CN116499405A - Novel standard component for calibrating complex curved surface measurement system and calibration method - Google Patents
Novel standard component for calibrating complex curved surface measurement system and calibration method Download PDFInfo
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Abstract
The invention discloses a novel standard component for calibrating a complex curved surface measurement system and a calibration method, and belongs to the technical field of precision testing technology and instruments. The standard component integrates four characteristics of an outer cylindrical surface I, a plane, a spherical surface III and a semicircular groove II, adopts a mode of mixing a conical hole and an inner hole, can be clamped by an inner support mode and an outer clamp mode of a three-jaw chuck, and can be clamped by a top mounting mechanism. According to the calibration method, a calibration system frame is established, the space pose parameters of the measuring head are solved by using a least square method on point cloud data acquired by the measuring head, and finally the accuracy of a calibration result can be effectively verified by means of redundant composite characteristics.
Description
Technical Field
The invention relates to a novel standard component for calibrating a complex curved surface measurement system and a calibration method, and belongs to the technical field of precision testing technology and instruments.
Background
The standard component and the corresponding calibration method are key for ensuring the accuracy of the measurement system. At present, the measurement of a complex curved surface measurement system is a main detection way of the processing quality and precision of parts, and particularly the measurement of curved surface parts in the fields of aeronautics, ships and the like is widely applied, for example, the appearance of key basic parts such as gears, aeronautics blades and the like is often complex curved surfaces, and the international standard prescribes that the parts must pass 100% quality detection. In general, the spatial pose relationship of the calibration probe before detection is the most important work of the whole curved surface measurement system, and the accuracy and effectiveness of subsequent part measurement can be directly affected by the standard component and the calibration method.
Standard components and calibration methods for calibrating the prior complex curved surface measurement system are mainly divided into two types according to basic characteristics: (1) The calibration of the spatial pose relation of the measuring head is realized around a single point, line or surface characteristic. For example, a three-coordinate measuring machine and a measuring center are generally used for calibrating, namely, a high-precision standard sphere with known parameters is generally used, after the space coordinates of the surface of the standard sphere are acquired point by point, the space pose of a measuring head in a measuring system is calibrated by adopting a least square fitting method, and the calibration is mainly applicable to a contact measuring system mainly comprising the measuring sphere and a measuring rod. The patent CN201811471849.1 is based on a single spherical surface feature, and the calibration is completed by adjusting the position of the standard ball for a plurality of times through a mechanical device and combining the display value of the pressure gauge. The method has the advantages that the standard component is simple in outline, easy to manufacture with high precision and low in price, and has the defects that the clamping mode and the basic characteristics are too single, the space pose calibration of the measuring head lacks redundant characteristic verification, and the method is not applicable to a non-contact measuring system; (2) And calibrating the space pose relation of the measuring head by the composite surface characteristics. A standard component and a calibration method are characterized in that a curved surface formed by mixing a V-shaped groove, a cylindrical surface and the like is used as a basic characteristic. The patent CN202110556943.2 is characterized by being composed of a standard mandrel and a metal cuboid in a compounding way, and realizes the calibration of the system by adjusting the measuring head for many times. The basic characteristics of the patent CN202210745581.6 are composed of an outer cylindrical surface, a plane and a V-shaped groove in a compounding way, and the spatial pose relation of the measuring head is calibrated by fitting the characteristics of the compound surface. The method has the advantages that the method has redundant basic characteristics, can mutually verify the accuracy of the calibration method, has the defects that clamping is limited to the adoption of a three-jaw chuck, and the V-shaped groove is unfavorable for the calibration data acquisition of a non-contact measurement system. In summary, the existing standard component and calibration method still have certain defects: (1) the traditional standard component does not consider the universality of clamping, and is difficult to adapt to the clamping requirements of field calibration of different types of measurement systems; (2) the basic characteristics of the traditional standard component are only suitable for one of a contact type measurement system or a non-contact type measurement system, are not friendly to optical measurement, and can have the problems of shielding or heavy reflection and the like; (3) the traditional standard component has no redundant characteristics, and the characteristic extraction of the corresponding calibration method lacks correlation, so that the accuracy of the calibration result cannot be well verified. Therefore, the novel standard component and the calibration method are required to be developed in order to meet the requirements of clamping and accurate calibration of the complex curved surface measurement system.
In order to overcome the problems, the novel standard component and the calibration method for the complex curved surface measurement system disclosed by the invention comprehensively consider and improve the defects of the first two types of standard components and the calibration method, creatively designs the novel standard component which is formed by compounding a semicircular groove, a spherical surface, an outer cylindrical surface and a plane, adopts a mode of mixing a conical hole and an inner hole, can be used for clamping an inner support mode and an outer clamp mode of a three-jaw chuck, can also be used for clamping a top mounting mechanism, and can be applied to a contact measurement system and a non-contact measurement system in the basic characteristics, and finally, the calibration method can effectively verify the calibration result by virtue of the redundant compound characteristics, so that the calibration accuracy is improved.
Disclosure of Invention
The invention provides a novel standard component for calibrating a complex curved surface measurement system and a calibration method thereof, which aim at the problems of the prior standard component and the calibration method thereof, and the novel standard component and the calibration method adopt a mode of mixing a conical hole and an inner hole into a whole, thereby being applicable to the calibration of contact type curved surface measurement and meeting the calibration requirement of non-contact type curved surface measurement.
