CN116136394B - Laser measuring head device integrating dotted line and double modes and structural curved surface measuring method - Google Patents
Laser measuring head device integrating dotted line and double modes and structural curved surface measuring method Download PDFInfo
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- CN116136394B CN116136394B CN202310198018.6A CN202310198018A CN116136394B CN 116136394 B CN116136394 B CN 116136394B CN 202310198018 A CN202310198018 A CN 202310198018A CN 116136394 B CN116136394 B CN 116136394B
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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
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Abstract
The invention discloses a laser measuring head device integrating a dotted line double mode and a structural curved surface measuring method; the laser gauge head device comprises a gauge head panel, a point laser, a collimation lens barrel, an optical path switching mechanism, a first lens barrel, a second lens barrel, a lens and an area array camera. The point laser, the collimating lens barrel, the first lens barrel and the second lens barrel are all fixed on the measuring head panel. The area array camera is fixed on the measuring head panel; the lens is mounted on the area camera. The lens faces the light emergent direction of the first lens barrel and the second lens barrel. One of the first lens barrel and the second lens barrel is a Bawil prism lens barrel, and the other lens barrel is a focusing lens barrel. Under the condition that only one laser and one image acquisition element are used, the invention realizes the integration of two measurement modes of a point and a line by utilizing the light path switching mode, effectively expands the application range of the sensor, increases the measurement flexibility and reduces the cost of measurement equipment.
Description
Technical Field
The invention belongs to the technical field of curve shape laser non-contact precision measurement, and particularly relates to an integrated dot-line dual-mode laser measuring head device and a structural curve surface measurement method.
Background
The structural curved surface refers to a curved surface which has specific geometric characteristics (generally high length-diameter ratio characteristics) distributed according to a certain rule and can realize specific functions. The structural curved surface has wide application in the fields of optical instruments, 3C products, new energy equipment, medical instruments, sports equipment, religious equipment and the like, such as diffraction gratings, fresnel prisms, intelligent terminal mainboards, micro-structure array parts for hydrogen production, anti-skid textures of sports soles, legao assembled toys and the like. With the development of MEMS technology, microelectronic technology, biological and bionic manufacturing technology, and high-performance precision forming manufacturing technology, the application of structural curved surfaces will become more and more widespread.
In order to ensure that the structural curved part performs the intended function, it is necessary to precisely detect the shape of the part or the mold that produces the part. The existing method for detecting the shape of the part mainly comprises two types of contact measurement and non-contact measurement, wherein the non-contact measurement has the advantages of being rapid, free of contact force, capable of measuring detail characteristics, free of radius compensation in measurement data and the like, and is a development trend of structural curved surface detection. The laser triangulation measuring head is the non-contact measuring head which is most widely applied, and in the same-level sensor, the measuring precision of the point type laser measuring head is the highest, and the measuring data of the point type laser measuring head has local order, so that the data processing is convenient.
The measuring range of the high-precision point laser measuring head is smaller, for example, the measuring range of the Keyence LK-H022 type laser measuring head is only 6mm. The structural curved surface generally has more curvature mutation characteristics, so that an overscan phenomenon easily occurs in the detection process, and stable continuous measurement is difficult to realize. The existing method for solving the phenomenon of the laser measuring head overranging mainly comprises a path tracking method, a measuring head height adjusting method, a rough measuring guiding precision measuring method and the like. Among these, coarse measurement leads to fine measurement as a relatively most ideal solution.
The general thinking of guiding the fine measurement by the prior coarse measurement is as follows: firstly, scanning and measuring a measured curved surface by using a line, surface structure light sensor or a stereoscopic vision sensor and other rapid 3D measuring equipment to obtain point cloud data of the whole outline of the measured curved surface; fitting the point cloud data into a curved surface to obtain a rough model of the measured curved surface; then planning a measurement path for secondary measurement of the point laser measuring head based on the coarse model; and finally, performing secondary measurement on the measured curved surface by the point laser measuring head according to a secondary measurement path, and acquiring final measurement data.
