piece is simple, and the existing processing and manufacturing process can well meet the processing requirements of high-precision geometric characteristics; the gear measurement center measurement process is combined, the calibration operation is simple and feasible, and the accurate calibration of the line laser sensor can be realized; the calibration method has the advantages that the fitting technology of least squares to straight lines is mature, the precision is high, and the correlation of actual coordinate values can be truly reflected.
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 (6)
1. The planar linear laser sensor pose calibration piece for realizing the calibration method comprises a central rotating structure body, wherein the upper end face and the lower end face of the central rotating structure body are of a flat structure; the side face of the central rotating structure body is provided with a plurality of structural units with specific geometric shapes, 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 symmetrically up and down; a vertical section structure is arranged between each structural unit, 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 rotary 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;
the calibration method is characterized by comprising the following specific steps:
establishing a coordinate system of a calibration system;
obtaining calibration data and transforming coordinates;
extracting calibration characteristics;
calibrating six degrees of freedom parameters;
confirming the space pose relation of the line laser sensor, and finishing calibration;
s1: establishing a coordinate system of a calibration system;
establishing a calibration system coordinate system, comprising: calibration part coordinate system delta c :O c -X c Y c Z c And a sensor coordinate system delta s :O s -X s Y s Z s The method comprises the steps of carrying out a first treatment on the surface of the Wherein delta c For marking the coordinate system of the piece, O c X is the origin of the coordinate system of the calibration piece c 、Y c 、Z c Three coordinate axes of a coordinate system of the calibration piece; delta s Is the label of the sensor coordinate system, O s X is the origin of the sensor coordinate system s 、Y s 、Z s Three coordinate axes of a sensor coordinate system; the sensor is arranged in the circumferential direction of the calibration piece, and the origin Os of the coordinate system of the sensor is relative to the origin O of the coordinate system of the calibration piece c The offset in the three coordinate axis directions of the coordinate system of the calibration piece is a, b and c respectively; three coordinate axes X of 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 the (a) are alpha, beta and 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; wherein x is c ,y x ,z c Respectively calibrating three-dimensional coordinate values, x of the point cloud information of the piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate values, x, of cylindrical surface point cloud information of the calibration piece in space c-P ,y c-P ,z c-P Three-dimensional coordinate values, x, of plane point cloud information of the calibration piece in space c-V ,y c-V ,z c-V Respectively the three-dimensional coordinate values of the V-shaped groove point cloud information 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, a calibration piece is arranged on a main shaft of a measuring instrument, the calibration piece can do rotary motion along with the given speed of the main shaft, a main shaft rotary signal of the measuring instrument is used as a trigger signal to trigger a sensor to conduct data acquisition, and point cloud information { D (D) of the surface of the calibration piece under the coordinate system of the sensor is obtained s -a }; according to the coordinate relation of S1, obtaining the point cloud information { D ] of the calibration piece under the coordinate system of the calibration piece by the formula (1) c }；
D c ＝M·D s (1)
M is a transformation matrix between a sensor coordinate system and a calibration piece coordinate system, and is related to six degrees of freedom parameters a, b, c, alpha, beta and gamma of the sensor space pose;
s3: extracting calibration characteristics;
according to the point cloud information { D of the calibration piece obtained in S2 c :x c ,y c ,z c Extracting the calibration piece information as cylindrical point cloud information { D } according to the geometric features c-Y :x c-Y ,y c-Y ,z c-Y Planar point cloud information { D } c-P :x c-P ,y c-P ,z c-P Sum V-groove point cloud information { D } c-V :x c-V ,y c-V ,z c-V -a }; each piece of calibration piece information comprises six degrees of freedom parameters a, b, c, alpha, beta and gamma of the sensor space pose; wherein x is c ,y c ,z c Respectively calibrating three-dimensional coordinate values, x of the point cloud information of the piece in space c-Y ,y c-Y ,z c-Y Three-dimensional coordinate values, x, of cylindrical surface point cloud information of the calibration piece in space c-P ,y c-P ,z c-P Respectively is calibrated toThree-dimensional coordinate value, x, of plane point cloud information of piece in space c-V ,y c-V ,z c-V Respectively the three-dimensional coordinate values of the V-shaped groove point cloud information of the calibration piece in space;
s4: calibrating six degrees of freedom parameters:
determining six degrees of freedom parameters of the sensor space pose one by one according to the characteristic information of the calibration piece extracted in the step S3; first, according to the cylindrical point cloud information { D ] extracted in S3 c-Y :x c-Y ,y c-Y ,z c-Y Using a least squares fitting optimization procedure from equation (2), determining two deflection angles α, β of the sensor spatial pose;
wherein r is 0 The radius of the outer cylinder of the calibration piece is the radius;
then, according to the plane point cloud information { D ] extracted in S3 c-P :x c-P ,y c-P ,z c-P Performing optimization twice by using a least square fitting optimization program according to a formula (3), performing optimization correction by taking 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 sensor space pose;
min{∑|x c-P cosθ 0 +y c-P sinθ 0 -r f |}(3)
wherein r is f The parameter related to the measured gear tooth root circle is the calibration piece plane and is the radius of the measured gear tooth root circle; θ 0 An initial position angle of a plane of the calibration piece;
finally, according to the V-shaped groove point cloud information { D ] extracted in the step S3 c-V :x c-V ,y c-V ,z c-V Determining the intersection line position of two conical surfaces of the V-shaped groove according to the formula (4), and further determining the last position parameter c of the sensor space pose;
z c-V ＝z s +c (4)
and confirming the space pose relation of the line laser sensor so as to finish calibration.
2. The line laser sensor space position calibration method for gear measurement according to claim 1, wherein: the inner cylindrical surface is a positioning reference of the calibration piece, has the same aperture size as the gear to be measured, and the cylindricity of the inner cylindrical surface is required to be 0.3 mu m for realizing the accuracy of radial positioning precision.
3. The line laser sensor space position calibration method for gear measurement according to claim 1, wherein: the plane I, the plane II and the plane III of the calibration piece have the same plane structure, ensure that the independent flatness is 1 mu m, have the consistency of the distance relative to the central shaft and are related to the diameter size of the root circle of the gear to be measured; the perpendicularity of the lower end face of each of the plane I, the plane II and the plane III is 1 mu m; the parallelism of the plane I and the plane III is 1 mu m; the symmetry of the plane I and the plane III about the central line is 1 mu m; the mutual perpendicularity of the plane II, the plane I and the plane III is 1 μm.
4. The line laser sensor space position calibration method for gear measurement according to claim 1, wherein: the outer cylindrical surface I and the outer cylindrical surface II of the calibration piece have consistent cylindricity of 0.3 mu m; the overall sizes of the outer cylindrical surface I and the outer cylindrical surface II of the calibration piece are related to the tooth top circle of the gear to be measured; the coaxiality of the outer cylindrical surface I and the outer cylindrical surface II of the calibration piece and the positioning reference inner circular surface of the calibration piece is 1 mu m.
5. The line laser sensor space position calibration method for gear measurement according to claim 1, wherein: the outer circular surface of the calibration piece is divided into an outer circular surface I and an outer circular surface II by the V-shaped groove, and the total runout of conical surfaces at two sides of the V-shaped groove is 1 mu m; the width value of the V-shaped groove is determined according to the parameters of the gear to be measured.
6. The line laser sensor space position calibration method for gear measurement according to claim 1, wherein: the lower end face and the upper end face are auxiliary reference faces of the calibration piece and are respectively and independently provided with a 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 have a flatness of 1 μm; the dimension between the two planes correlates with the tooth width of the gear under test.
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