Aiming at the problems existing in the calibration of the existing complex curved surface measurement system, the invention carries out principle innovation, and the basic idea is as follows: (1) the novel standard component comprises two clamping modes of a conical hole and an inner hole, has good clamping universality and meets the field calibration requirement of a complex curved surface measurement system. (2) The method designs a mode of compounding multiple characteristics of the spherical surface, the outer cylindrical surface, the plane and the semicircular groove, and improves the accuracy of the calibration result by fully utilizing redundant characteristic information. (3) The designed composite characteristics can not only meet the calibration of the contact type measuring system, but also adapt to the calibration of the non-contact type measuring system.
In order to achieve the purposes and principles, the invention adopts the following technical scheme:
a novel standard component for calibrating a complex curved surface measurement system integrates four characteristics of an outer cylindrical surface I, a plane, a spherical surface III and a semicircular groove II, and two clamping characteristics of a conical hole E and an inner hole F are mixed. The outer cylindrical surface I is coaxially connected with the spherical surface III, the diameters of the outer cylindrical surface I and the spherical surface III are consistent, the semicircular groove II is arranged between the outer cylindrical surface I and the spherical surface III, and the front end surface P and the rear end surface P are arranged on the same plane 1 And left and right end surfaces P 2 Are planes symmetrically distributed around the geometric center of the standard component, circumferentially distributed around the outer cylindrical surface I, and provided with an upper end face P 3 And lower end face P 4 Perpendicular to the axial direction of the outer cylindrical surface I and symmetrically distributed, and tapered holes E are arranged on the front end face P and the rear end face P 1 Is coaxial with the outer cylindrical surface i and is disposed inside the standard component.
The invention provides a corresponding calibration method based on the novel standard component, which comprises the following specific steps:
w1: clamping standard part
And selecting a clamping standard piece in a corresponding mode according to the field calibration condition of the complex curved surface measurement system. The standard part has the following two clamping modes:
1) Center clamping
The upper and lower tips of the tip clamping mechanism are matched with the conical hole E of the standard part, and the standard part is clamped and limited in 5 degrees of freedom according to an automatic centering principle, so that the clamping of the standard part is completed.
2) Three-jaw chuck clamping
The three clamping jaws of the three-jaw chuck clamping mechanism are matched with the inner hole F of the standard part, 4 degrees of freedom of the standard part are clamped and limited according to an automatic centering principle, and the clamping of the standard part is completed.
W2: establishing a coordinate frame of a calibration system
The following end face P 4 Is the origin o of coordinates s Standard part coordinate system o s -x s y s z s And a gauge head coordinate system o g -x g y g z g Are all established according to the right hand rule. Gauge head coordinate system o g -x g y g z g Origin o g Relative to standard co-ordinate system o s -x s y s z s Origin o s At x s 、y s 、z s The three position quantities in the axial direction are a, b and c respectively, and the coordinate system o of the measuring head g -x g y g z g Relative to standard co-ordinate system o s -x s y s z s Is the attitude angle of (2)Wherein the attitude angle->Is a measuring head winding measuring head coordinate system o g -x g y g z g Is a yaw angle of (2); the attitude angle theta is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a pitch angle of (2); the attitude angle gamma is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a roll angle of (c). a, b, c, < >>And the space pose parameters of the measuring head which need to be calibrated are obtained.
W3: gauge head coordinate system o g -x g y g z g To the standard part coordinate system o s -x s y s z s Coordinate transformation of (a)
Determining a measuring head coordinate system o by the formula (1) according to a calibration system coordinate frame established by W2 g -x g y g z g And standard part coordinate system o s -x s y s z s Coordinate transformation relation between:
D s ＝R s g ·D g +M s g (1)
in the middle ofR s g Is of physical meaning of +.>Related rotation matrix, M s g ＝[a,b,c] T The physical meaning is a translation matrix associated with the position quantities a, b, c. D (D) g ＝[x g ,y g ,z g ] T In the measuring head coordinate system o g -x g y g z g Space coordinate value of lower standard part surface, D s ＝[x s ,y s ,z s ] T In the standard part coordinate system o s -x s y s z s And the space coordinate value after the surface conversion of the lower standard component.
W4: standard component surface point cloud data acquisition
According to the field calibration condition of a complex curved surface measurement system, after a corresponding clamping mode is selected to restrict the standard component, a main shaft of the system circumferentially rotates the standard component at a proper angular velocity at a uniform speed, and a main shaft rotation signal triggers a measuring head to acquire data, so that the surface of the standard component is acquired in a measuring head coordinate system o g -x g y g z g And the non-contact measurement system acquires the surface of the standard component in a multipoint parallel manner through a single or a plurality of measuring heads. Under two clamping modes of the standard component, the data collected by the measuring head are different: (1) during clamping of standard part center, a measuring head acquires spherical surface III, left end face P and right end face P 2 And an upper end face P 3 Point cloud data of the features; (2) when the standard part three-jaw chuck is clamped, the measuring head acquires an outer cylindrical surface I, a semicircular groove II, a spherical surface III and front and rear end surfaces P 1 And left and right end surfaces P 2 And (5) point cloud data of the features.
W5: geometric feature extraction from point cloud data
The least square method is adopted, and an external cylindrical surface I, a semicircular groove II, a spherical surface III and front and rear end surfaces P are adopted 1 Left and right end surfaces P 2 And an upper end face P 3 And (3) extracting features from the point cloud data.