The existing method for solving the problem of over-range by coarse measurement and guiding fine measurement has the following problems: the measuring process needs to use a line, a surface structure light sensor or a stereoscopic vision and other rapid 3D measuring sensors, so that the equipment cost is directly increased; in the measurement process, quick 3D measurement equipment such as a line, a surface structure light sensor or a stereoscopic vision sensor and a point laser measuring head are mutually independent, the measuring head is required to be switched after the sensor is used, pose calibration and coordinate unified operation are required to be carried out on the sensor after each switching, the process is complicated, and the measurement efficiency is affected.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an integrated dot-line dual-mode laser measuring head device and a structural curved surface measuring method. During measurement, the line structure light measurement system is used for realizing the primary scanning of the measured curved surface part, obtaining a rough measurement model, planning a measurement path for the secondary measurement of the point structure light measurement system, and then the point structure light measurement system is used for carrying out secondary measurement on the measured curved surface part by taking the measurement path as a guide to obtain final measurement data.
The utility model provides an integrated dot line dual mode's laser gauge head device, includes gauge head panel, point laser instrument, collimation lens cone, light path switching mechanism, first lens cone, second lens cone, camera lens and area array camera. The point laser, the collimating lens barrel, the first lens barrel and the second lens barrel are all fixed on the measuring head panel. The area array camera is fixed on the measuring head panel; the lens is mounted on the area camera. The lens faces the light emergent direction of the first lens barrel and the second lens barrel. One of the first lens barrel and the second lens barrel is a Bawil prism lens barrel, and the other lens barrel is a focusing lens barrel.
The optical path switching mechanism comprises a sliding driving assembly, a first right-angle prism and a second right-angle prism. The first right angle prism is mounted on the slip drive assembly. The second right-angle prism is fixed on the gauge head panel. The first right-angle prism slides under the drive of the sliding drive assembly. The first right-angle prism is provided with two working positions, namely a first working position and a second working position. When the first right-angle prism is positioned at the first working position, the first right-angle prism is staggered with the point laser, and the emergent light of the point laser is emitted after passing through the collimating lens barrel and the first lens barrel; when the first right-angle prism is positioned at the second working position, the first right-angle prism is aligned with the point laser, and emergent rays of the point laser are emitted after passing through the collimating lens barrel, the first right-angle prism, the second right-angle prism and the second lens barrel.
Preferably, the point laser, the collimating lens barrel and the first lens barrel are sequentially arranged and connected into a straight line. The second lens barrel is aligned with the second right angle prism.
Preferably, the first barrel is a focusing barrel; the second lens barrel is a Bawil prism lens barrel.
Preferably, the sliding driving assembly comprises a sliding rail, a sliding block, a first limiting plate, a second limiting plate and a push-pull electromagnet; the first limiting plate and the second limiting plate are arranged at intervals and are fixed on the measuring head panel. The slide rail is fixed on the gauge head panel. The sliding block is connected to the sliding rail in a sliding manner and is arranged between the first limiting plate and the second limiting plate. The push-pull electromagnet is fixed on the measuring head panel; the push rod of the push-pull electromagnet is fixed with the slide block. The first right-angle prism is fixed on the sliding block.
Preferably, both end surfaces of the sliding block are provided with hemispherical limit grooves; the side surface of the first limiting plate, which faces the sliding block, is provided with a first positioning hemisphere; the side face of the second limiting plate, which faces the sliding block, is provided with a second positioning hemisphere. The hemispherical limit grooves at the two ends of the sliding block are respectively aligned with the first positioning hemisphere on the first limit plate and the second positioning hemisphere on the second limit plate.
Preferably, the point laser is fixed on the gauge head panel through a first bracket; a rubber pad is arranged between the outer side face of the point type laser and the first bracket.
Preferably, the central axes of the point laser, the collimating lens barrel, the first lens barrel and the second lens barrel, the central planes of the first right-angle prism and the second right-angle prism and the central axis of the lens are positioned in the same plane; the central axes of the point laser, the collimating lens barrel, the first lens barrel and the second lens barrel are parallel to each other.
Preferably, a connecting rod is fixed on the gauge head panel. In the working process, the connecting rod is connected with the multi-degree-of-freedom motion platform.
