阅读说明：本技术 一种线激光安装误差角确定方法 (A kind of line laser fix error angle determines method ) 是由 董志刚 康仁科 秦炎 郭鑫垒 朱祥龙 高尚 于 2019-09-03 设计创作，主要内容包括：本发明公开了一种线激光安装误差角确定方法,包括如下步骤：进行规定路径扫描标准件；利用扫描后的轮廓数据,分别计算出线激光测头绕Z轴的安装误差角α<Sub>Z</Sub>、绕Y轴的安装误差角α<Sub>y</Sub>和绕X轴的安装误差角α<Sub>x</Sub>。该方法有效解决了线激光安装误差角难以确定的问题,方法操作方便、精度高、适用性强、成本低,是线激光实现高效、高精度测量的有效手段。(The invention discloses a kind of line laser fix error angles to determine method, includes the following steps: to carry out regulation path scanning standard part；Using the outline data after scanning, the fix error angle α of outlet laser feeler about the z axis is calculated separately Z , around the fix error angle α of Y-axis y With the fix error angle α around X-axis x .It is determining that this method efficiently solves the problems, such as that line laser fix error angle is difficult to, and method is easy to operate, precision is high, strong applicability, at low cost, be line laser realize efficiently, the effective means of high-acruracy survey.)

1. a kind of line laser fix error angle determines method, wherein line laser sensor is mounted on three axis numerically controlled machine, line laser Y-axis or X-axis along lathe coordinate system OXYZ do rectilinear scanning motion, the step pitch that fixes scanning survey, it is characterised in that including such as Lower step:

The heeling error that line laser gauge head is installed successively is decomposed into rotation alpha about the z axis_ZAngle, around Y-axis rotation alpha_yAngle, around X-axis Rotation alpha_xAngle；

Data coordinate system and lathe coordinate system after line laser measurement, which exist, to misplace, and separately establishing line laser measurement data coordinate system is o_l-x_ly_lz_l, wherein x_lAxis and z_lAxis is the coordinate of line laser measurement data itself, x_lAxis is laser rays direction, z_lAxis is that measurement is high Angle value, y_lAxis is along machine tool motion direction be line laser supplement reference axis；

To determine the fix error angle α of line laser gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith the fix error angle around X-axis α_x, carry out regulation path scanning standard part；

Offset based on standard component after the positional relationship and the scanning of each path between each path calculates separately outlet laser feeler Fix error angle α about the z axis_Z, around the fix error angle α of Y-axis_yWith the fix error angle α around X-axis_x。

2. line laser fix error angle according to claim 1 determines method, it is further characterized in that the step pitch that fixes The implementation method of scanning survey are as follows:

The trigger signal measured using the encoder pulse signal of y-axis motor or grating scale pulse signal as line laser, arteries and veins The interval of punching is the step pitch Δ of line laser measurement_y。

3. line laser fix error angle according to claim 1 determines method, it is further characterized in that the regulation path is swept Retouch standard component are as follows:

Line laser scanning standard part three times；

Line laser first time scanning standard part, line laser are moved along Y-axis, the outline data of measurement standard part；

Second of scanning standard part of line laser, line laser is along X-axis forward direction translation distance w, identical Y-direction when scanning with first time Path scanning standard part again, the outline data of measurement standard part, wherein w is less than the sweep length w of line laser₀；

Line laser third time scanning standard part, line laser raise distance h along Z axis forward direction, identical Y-direction when scanning with second Path scanning standard part again, the outline data of measurement standard part, wherein h is less than the range of line laser.

4. line laser fix error angle according to claim 3 determines method, it is further characterized in that the line laser second Secondary opposite first time scanning feeler meets along X-axis forward direction translation distance w:

W=β × w₀ (1)

β value is 0.5~0.75；

Respectively there is (1- β) w in the data measured twice along the x axis₀Measurement data in width range, corresponding identical standard component Profile.