1) Sphere III features
According to a coordinate frame of a calibration system established by W2, obtaining the sphere center (x) of the fitting sphere by using a least square method on point cloud data of the spherical III characteristics 0 ,y 0 ,z 0 ) In combination with the calibrated coordinate value (x) of the sphere center of the sphere III in the standard component coordinate system s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) The position quantities a, b, c are determined.
2) Front and rear end faces P 1 Left and right end surfaces P 2 Upper end face P 3 Features (e.g. a character)
A calibration system coordinate frame established according to W2 is used for the front end face and the rear end face P 1 Left and right end surfaces P 2 And an upper end face P 3 The normal vectors of the fitting end surfaces of the characteristic point cloud data obtained by using a least square method are respectively as followsAnd->Combining a standard component coordinate system o s -x s y s z s X of (2) s ,y s ,z s Axis unit directionVector determination attitude angle->And->And->The method can be used for verifying the accuracy of the calibration result in the standard part center clamping mode.
3) External cylindrical surface I and semicircular groove II characteristics
The point cloud data of the outer cylindrical surface I and the semicircular groove II are used for obtaining a direction vector fitting the central axis of the cylindrical surface by using a least square methodAnd fitting the geometric center point (x 1 ,y 1 ,z 1 ) Sphere center (x) combined with sphere III 0 ,y 0 ,z 0 ) And verifying the accuracy of the calibration result in the standard part three-jaw chuck clamping mode.
And calibrating the pose of the measuring head by using the basic characteristics, and performing control analysis aiming at the redundant characteristics to verify the accuracy of the calibration result.
The basic characteristics for determining the pose parameters of the measuring head in the standard part center clamping mode are as follows: sphere III, left and right end surfaces P 2 And an upper end face P 3 The method comprises the steps of carrying out a first treatment on the surface of the The redundancy features for verifying the accuracy of the calibration result are: left and right end surfaces P 2 And an upper end face P 3 。
The basic characteristics for determining the pose parameters of the measuring head in the standard three-jaw chuck clamping mode are as follows: sphere III, left and right end surfaces P 2 And front and rear end faces P 1 The method comprises the steps of carrying out a first treatment on the surface of the The redundancy features for verifying the accuracy of the calibration result are: an outer cylindrical surface I, a semicircular groove II and a spherical surface III.
W6: calibrating the pose parameters of the measuring head
Standard part coordinate system o s -x s y s z s X of (2) s ,y s ,z s The axial unit direction vectors are respectively The sphere center of the standard component sphere III is in a standard component coordinate system o s -x s y s z s The lower calibration coordinate value is (x s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ )。
When the standard part center is clamped in W6.1, the center (x) of the sphere III in W5 0 ,y 0 ,z 0 ) Left and right end surfaces P 2 Normal vector of (2)And an upper end face P 3 Normal vector->Calibrating six pose parameters a, b, c, < > of the probe>The calculation process is as follows:
1) Determining attitude angle
The attitude angle θ is solved by equation (2).
To determine attitude angleAnd γ, first calculate->Is>The direction of which follows the right-hand rule, and then calculating the attitude angle +.>Equation (4) calculates the solution attitude angle γ.
2) Determining the position quantities a, b, c
Attitude angleHas determined, and rotates the matrix R s g It has been determined that the position quantities a, b, c are solved by equation (5), where (x) s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Is the calibrated coordinate value of the sphere center of the standard component sphere III under the standard component coordinate system, (x) 0 ,y 0 ,z 0 ) Is fit to the center of the sphere.
When the standard part three-jaw chuck is clamped in W6.2, the sphere center (x) based on the sphere III in W5 0 ,y 0 ,z 0 ) Left and right end surfaces P 2 Normal vector of (2)And front and rear end faces P 1 Normal vector->Calibrating six pose parameters a, b, c, < > of the probe>The calculation process is as follows:
1) Determining attitude angle
The attitude angle θ is solved by equation (6).
To determine attitude angleAnd γ, first calculate->Is>The direction of which follows the right-hand rule, and then the attitude angle +.>Equation (8) calculates the solution attitude angle γ.
2) Determining the position quantities a, b, c
Due to attitude angleIt has been determined that the matrix R is rotated s g It was confirmed that the position amounts a, b, c were calculated by the formula (9) where (x s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Is the calibrated coordinate value of the sphere center of the standard component sphere III under the standard component coordinate system, (x) 0 ,y 0 ,z 0 ) Is fit to the center of the sphere.
W7: redundant feature verification calibration result accuracy
Whether the calibration result is accurate or not directly influences the accuracy and the effectiveness of subsequent part measurement, and the calibration result is verified in time by utilizing the redundancy characteristics of the standard parts.
W7.1 verification mode under the center clamping mode of the standard part: based on the left and right end surfaces P obtained in W5 2 Normal vector of (2)Upper end face P 3 Normal vector of->Calculate->And->If the included angle is smaller than the prescribed threshold angle, the calibration is effective, otherwise, the calibration is carried out again.