Preferably, the power of the spot laser is adjustable; the power of the laser measuring head device when performing line laser measurement is 3-5 times of the power of the laser measuring head device when performing point laser measurement.
The measuring method of the integrated dot-line dual-mode laser measuring head device comprises the following steps:
step one: and mounting the measuring head panel on the multi-degree-of-freedom motion platform.
Step two: and placing the tested workpiece in a working platform of the three-dimensional motion platform, and respectively establishing a machine coordinate system and a world coordinate system.
Step three: the point laser is started, and the sliding driving assembly drives the first right-angle prism to be switched to a state that laser is output from the Bawil prism barrel. The laser output by the point laser is converted into line laser after passing through the Bawil prism and irradiates on a measured workpiece; the diffuse reflection light generated by the line laser on the measured workpiece is focused by the lens, and then light fringes are formed on the photosensitive element of the area array camera.
Step four: the three-dimensional motion platform drives the point type laser to move, line laser scanning is carried out on the workpiece to be detected, point cloud data are formed after scanning is completed, and a coarse model of the workpiece to be detected is built.
Step five: planning a point laser measurement path based on the rough model; the sliding driving assembly drives the first right-angle prism to switch to a state that laser is output from the focusing lens barrel.
The three-dimensional motion platform drives the point laser to move along the point laser measuring path, and performs point laser scanning on the workpiece to be measured, so that final measuring data is obtained after the scanning is completed.
The invention has the beneficial effects that:
1. under the condition that only one laser and one image acquisition element are used, the invention realizes the integration of two measurement modes of a point and a line by utilizing the light path switching mode, effectively expands the application range of the sensor, increases the measurement flexibility and reduces the cost of measurement equipment.
2. The invention can directly switch the measuring mode in the measuring process without switching the measuring head; the gesture calibration and the measurement data coordinate unified operation of the sensor do not need to be repeatedly performed during multiple measurements, the detection efficiency of single-piece and small-batch structural curved surface type parts can be effectively improved, and the installation error caused by repeated disassembly and assembly can be avoided.
3. The invention carries out rough measurement through the line structure light measurement system, provides path guidance for secondary measurement of the point structure light measurement system, and can effectively solve the phenomenon of overscan of the point structure light measurement. In addition, the invention has the advantages of simple structure, clear principle and easy realization.
Drawings
FIG. 1 is a perspective view showing the overall structure of a laser probe apparatus according to the present invention;
FIG. 2 is an exploded view of the overall structure of the slip drive assembly of the laser gauge head apparatus of the present invention;
FIG. 3 is a schematic view of the optical path of a line structured light measurement system of the laser gauge head device of the present invention;
FIG. 4 is a schematic view of the optical path of the spot-structured light measurement system of the laser gauge head apparatus of the present invention;
FIG. 5 is a schematic diagram of the operation of the line structured light measurement system of the laser gauge head device of the present invention;
FIG. 6 is a schematic diagram of the operation of the spot structured light measurement system of the laser gauge head apparatus of the present invention;
fig. 7 is a schematic diagram of the measuring principle of the laser gauge head device in the present invention.
In the figure: 1. the device comprises a measuring head panel, 1-1, a connecting rod, 2, a point laser, 3, a first bracket, 3-1, a first adjusting screw, 4, a rubber pad, 5, a collimating lens barrel, 6, a second bracket, 6-1, a second adjusting screw, 7, a sliding driving component, 7-1, a sliding rail, 7-2, a sliding block, 7-2-1, a hemispherical limit groove, 7-3, a first limit plate, 7-3-1, a first positioning hemisphere, 7-4, a second limit plate, 7-4-1, a second positioning hemisphere, 7-4-2, a through hole, 7-5, a push-pull electromagnet, 7-5-1, a push rod, 8, a first right angle prism, 9, a prism bracket, 10, a second right angle prism, 11, a Baowel prism barrel, 12, a third bracket, 12-1, a third adjusting screw, 13, a focusing, 14, a fourth bracket, 14-1, a fourth adjusting screw, 15, a lens, 15-1, a lens (simplified model), 16, an area array camera, 16-1, an area array simplified lens (simplified model), a curved surface measuring lens barrel and a curved surface part (17).