5. line laser fix error angle according to claim 3 determines method, it is further characterized in that the line laser third Secondary opposite second of scanning feeler is raised distance h along Z axis forward direction and is met:

H is less than the range of line laser；

Before scanning, distance of the line laser to standard component, standard component all online laser measurement range ability when making to scan three times are adjusted It is interior.

6. line laser fix error angle according to claim 1 determines method, it is further characterized in that described for calibration Standard component are as follows:

Required standard component is discontinuous structure part, and physical form is not only restricted to fixed shape, from straight line or song The labyrinth of the simple structure of line to periodic arrangement is all met the requirements；Need to only it meet when different direction measurement, very It is easy to tell the data of same area.

7. described in any item line laser fix error angles determine method according to claim 1~6, it is further characterized in that the meter Calculate the fix error angle α of line laser gauge head about the z axis_ZDetailed process are as follows:

In x_lo_ly_lIn plane relatively for the first time and the identical standard part outline data of second of measurement, second of measurement relative to It measures for the first time, standard component profile is along y_lThe offset of axis direction is l_z, the fix error angle satisfaction of line laser gauge head about the z axis:

tanα_Z=l_z/w (3)

Then

α_Z=arctan (l_z/w) (4)

Wherein l_zDetermining detailed process are as follows:

By the data of second of measurement along y_lAxis positive direction and negative direction successively translate i row (i=-n_max,-n_max+ 1 ..., -1,0, 1,…n_max-1,n_max), wherein n_maxCorresponding mobile number of data lines range, value should be greater than the offset estimated；Calculate translation It measures the coincidence data amount of overlapping region measurement data or the area of coincidence twice afterwards, finds maximum coincidence data amount or coincidence The corresponding translation line number n of area₁；

Offset is l_zAre as follows:

l_z=n₁×Δ_y (2)。

8. described in any item line laser fix error angles determine method according to claim 1~6, it is further characterized in that the meter Line laser gauge head is calculated around the fix error angle α of Y-axis_yDetailed process are as follows:

In x_lo_lz_lIn plane relatively for the first time and the identical standard part outline data of second of measurement, second of measurement relative to It measures for the first time, standard component profile is along z_lThe offset l of axis direction_y, fix error angle satisfaction of the line laser gauge head around Y-axis:

tanα_y=l_y/w (5)

Then

α_y=arctan (l_y/w) (6)

Wherein l_yDetermining detailed process are as follows:

After the data of second of measurement are translated w distance, the contour convergence of duplicate measurements part of standards part calculates the number of coincidence Difference according to second of measurement relative to first time measurement, l_yIt is taken as the average value of all differences.

9. described in any item line laser fix error angles determine method according to claim 1~6, it is further characterized in that the meter Line laser gauge head is calculated around the fix error angle α of X-axis_xDetailed process are as follows:

Compare second and the identical standard part outline data of third time measurement, third time measurement are measured relative to second, mark Quasi- part profile is along z_lThe offset h' of axis direction, the fix error angle α of line laser gauge head about the z axis_xMeet:

cosα_x=h/h'(7)

Then

α_x=arccos (h/h') (8)

The wherein detailed process that h' is determined are as follows:

Third time is relative to second of measurement in x_lo_ly_lThe profile of plane internal standard part essentially coincides, and calculates the data of coincidence Difference of the third time measurement relative to second of measurement, h' are taken as the average value of all differences.

10. line laser fix error angle according to claim 1 determines method, it is further characterized in that the line laser gauge head Fix error angle α about the z axis_Z, around the fix error angle α of Y-axis_yWith the fix error angle α around X-axis_x, can be with according to all angles The error caused by measurement data, direct compensation can also accurately be adjusted into measurement data by mechanical structure.

Technical field

The present invention relates to line laser field of measuring technique more particularly to a kind of line laser fix error angle to determine method.