W7.2 verification mode of the standard part three-jaw chuck in clamping mode: according to the direction vector of the central axis of the outer cylindrical surface I obtained in W5Sphere center of sphere III (x) 0 ,y 0 ,z 0 ) And the geometric center point (x 1 ,y 1 ,z 1 ) Calculate vector +.>Sum vector (x) 1 -x 0 ,y 1 -y 0 ,z 1 -z 0 ) If the included angle is smaller than the prescribed threshold angle, the calibration is effective, otherwise, the calibration is carried out again.
And calibrating and verifying the space pose relation of the measuring head.
The beneficial effects of the invention are as follows:
1. the novel standard component provided by the invention completely meets the field calibration requirement, and has strong universality and wide practicability. The method can be applied to contact type curved surface measurement and can meet the calibration requirement of non-contact type curved surface measurement; the three-jaw chuck clamping device can be applied to outer clamping and inner supporting type clamping of a three-jaw chuck, and can also be applied to center hole clamping.
2. The calibration method provided by the invention can effectively verify the accuracy of the calibration result by means of the redundant composite characteristic of the standard component, and can better ensure the pose accuracy of the measurement system.
3. The calibration method provided by the invention can ensure that the calibrated system has stronger robustness and anti-interference performance, and ensure the stability of the measurement data of subsequent parts.
4. Compared with the traditional standard component calibration method, the calibration method provided by the invention is simple and convenient to operate, reduces the working intensity of operators and saves the calibration time.
Drawings
FIG. 1 is a block diagram of the whole standard part
FIG. 2 Standard part y s o s z s Surface winding z s Shaft deflection 45 degree cross section
Fig. 3 schematic diagram of a standard part center clamping mode
FIG. 4 is a schematic diagram of a coordinate frame of a calibration system
Spherical III characteristic for calibration in center clamping mode of standard part in fig. 5
End face characteristics for calibration in standard part center clamping mode of FIG. 6
FIG. 7 is a schematic diagram of a three-jaw chuck clamping mode for a standard part
End face characteristics for calibration in three-jaw chuck clamping mode of standard part of FIG. 8
External cylindrical surface I and spherical surface III characteristics for calibration in three-jaw chuck clamping mode of standard part of FIG. 9
FIG. 10 is a drawing of a semi-circular groove II feature for calibration in a three jaw chuck clamping mode of a standard part
FIG. 11 is a flow chart of a calibration method
In the figure: p (P) 1 Front and rear end faces, P 2 Left and right end faces, P 3 Upper end face, P 4 The lower end face, I, the outer cylindrical surface, II, the semicircular groove, III, the spherical surface, E, the taper hole, F and the inner hole.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
The novel standard component structure provided by the invention is shown in fig. 1 and 2, integrates four characteristics of an outer cylindrical surface I, a plane, a spherical surface III and a semicircular groove II, and mixes two clamping characteristics of a conical hole E and an inner hole F. The outer cylindrical surface I is coaxially connected with the spherical surface III, the diameters of the outer cylindrical surface I and the spherical surface III are consistent, the semicircular groove II is arranged between the outer cylindrical surface I and the spherical surface III, and the front end surface P and the rear end surface P are arranged on the same plane 1 And left and right end surfaces P 2 Are planes symmetrically distributed around the geometric center of the standard component, circumferentially distributed around the outer cylindrical surface I, and provided with an upper end face P 3 Lower end face P 4 Perpendicular to the axial direction of the outer cylindrical surface I and symmetrically distributed, and tapered holes E are arranged on the front end face P and the rear end face P 1 Is coaxial with the outer cylindrical surface i and is disposed inside the standard.
The foregoing is a specific embodiment of the standard of the present invention.
The invention also relates to a specific calibration method for a new standard with two different clamping modes, the specific calibration steps being further described by means of two examples.
Example 1: the specific calibration steps under the standard part center clamping mode are as follows:
the first step: clamping standard part
And as shown in fig. 3, the upper and lower centers of the center clamping mechanism are matched with the conical holes E of the standard parts, and the standard parts are clamped and limited by 5 degrees of freedom according to the automatic centering principle, so that the clamping of the standard parts is completed.
And a second step of: establishing a coordinate frame of a calibration system
The following end face P 4 Is the origin o of coordinates s The standard component coordinate system o shown in fig. 4 is established according to the right hand rule s -x s y s z s And a gauge head coordinate system o g -x g y g z g . Wherein a, b and c are respectively the coordinate system o of the measuring head g -x g y g z g Origin o g Relative to standard co-ordinate system o s -x s y s z s Origin o s At x s 、y s 、z s Three positional amounts in the axial direction;respectively measuring head coordinate system o g -x g y g z g Relative to standard co-ordinate system o s -x s y s z s Attitude angle of (2), wherein the attitude angle +.>Is a measuring head winding measuring head coordinate system o g -x g y g z g Is a yaw angle of (2); the attitude angle theta is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a pitch angle of (2); the attitude angle gamma is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a roll angle of (c). a, b, c, < >>And the space pose parameters of the measuring head which need to be calibrated are obtained.
And a third step of: gauge head coordinate system o g -x g y g z g To the standard part coordinate system o s -x s y s z s Coordinate transformation of (a)
Determining a measuring head coordinate system o from the formula (10) according to the calibration system coordinate system established in the second step g -x g y g z g And standard part coordinate system o s -x s y s z s Coordinate transformation relation between:
D s ＝R s g ·D g +M s g (10)
in the middle ofRs g Is of physical meaning of +.>Related rotation matrix, M s g ＝[a,b,c] T The physical meaning is a translation matrix associated with the position quantities a, b, c. D (D) g ＝[x g ,y g ,z g ] T In the measuring head coordinate system o g -x g y g z g Space coordinate value of lower standard part surface, D s ＝[x s ,y s ,z s ] T In the standard part coordinate system o s -x s y s z s And the space coordinate value after the surface conversion of the lower standard component.