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3 and 4, a laser probe apparatus integrating a dotted line dual mode includes a probe panel 1, a point laser 2, a first bracket 3, a rubber pad 4, a collimator lens barrel 5, an optical path switching mechanism, a second bracket 6, a powell lens barrel 11, a third bracket 12, a focusing lens barrel 13, a fourth bracket 14, a lens 15 and an area camera 16.
The first bracket 3, the second bracket 6, the third bracket 12 and the fourth bracket 14 are all fixed with the measuring head panel 1; the point laser 2 is mounted on the first bracket 3, and a rubber pad 4 is arranged between the outer side surface of the point laser 2 and the first bracket 3. The collimating lens barrel 5 is mounted on the second bracket 6; the powell lens barrel 11 is mounted on the third bracket 12; the focusing lens barrel 13 is mounted on a fourth holder 14. The spot laser 2, the collimator barrel 5, and the focusing barrel 13 are sequentially arranged and connected in a straight line.
The optical path switching mechanism includes a slide driving assembly 7, a first right angle prism 8, a prism support 9, and a second right angle prism 10. The first right angle prism 8 is mounted on the slip drive assembly 7. The second right angle prism 10 is fixed to the gauge head panel 1 by a prism holder 9. The second right angle prism 10 is aligned with a powell lens barrel 11. The first rectangular prism 8 corresponds to the second rectangular prism 10 in position, and can reflect the laser twice, so that the light emitted from the point laser 2 enters the powell lens barrel 11 to form a line laser. The first right angle prism 8 slides between two working positions under the drive of the slide drive assembly 7.
The two working positions of the first right angle prism 8 are a first working position and a second working position, respectively. When the first right angle prism 8 is at the first working position, the first right angle prism 8 is staggered with the point laser 2, and the laser output by the point laser 2 is emitted to a workpiece after passing through the collimating lens barrel 5 and the focusing lens barrel 13. When the first right angle prism 8 is in the second working position, the first right angle prism 8 is aligned with the point laser 2, and the laser output by the point laser 2 is emitted to the workpiece through the collimating lens barrel 5, the first right angle prism 8, the second right angle prism 10 and the powell lens barrel 11.
The sliding driving assembly 7 comprises a sliding rail 7-1, a sliding block 7-2, a first limiting plate 7-3, a second limiting plate 7-4 and a push-pull electromagnet 7-5; the first limiting plate 7-3 and the second limiting plate 7-4 are arranged at intervals and are fixed on the measuring head panel 1. The slide rail 7-1 is fixed on the gauge head panel 1. The sliding block 7-2 is slidably connected to the sliding rail 7-1 and is arranged between the first limiting plate 7-3 and the second limiting plate 7-4. Two hemispherical limit grooves 7-2-1 are formed in the two end faces of the sliding block 7-2; the side surface of the first limiting plate 7-3 facing the sliding block 7-2 is provided with a first positioning hemisphere 7-3-1; the side surface of the second limiting plate 7-4 facing the sliding block 7-2 is provided with a second positioning hemisphere 7-4-1. The hemispherical limit grooves 7-2-1 at the two ends of the sliding block 7-2 are respectively aligned with the first positioning hemispheres 7-3-1 on the first limit plate 7-3 and the second positioning hemispheres 7-4-1 on the second limit plate 7-4. The push-pull electromagnet 7-5 is fixed on the measuring head panel 1; one end of a push rod 7-5-1 in the push-pull electromagnet 7-5 passes through a through hole 7-4-2 on the second limiting plate 7-4 and is fixedly connected with the sliding block 7-2 through threads. The first right angle prism 8 is fixed to the slider 7-2.
When the push-pull electromagnet 7-5 is in an electrified state, the first right-angle prism 8 is located at a first working position, the first positioning hemisphere 7-3-1 in the first limiting plate 7-3 is embedded into the hemispherical limiting groove 7-2-1 on the sliding block 7-2, and the laser measuring head device is in a point laser measuring system working mode. When the push-pull electromagnet 7-5 is in a power-off state, the first right-angle prism 8 is located at a second working position, the second positioning hemisphere 7-4-1 in the second limiting plate 7-4 is embedded into the corresponding hemispherical limiting groove 7-2-1 on the sliding block 7-2, and the laser measuring head device is in a working mode of the line laser measuring system.