Fourth step: standard component surface point cloud data acquisition
After the standard component is restrained, the system main shaft circumferentially rotates the standard component at a proper angular velocity at a uniform speed, and a main shaft rotation signal triggers a measuring head to acquire data, so that the surface spherical surface III characteristics of the standard component shown in fig. 5 and the left and right end surfaces P shown in fig. 6 are respectively obtained 2 And an upper end face P 3 Characterised by the gauge head coordinate system o g -x g y g z g And (3) the lower point cloud data.
Fifth step: geometric feature extraction from point cloud data
The least square method is adopted for the spherical surface III, the left end surface P and the right end surface P 2 And an upper end face P 3 And (3) extracting features of the point cloud data, performing comparison analysis on redundant information, calibrating the pose of the measuring head, and verifying the accuracy of a calibration result.
1) Sphere III features
According to the coordinate frame of the calibration system established in the second step, the point cloud data of the spherical III feature is subjected to a least square method to obtain the sphere center (x) of the fitting sphere 0 ,y 0 ,z 0 ) In combination with the calibrated coordinate value (x) of the sphere center of the sphere III in the standard component coordinate system s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) The position quantities a, b, c are determined.
2) Left and right end surfaces P 2 Upper end face P 3 Features (e.g. a character)
According to the coordinate frame of the calibration system established in the second step, the left end face P and the right end face P are aligned 2 And an upper end face P 3 The normal vectors of the fitting end surfaces of the characteristic point cloud data obtained by using a least square method are respectively as followsAnd->Combining a standard component coordinate system o s -x s y s z s X of (2) s ,y s ,z s Axis unit direction vector determination attitude angle +.>And->And->The method is used for verifying the accuracy of the calibration result.
Sixth step: calibrating the pose parameters of the measuring head
Standard part coordinate system o s -x s y s z s X of (2) s ,y s ,z s The axial unit direction vectors are respectively Calibration coordinate value (x) of sphere center of sphere III under standard component coordinate system s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ )；
Based on the center (x) of the spherical surface III in the fifth step 0 ,y 0 ,z 0 ) Left and right end surfaces P 2 Normal vector of (2)Upper end face P 3 Normal vector of->Calibrating six pose parameters a, b, c, < > of the probe>The calculation process is as follows:
1) Determining attitude angle
The attitude angle θ is solved by equation (11).
To determine attitude angleAnd γ, first calculate->Is>The direction of which follows the right-hand rule, and then calculating the attitude angle +.>Equation (13) calculates the solution attitude angle γ.
2) Determining the position quantities a, b, c
Attitude angleIt has been determined that the matrix R is rotated s g It has been determined that the position quantities a, b, c are solved by equation (14), where (x) s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Is the calibrated coordinate value of the sphere center of the standard component sphere III under the standard component coordinate system, (x) 0 ,y 0 ,z 0 ) Is fit to the center of the sphere.
Seventh step: redundant feature verification calibration result accuracy
According to the left and right end surfaces P obtained in the fifth step 2 Normal vector of (2)Upper end face P 3 Normal vector of->Calculate->Andif the included angle is smaller than the prescribed threshold angle, the calibration is effective, otherwise, the calibration is carried out again.
And calibrating and verifying the space pose relation of the measuring head in the standard part center clamping mode.
Example 2: in the standard part three-jaw chuck clamping mode, the specific calibration steps are as follows:
the first step: clamping standard part
As shown in fig. 7, the three clamping jaws of the three-jaw chuck clamping mechanism are matched with the inner hole F of the standard component, and according to the automatic centering principle, 4 degrees of freedom of the standard component are clamped and limited, so that the clamping of the standard component is completed.
And a second step of: establishing a coordinate frame of a calibration system
The following end face P 4 Is the origin o of coordinates s The standard component coordinate system o shown in fig. 4 is established according to the right hand rule s -x s y s z s And a gauge head coordinate system o g -x g y g z g . Wherein a, b and c are respectively the coordinate system o of the measuring head g -x g y g z g Origin o g Relative to standard co-ordinate system o s -x s y s z s Origin o s At x s 、y s 、z s Three positional amounts in the axial direction;respectively measuring head coordinate system o g -x g y g z g Relative to standard co-ordinate system o s -x s y s z s Attitude angle of (2), wherein the attitude angle +.>Is a measuring head winding measuring head coordinate system o g -x g y g z g Is a yaw angle of (2); the attitude angle theta is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a pitch angle of (2); the attitude angle gamma is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a roll angle of (c). a, b, c, < >>And the space pose parameters of the measuring head which need to be calibrated are obtained.
And a third step of: gauge head coordinate system o g -x g y g z g To the standard part coordinate system o s -x s y s z s Coordinate transformation of (a)
Determining a measuring head coordinate system o from the formula (15) according to the calibration system coordinate system established in the second step g -x g y g z g And standard part coordinate system o s -x s y s z s Coordinate transformation relation between:
D s ＝R s g ·D g +M s g (15)
in the middle ofR s g Is of physical meaning of +.>Related rotation matrix, M s g ＝[a,b,c] T The physical meaning is a translation matrix associated with the position quantities a, b, c. D (D) g ＝[x g ,y g ,z g ] T In the measuring head coordinate system o g -x g y g z g Space coordinate value of lower standard part surface, D s ＝[x s ,y s ,z s ] T In the standard part coordinate system o s -x s y s z s And the space coordinate value after the surface conversion of the lower standard component.
Fourth step: standard component surface point cloud data acquisition
After the standard component is restrained, the system main shaft circumferentially rotates the standard component at a proper angular velocity at a uniform speed, and a main shaft rotation signal triggers a measuring head to acquire data, so that front and rear end faces P of the standard component are respectively obtained as shown in fig. 8 1 And left and right end surfaces P 2 Features, an outer cylindrical surface I and a spherical surface III shown in fig. 9, and a semicircular groove II shown in fig. 10 are arranged in a measuring head coordinate system o g -x g y g z g And (3) the lower point cloud data.
Fifth step: geometric feature extraction from point cloud data
By least square method, for front and rear end surfaces P 1 And left and right end surfaces P 2 And (3) carrying out feature extraction on the point cloud data of the outer cylindrical surface I, the spherical surface III and the semicircular groove II, carrying out comparison analysis on redundant information, calibrating the pose of the measuring head, and verifying the accuracy of the calibration result.
1) Sphere III features
According to the coordinate frame of the calibration system established in the second step, the point cloud data of the spherical III feature is subjected to a least square method to obtain the sphere center (x) of the fitting sphere 0 ,y 0 ,z 0 ) In combination with the calibrated coordinate value (x) of the sphere center of the sphere III in the standard component coordinate system s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) The position quantities a, b, c are determined.
2) Front and rear end faces P 1 Left and right end surfaces P 2 Features (e.g. a character)
Based on the coordinate frame of the calibration system established in the second step, the front end face P and the rear end face P are aligned 1 Left and right end surfaces P 2 The normal vectors of the fitting end surfaces of the characteristic point cloud data obtained by using a least square method are respectively as followsCombining a standard component coordinate system o s -x s y s z s X of (2) s ,y s ,z s Axis unit direction vector determination attitude angle +.>
3) External cylindrical surface I and semicircular groove II characteristics
The point cloud data of the outer cylindrical surface I and the semicircular groove II are used for obtaining a direction vector fitting the central axis of the cylindrical surface by using a least square methodAnd fitting the geometric center point (x 1 ,y 1 ,z 1 ) Sphere center (x) combined with sphere III 0 ,y 0 ,z 0 ) And verifying the accuracy of the calibration result.
Sixth, calibrating the position and posture parameters of the measuring head
Standard part coordinate system o s -x s y s z s X of (2) s ,y s ,z s The axial unit direction vectors are respectively Calibration coordinate value (x) of sphere center of sphere III under standard component coordinate system s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ )；
Based on the center (x) of the spherical surface III in the fifth step 0 ,y 0 ,z 0 ) Left and right end surfaces P 2 Normal vector of (2)And front and rear end faces P 1 Normal vector of->Calibrating six pose parameters a, b, c, < > of the probe>The calculation process is as follows:
1) Determining attitude angle
The attitude angle θ is solved by equation (16).
To determine attitude angleAnd γ, first calculate->Is>The direction of which follows the right-hand rule, and then calculating the attitude angle +.>Equation (18) calculates the solution attitude angle γ.
2) Determining the position quantities a, b, c
Due to attitude angleIt has been determined that the matrix R is rotated s g It was confirmed that the position amounts a, b, c were calculated by the formula (19) where (x s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Is the calibrated coordinate value of the sphere center of the standard component sphere III under the standard component coordinate system, (x) 0 ,y 0 ,z 0 ) Is fit to the center of the sphere.
Seventh step: redundant feature verification calibration result accuracy
According to the direction vector of the central axis of the outer cylindrical surface I obtained in the fifth stepSphere center of sphere III (x) 0 ,y 0 ,z 0 ) And the geometric center point (x 1 ,y 1 ,z 1 ) Calculate vector +.>Sum vector (x) 1 -x 0 ,y 1 -y 0 ,z 1 -z 0 ) If the included angle is smaller than the prescribed threshold angle, the calibration is effective, otherwise, the calibration is carried out again.
And calibrating and verifying the space pose relation of the measuring head in the clamping mode of the three-jaw chuck of the standard part.
The detailed calibration flow is shown in fig. 11.
The specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A novel standard component for calibrating a complex curved surface measurement system is characterized in that: the standard component integrates four characteristics of an outer cylindrical surface I, a plane, a spherical surface III and a semicircular groove II, and has two clamping characteristics of a conical hole and an inner hole.
2. The novel standard component for calibrating a complex curved surface measurement system according to claim 1, wherein the standard component comprises: the outer cylindrical surface I is coaxially connected with the spherical surface III, the diameters of the outer cylindrical surface I and the spherical surface III are consistent, the semicircular groove II is arranged between the outer cylindrical surface I and the spherical surface III, and the front end surface P and the rear end surface P are arranged on the same plane 1 And left and right end surfaces P 2 The planes are symmetrically distributed around the geometric center of the standard component and circumferentially distributed around the outer cylindrical surface I; upper end face P 3 And lower end face P 4 Perpendicular to the axial direction of the outer cylindrical surface I and symmetrically distributed, and tapered holes E are arranged on the front end face P and the rear end face P 1 Is coaxial with the outer cylindrical surface i and is disposed inside the standard component.