The lens 15 is fixedly connected with the area array camera 16 through a threaded interface, and the area array camera 16 is fixedly installed with the measuring head panel 1; the lens 15 is inclined toward the light exit direction of the powell lens barrel 11 and the focus lens barrel 13.
Central axes of the point laser 2, the collimating lens barrel 3, the Baoweir prism barrel 11 and the focusing lens barrel 13, central planes of the first right angle prism 8 and the second right angle prism 10 and central axes of the lenses 15 are positioned in the same plane; the central axes of the point laser 2, the collimation lens barrel 3, the Baoweir prism barrel 11 and the focusing lens barrel 13 are parallel. The first right-angle prism 8 and the second right-angle prism 10 are positioned at the same installation height.
In the working process, a point laser 2, a collimation lens cone 5, a first right angle prism 8, a second right angle prism 10, a Bawil prism cone 11, a lens 15 and an area array camera 16 form a line laser measuring system; the point laser 2, the collimating lens barrel 5, the focusing lens barrel 13, the lens 15 and the area array camera 16 form a point laser measuring system; the point laser 2, the collimating lens barrel 5, the lens 15 and the area array camera 16 are multiplexed in the online laser measuring system and the point laser measuring system, so that the equipment cost is reduced.
Preferably, the gauge head panel 1 is provided with an integrally formed connecting rod 1-1. The connecting rod 1-1 is connected with the multi-freedom-degree motion platform.
Preferably, the power of the point laser 2 is adjustable, and when the laser measuring head device is in a line laser measuring system working mode, the power of the point laser 2 is adjusted to be 3-5 times of the point laser measuring system working mode.
Preferably, a fixed collimating lens group is arranged in the collimating lens barrel 5.
Preferably, a fixed bowilt prism is disposed in the bowilt prism barrel 11.
Preferably, a fixed focusing lens is disposed in the focusing lens barrel 13.
Preferably, the first bracket 3 is provided with a first adjusting screw 3-1, and the first adjusting screw 3-1 is used for adjusting and locking the mounting position of the spot laser 2 and the first bracket 3.
Preferably, a second adjusting screw 6-1 is installed on the second bracket 6, and the second adjusting screw 6-1 is used for adjusting and locking the installation position of the collimating lens barrel 5 and the second bracket 6.
Preferably, a third adjusting screw 12-1 is mounted on the third bracket 12, and the third adjusting screw 12-1 is used for adjusting and locking the mounting position of the powell lens barrel 11 and the third bracket 12.
Preferably, the fourth bracket 14 is mounted with a fourth adjusting screw 14-1, and the fourth adjusting screw 14-1 is used for adjusting and locking the mounting position of the focusing lens barrel 13 and the fourth bracket 14.
As shown in fig. 5, 6 and 7, the method for measuring the structural curved surface of the integrated dot-line dual-mode laser probe device comprises the following steps:
step one: the laser measuring head device is arranged at the tail end of the Z axis of the three-dimensional motion platform through the connecting rod 1-1, and the measuring range of the line structure light measuring system and the measuring range of the point structure light measuring system are respectively calibrated.
Step two: the curved surface part 17 to be measured is placed in a working platform of a three-dimensional motion platform, and a machine coordinate system and a world coordinate system are respectively established.
Step three: the push-pull electromagnet 7-5 is powered off, the sliding driving assembly 7 drives the first right-angle prism 8 to move to the second working position, and the laser measuring head device is in a working mode of the line structure light measuring system.
Defining the center position of the detection zone of the photosensitive element 16-1 in the area array camera as s 0 The upper limit is s 1 The lower limit is s 2 Interval s 1 s 2 Is a detection section of the photosensitive element 16-1 of the area array camera 16; in interval s 1 s 2 Within which there is a section s 1 ′s 2 ' when the light stripe measured by the area array camera under the line laser mode is completely in the interval s 1 ′s 2 When 'in', the area array camera in the point laser mode cannot exceed the measuring range; otherwise, the area array camera in the point laser mode will be out of range.