3. A calibration method based on the novel standard component for the calibration of the complex curved surface measurement system according to any one of claims 1-2, comprising the following specific steps:
w1: clamping a standard part;
w2: establishing a coordinate frame of a calibration system;
w3: gauge head coordinate system o g -x g y g z g To the standard part coordinate system o s -x s y s z s Coordinate transformation of (2);
w4: obtaining standard part surface point cloud data;
w5: extracting geometric features according to the point cloud data;
w6: calibrating the pose parameters of the measuring head;
w7: and verifying the accuracy of the calibration result by the redundant characteristic.
4. A calibration method according to claim 3, characterized in that: the specific steps of the W1 are as follows:
according to the field calibration condition of the complex curved surface measurement system, a clamping standard piece with a corresponding mode is selected, and the standard piece has the following two clamping modes:
1) Center clamping
The upper and lower tips of the tip clamping mechanism are matched with the conical hole E of the standard part, and the standard part is clamped and limited in 5 degrees of freedom according to an automatic centering principle, so that the clamping of the standard part is completed;
2) Three-jaw chuck clamping
The three clamping jaws of the three-jaw chuck clamping mechanism are matched with the inner hole F of the standard part, 4 degrees of freedom of the standard part are clamped and limited according to an automatic centering principle, and the clamping of the standard part is completed.
5. A calibration method according to claim 3, characterized in that: the specific steps of the W2 are as follows:
the following end face P 4 Is the origin o of coordinates s Standard part coordinate system o s -x s y s z s And a gauge head coordinate system o g -x g y g z g All are established according to the right hand rule, and the measuring head coordinate system o g -x g y g z g Origin o g Relative to standard co-ordinate system o s -x s y s z s Origin o s At x s 、y s 、z s The three position quantities in the axial direction are a, b and c respectively, and the coordinate system o of the measuring head g -x g y g z g Relative to standard co-ordinate system o s -x s y s z s Is the attitude angle of (2)θ, γ, wherein the attitude angle +.>Is a measuring head winding measuring head coordinate system o g -x g y g z g Is a yaw angle of (2); the attitude angle theta is the coordinate system o of the measuring head around the measuring head g -x g y g z g Is a pitch angle of (2); the attitude angle gamma is the coordinate system o of the measuring head around the measuring head g -x g y g z g Roll angle, a, b, c, < ->And theta and gamma are parameters of the space pose of the measuring head to be calibrated.
6. A calibration method according to claim 3, characterized in that: the specific steps of the W3 are as follows:
determining a measuring head coordinate system o by the formula (1) according to a calibration system coordinate frame established by W2 g -x g y g z g And standard part coordinate system o s -x s y s z s Coordinate transformation relation between:
D s ＝R s g ·D g +M s g (1)
in the middle ofR s g Is of physical meaning of +.>θ, γ -dependent rotation matrix, M s g ＝[a,b,c] T The physical meaning is a translation matrix related to the position quantity a, b and c, D g ＝[x g ,y g ,z g ] T In the measuring head coordinate system o g -x g y g z g Space coordinate value of lower standard part surface, D s ＝[x s ,y s ,z s ] T In the standard part coordinate system o s -x s y s z s And the space coordinate value after the surface conversion of the lower standard component.
7. A calibration method according to claim 3, characterized in that: the specific steps of the W4 are as follows:
according to the field calibration condition of a complex curved surface measurement system, after a corresponding clamping mode is selected to restrict the standard component, a main shaft of the system circumferentially rotates the standard component at a proper angular velocity at a uniform speed, and a main shaft rotation signal triggers a measuring head to acquire data, so that the surface of the standard component is acquired in a measuring head coordinate system o g -x g y g z g The contact type measuring system collects the surface of the standard part point by point in series through the measuring head and the measuring rod, the non-contact type measuring system collects the surface of the standard part in parallel in multiple points through a single measuring head or multiple measuring heads, and the data collected by the measuring heads are different in two clamping modes of the standard part: (1) during clamping of standard part center, a measuring head acquires spherical surface III, left end face P and right end face P 2 And an upper end face P 3 Point cloud data of the features; (2) when the standard part three-jaw chuck is clamped, the measuring head acquires an outer cylindrical surface I, a semicircular groove II, a spherical surface III and front and rear end surfaces P 1 And left and right end surfaces P 2 And (5) point cloud data of the features.
8. A calibration method according to claim 3, characterized in that: the specific steps of the W5 are as follows:
the least square method is adopted, and an external cylindrical surface I, a semicircular groove II, a spherical surface III and front and rear end surfaces P are adopted 1 Left and right end surfaces P 2 And an upper end face P 3 Extracting features from the point cloud data of the image;
1) Sphere III features
According to a coordinate frame of a calibration system established by W2, obtaining the sphere center (x) of the fitting sphere by using a least square method on point cloud data of the spherical III characteristics 0 ,y 0 ,z 0 ) In combination with the calibrated coordinate value (x) of the sphere center of the sphere III in the standard component coordinate system s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Determining position quantities a, b, c;
2) Front and rear end faces P 1 Left and right end surfaces P 2 Upper end face P 3 Features (e.g. a character)
A calibration system coordinate frame established according to W2 is used for the front end face and the rear end face P 1 Left and right end surfaces P 2 And an upper end face P 3 The normal vectors of the fitting end surfaces of the characteristic point cloud data obtained by using a least square method are respectively as followsAnd->Combining a standard component coordinate system o s -x s y s z s X of (2) s ,y s ,z s Axis unit direction vector determination attitude angle +.>θ, γ, and->And->Can be used for marksVerifying the accuracy of a calibration result in a standard part center clamping mode;
3) External cylindrical surface I and semicircular groove II characteristics
The point cloud data of the outer cylindrical surface I and the semicircular groove II are used for obtaining a direction vector fitting the central axis of the cylindrical surface by using a least square methodAnd fitting the geometric center point (x 1 ,y 1 ,z 1 ) Sphere center (x) combined with sphere III 0 ,y 0 ,z 0 ) Verifying the accuracy of a calibration result in a standard part three-jaw chuck clamping mode;
calibrating the pose of the measuring head by using the basic characteristics, and performing control analysis aiming at the redundant characteristics to verify the accuracy of the calibration result;
the basic characteristics for determining the pose parameters of the measuring head in the standard part center clamping mode are as follows: sphere III, left and right end surfaces P 2 And an upper end face P 3 The redundancy features for verifying the accuracy of the calibration result are: left and right end surfaces P 2 And an upper end face P 3 ；
The basic characteristics for determining the pose parameters of the measuring head in the standard three-jaw chuck clamping mode are as follows: sphere III, left and right end surfaces P 2 And front and rear end faces P 1 The redundancy features for verifying the accuracy of the calibration result are: an outer cylindrical surface I, a semicircular groove II and a spherical surface III.
9. A calibration method according to claim 3, characterized in that: the specific steps of the W6 are as follows:
standard part coordinate system o s -x s y s z s X of (2) s ,y s ,z s The axial unit direction vectors are respectively The sphere center of the standard component sphere III is in a standard component coordinate system o s -x s y s z s The lower calibration coordinate value is (x s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ )；
When the standard part center is clamped in W6.1, the center (x) of the sphere III in W5 0 ,y 0 ,z 0 ) Left and right end surfaces P 2 Normal vector of (2)And an upper end face P 3 Normal vector->Calibrating six pose parameters a, b, c, < > of the probe>θ, γ, the calculation process is as follows:
1) Determining attitude angleθ,γ
Solving the attitude angle theta by the method (2)
To determine attitude angleAnd γ, first calculate->Is>The direction of which follows the right-hand rule, and then calculating the attitude angle +.>Calculating and solving an attitude angle gamma in the formula (4);
2) Determining the position quantities a, b, c
Attitude angleθ, γ has been determined, and the matrix R is rotated s g It has been determined that the position quantities a, b, c are solved by equation (5), where (x) s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Is the calibrated coordinate value of the sphere center of the standard component sphere III under the standard component coordinate system, (x) 0 ,y 0 ,z 0 ) Is the sphere center of the fitting sphere;
when the standard part three-jaw chuck is clamped in W6.2, the sphere center (x) based on the sphere III in W5 0 ,y 0 ,z 0 ) Left and right end surfaces P 2 Normal vector of (2)And front and rear end faces P 1 Normal vector->Calibrating six pose parameters a, b, c, < > of the probe>θ, γ, the calculation process is as follows:
1) Determining attitude angleθ,γ
Solving the attitude angle theta by the method (6)
To determine attitude angleAnd γ, first calculate->Is>The direction of which follows the right-hand rule, and then the attitude angle +.>Calculating and solving an attitude angle gamma in the formula (8);
2) Determining the position quantities a, b, c
Due to attitude angleθ, γ has been determined, i.e. the rotation matrix R s g It was confirmed that the position amounts a, b, c were calculated by the formula (9) where (x s-Ⅲ ,y s-Ⅲ ,z s-Ⅲ ) Is the calibrated coordinate value of the sphere center of the standard component sphere III under the standard component coordinate system, (x) 0 ,y 0 ,z 0 ) Is fit to the center of the sphere.
10. A calibration method according to claim 3, characterized in that: the specific steps of the W7 are as follows:
whether the calibration result is accurate or not directly influences the accuracy and the effectiveness of subsequent part measurement, and the calibration result is verified in time by utilizing the redundancy characteristics of the standard parts;
w7.1 verification mode under the center clamping mode of the standard part: based on the left and right end surfaces P obtained in W5 2 Normal vector of (2)Upper end face P 3 Normal vector of->Calculate->And->If the included angle is smaller than the specified threshold angle, the calibration is effective, otherwise, the calibration is carried out again;
w7.2 verification mode of the standard part three-jaw chuck in clamping mode: according to the direction vector of the central axis of the outer cylindrical surface I obtained in W5Sphere center of sphere III (x) 0 ,y 0 ,z 0 ) And the geometric center point (x 1 ,y 1 ,z 1 ) Calculate vector +.>Sum vector (x) 1 -x 0 ,y 1 -y 0 ,z 1 -z 0 ) If the included angle is smaller than the specified threshold angle, the calibration is effective, otherwise, the calibration is carried out again;
and calibrating and verifying the space pose relation of the measuring head.
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