The Z axis of the three-dimensional motion platform drives the laser measuring head device to move along the Z direction, so that diffuse reflection light generated after being incident on the surface of the curved surface part 17 to be measured through the Bawil prism is focused through the lens 15, and the diffuse reflection light is formed on the photosensitive element 16-1 of the area array camera 16 to be positioned at s 1 s 2 Light stripes between the three-dimensional motion platform and the Z-axis coordinate Z of the three-dimensional motion platform at the moment are recorded M 。
Step four: the Z axis of the three-dimensional moving platform drives the laser measuring head device to do linear motion along the X direction (or the Y direction), and the line structured light measuring system is utilized to rapidly scan the measured curved surface part 17. The point cloud data obtained by line structure light scanning is extracted through an image processing technology, then the point cloud data is converted into a world coordinate system, and the construction of a rough model of the measured curved surface part 17 is completed.
Step five: and planning a secondary measurement path for the point structured light measurement system based on the rough model data. Z coordinate Z of point cloud data under world coordinate system is extracted from line structured light measurement system W The pixel in the photosensitive element 16-1 of the corresponding area camera 16 is located at s 1 s 1 Between 'and' when the point structure light measuring system carries out secondary measurement on the point, the Z axis of the three-dimensional moving platform needs to move vertically downwards by a distance d 1 . Z coordinate Z of point cloud data under world coordinate system is extracted from line structured light measurement system W The pixel in the photosensitive element 16-1 corresponding to the area camera 16 is located at s 2 s 2 Between 'and' when the point structure light measuring system carries out secondary measurement on the point, the Z axis of the three-dimensional moving platform needs to move vertically upwards by a distance d 2 。
Step six: the push-pull electromagnet 7-5 is electrified, the sliding driving assembly 7 drives the first right-angle prism 8 to move to the first working position, and the laser measuring head device is in a working mode of the point structure light measuring system.
Step seven: the three-dimensional motion platform drives the point structure light measuring system to translate along the Y direction (or the X direction) of the three-dimensional motion platform, and the measured curved surface part 17 is scanned transversely point by point.
Step eight: when the point structure light measuring system finishes one transverse scanning on the tested curved surface part 17, the three-dimensional moving platform drives the point structure light measuring system to longitudinally feed a longitudinal scanning step length, and the transverse scanning is continued along the opposite direction of the step seven.
Step nine: and repeating the steps seven and eight until all the secondary scanning of the measured curved surface part 17 is completed, and acquiring final measurement data.
Preferably, in the second step, the measuring range calibration method of the line structured light measurement system specifically includes the following steps:
s1, translating a Z axis of the three-dimensional motion platform along the Z direction to enable the light to be incident on a target through the Baowel prismAfter the diffuse reflection light generated after fixing the panel is focused by the lens 15, the light stripe formed on the photosensitive element 16-1 of the area camera 16 is positioned at s 0 At this point, the output value h obtained by the image processing technique at this time is recorded 0 。
S2, the Z axis of the three-dimensional motion platform moves upwards, so that diffuse reflection light generated after being incident on the calibration panel through the Bawil prism is focused through the lens 15, and light fringes formed on the photosensitive element 16-1 of the area array camera 16 are positioned at S 1 Recording the output value h obtained by the image processing technology 2 。
S3, the Z axis of the three-dimensional motion platform moves downwards, so that diffuse reflection light generated after being incident on the calibration panel through the Bawil prism is focused through the lens 15, and light fringes formed on the photosensitive element 16-1 of the area array camera 16 are positioned at S 2 Recording the output value obtained by the image processing technology at the moment as h 1 . The Z-direction working range of the line structured light measurement system is (h) 1 -h 2 )。
Preferably, in the second step, the measuring range calibration method of the point structured light measuring system specifically comprises the following steps:
s1, translating a Z axis of the three-dimensional motion platform along the Z direction, focusing diffuse reflection light generated after the diffuse reflection light is incident on a calibration panel through a focusing lens through a lens 15, and forming light spots on a photosensitive element 16-1 of an area array camera 16 at S 0 Recording the output value obtained by the image processing technology at the moment as h 0 ′。
S2, moving the three-dimensional motion platform in the Z-axis direction to enable diffuse reflection light generated after the diffuse reflection light is incident on the calibration panel through the focusing lens to be focused through the lens 15, and enabling light spots formed on the photosensitive element 16-1 of the area array camera 16 to be located at S 1 ' at this time, the output value obtained by the image processing technique at this time is recorded as h 2 ′。
S3, moving the Z axis of the three-dimensional motion platform downwards to enable diffuse reflection light generated after the diffuse reflection light is incident on the calibration panel through the focusing lens to be focused through the lens 15, and forming light spots on the photosensitive element 16-1 of the area array camera 16 to be positioned at S 2 Recording the output value obtained by the image processing technology at the moment as h 1 '. Point structureThe operating range of the optical measurement system is (h 1 ′-h 2 ′)。
Preferably, in path planning, the distance d of the Z-axis vertical downward movement of the three-dimensional moving platform 1 The following conditions need to be satisfied:
(h 2 ″-Δh)＜d 1 ＜(h 1 ″-Δh)
preferably, in path planning, the distance d of the Z-axis vertical upward movement of the three-dimensional movement platform 2 The following conditions need to be satisfied:
(Δh-h 1 ″)＜d 2 ＜(Δh-h 2 ″)
preferably, the line structure light measuring system and the point structure light measuring system adopt a triangle method displacement measuring principle, and the calculation formula is as follows:
wherein alpha is an included angle between the central axis of the incident measurement light and the central axis of the lens 15-1; beta is the included angle between the plane of the photosensitive element 16-1 of the area array camera 16 and the central axis of the lens 15-1; l (L) 1 Is the distance from the intersection point of the laser beam and the optical axis of the lens 15-1 to the center of the lens 15-1; l (L) 2 Is the distance from the intersection point of the plane of the photosensitive element 16-1 of the area camera 16 and the optical axis of the lens 15-1 to the center of the lens 15-1; Δs is the real-time focal spot position on the photosensitive element 16-1 of the area camera 16 relative to s 0 Is a distance of (2); Δh is the real-time measured value relative to the measured value and is the mid-point h of the measuring range 0 Is a distance of (2); setting that when the measured point is positioned at h 0 Above the dot, ±positive sign, or else, ±negative sign.
Claims (10)
1. The utility model provides an integrated dot line dual mode's laser gauge head device, includes gauge head panel (1), point laser instrument (2), collimation lens cone (5), first lens cone, second lens cone, camera lens (15) and area array camera (16); the method is characterized in that: the device also comprises an optical path switching mechanism; the point type laser (2), the collimating lens barrel (5), the first lens barrel and the second lens barrel are all fixed on the measuring head panel (1); the area array camera (16) is fixed on the measuring head panel (1); the lens (15) is arranged on the area array camera (16); the lens (15) faces the light emergent direction of the first lens barrel and the second lens barrel; one of the first lens barrel and the second lens barrel is a Bawil prism lens barrel, and the other lens barrel is a focusing lens barrel;
the optical path switching mechanism comprises a sliding driving assembly (7), a first right-angle prism (8) and a second right-angle prism (10); the first right-angle prism (8) is arranged on the sliding driving assembly (7); the second right-angle prism (10) is fixed on the measuring head panel (1); the first right-angle prism (8) slides under the drive of the sliding driving assembly (7); the first right-angle prism (8) is provided with two working positions, namely a first working position and a second working position; when the first right-angle prism (8) is positioned at the first working position, the first right-angle prism (8) is staggered with the point laser (2), and the emergent light of the point laser (2) is emitted after passing through the collimating lens barrel (5) and the first lens barrel; when the first right-angle prism (8) is positioned at the second working position, the first right-angle prism (8) is aligned with the point laser (2), and emergent rays of the point laser (2) are emitted after passing through the collimating lens barrel (5), the first right-angle prism (8), the second right-angle prism (10) and the second lens barrel.
2. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: the point laser (2), the collimating lens barrel (5) and the first lens barrel are sequentially arranged and connected into a straight line; the second barrel is aligned with a second right angle prism (10).
3. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: the first lens barrel is a focusing lens barrel (13); the second lens barrel is a Bawil prism lens barrel (11).
4. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: the sliding driving assembly (7) comprises a sliding rail (7-1), a sliding block (7-2), a first limiting plate (7-3), a second limiting plate (7-4) and a push-pull electromagnet (7-5); the first limiting plate (7-3) and the second limiting plate (7-4) are arranged at intervals and are fixed on the measuring head panel (1); the slide rail (7-1) is fixed on the measuring head panel (1); the sliding block (7-2) is connected to the sliding rail (7-1) in a sliding way and is arranged between the first limiting plate (7-3) and the second limiting plate (7-4); the push-pull electromagnet (7-5) is fixed on the measuring head panel (1); the push rod (7-5-1) of the push-pull electromagnet (7-5) is fixed with the slide block (7-2); the first right-angle prism (8) is fixed on the sliding block (7-2).
5. The integrated dotted dual mode laser gauge head device of claim 4, wherein: both end surfaces of the sliding block (7-2) are provided with hemispherical limit grooves (7-2-1); the side surface of the first limiting plate (7-3) facing the sliding block (7-2) is provided with a first positioning hemisphere (7-3-1); the side surface of the second limiting plate (7-4) facing the sliding block (7-2) is provided with a second positioning hemisphere (7-4-1); the hemispherical limit grooves (7-2-1) at the two ends of the sliding block (7-2) are respectively aligned with the first positioning hemispheres (7-3-1) on the first limit plate (7-3) and the second positioning hemispheres (7-4-1) on the second limit plate (7-4).
6. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: the point type laser (2) is fixed on the measuring head panel (1) through the first bracket (3); a rubber pad (4) is arranged between the outer side surface of the point laser (2) and the first bracket (3).
7. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: the central axes of the point laser (2), the collimating lens barrel (5), the first lens barrel and the second lens barrel, the central planes of the first right-angle prism (8) and the second right-angle prism (10) and the central axis of the lens (15) are positioned in the same plane; the central axes of the point laser (2), the collimating lens barrel (3), the first lens barrel and the second lens barrel are parallel to each other.
8. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: a connecting rod (1-1) is fixed on the measuring head panel (1); in the working process, the connecting rod (1-1) is connected with the multi-freedom-degree motion platform.
9. The integrated dotted line dual mode laser gauge head device of claim 1, wherein: the power of the point laser (2) is adjustable; the power of the laser measuring head device when performing line laser measurement is 3-5 times of the power of the laser measuring head device when performing point laser measurement.
10. A structural curved surface measuring method is characterized in that: using a laser gauge head device integrated with dotted line dual mode according to claim 1;
the structural curved surface measuring method comprises the following steps:
step one: the measuring head panel (1) is arranged on a multi-degree-of-freedom motion platform;
step two: placing a tested workpiece in a working platform of a three-dimensional motion platform, and respectively establishing a machine coordinate system and a world coordinate system;
step three: the point laser (2) is started, and the sliding driving assembly (7) drives the first right-angle prism (8) to be switched to a state that laser is output from the Bawil prism barrel (11); the laser output by the point laser (2) is converted into line laser after passing through a Bawil prism and irradiates on a measured workpiece; after diffuse reflection light generated by the line laser on a measured workpiece is focused by a lens (15), light stripes are formed on a photosensitive element (16-1) of an area-array camera (16);
step four: the three-dimensional motion platform drives the point type laser (2) to move, line laser scanning is carried out on the workpiece to be detected, point cloud data are formed after scanning is completed, and a coarse model of the workpiece to be detected is constructed;
step five: planning a point laser measurement path based on the rough model; the sliding driving assembly (7) drives the first right-angle prism (8) to switch to a state that laser is output from the focusing lens barrel (13);
the three-dimensional motion platform drives the point laser (2) to move along a point laser measuring path, and performs point laser scanning on the workpiece to be measured, so that final measuring data is obtained after the scanning is completed.
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| JP2000221034A (en) * | 1999-02-01 | 2000-08-11 | Asahi Optical Co Ltd | Laser surveying device |
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