Background technique

Line laser displacement sensor is answered extensively in fields such as machine vision, reverse-engineering, industrial detection, biomedicines With the profile based on laser triangulation and energy one line of single measurement has the advantages that measurement accuracy is high, high-efficient.Line swashs Light data measured directly are two dimensions, supplement third dimension information by the scanning motion along another dimension, Realize three-dimensional measurement.

In order to realize the measurement of large sized object, sensor need to be only mounted on lathe, it is driven by the movement of lathe Realize the scanning to object.But due to the presence of installation error, direction and the global coordinate system of sensor coordinate system cannot be complete In parallel, line laser data result measured directly and desired result have certain error.To finally obtain the entirety of measurand Face graphic data needs accurately to obtain the world coordinates of each sensor measurement data, could finally be spliced into the whole of measurand Honorable shape.Measurement data transforms to global coordinate system by sensor coordinate system, it is thus necessary to determine that needed for converting between two coordinate systems Translation matrix and spin matrix.Translation matrix can be determined by the movement position of sensor, according to the seat of machine feedback Mark is readily available.And spin matrix reaction be three axis of sensor coordinate system direction it is not parallel relative to global coordinate system Declination error, which can determine according to the drift angle of three axis.

It is entitled " three-dimensional precise information to be obtained using two-dimentional line laser scanner application No. is 201810269833.6 The patent of invention of method " discloses a kind of angular deviation for according to line laser around x, y and z axes and ideal position, swashs to line The method that the data of light measurement are calibrated.Although it, which gives, determines spin matrix in coordinate transform by these three error angles Method, but its method of determination for not providing these three error angles.And how to determine these three drift angles to high-efficiency high-accuracy Occurrence, which is only, restricts the key point that line laser realizes large scale scanning.In practical application, especially in some on-line measurements Occasion, due to scene have cutting fluid or chip etc. line laser can be polluted, processing when generally require to remove gauge head, It is reinstalled again in measurement.After each line laser is reinstalled, three of them error angle needs are redefined.Therefore, Yi Zhongyi It is very crucial in the determination of operation, high-precision, quick line laser fix error angle, it is that can line laser pass through numerical control machine Bed realizes portable high-acruracy survey, the key of even on-position measure.

Summary of the invention

The it is proposed of the present invention in view of the above problems, and disclose a kind of line laser fix error angle and determine method.

The present invention is based on the measurements to simple standard component, are capable of determining that line laser around the rotation error of three reference axis Measurement result is calibrated by by way of mechanical adjustment or coordinate compensation in angle, obtains line laser in three-dimensional measurement Accurate three-dimensional data.Realize that the high accuracy data splicing of scanning provides basis for line laser.

In order to achieve the above objectives, method adopted by the present invention includes the following steps:

A kind of line laser fix error angle determines method, wherein line laser sensor is mounted on three axis numerically controlled machine, and line swashs Light does rectilinear scanning motion along the Y-axis or X-axis of lathe coordinate system OXYZ, and the step pitch that fixes scanning survey includes the following steps:

The heeling error that line laser gauge head is installed successively is decomposed into rotation alpha about the z axis_ZAngle, around Y-axis rotation alpha_yAngle, around X-axis rotation alpha_xAngle；

Data coordinate system and lathe coordinate system after line laser measurement, which exist, to misplace, and separately establishes line laser measurement data coordinate System is o_l-x_ly_lz_l, wherein x_lAxis and z_lAxis is the coordinate of line laser measurement data itself, x_lAxis is laser rays direction, z_lAxis is to survey Measure height value, y_lAxis is along machine tool motion direction be line laser supplement reference axis；

To determine the fix error angle α of line laser gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith the installation mistake around X-axis Declinate α_x, carry out regulation path scanning standard part；

Offset based on standard component after the positional relationship and the scanning of each path between each path calculates separately out line laser The fix error angle α of gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith the fix error angle α around X-axis_x。

Further, the implementation method of the step pitch scanning survey that fixes are as follows:

Believed using the triggering that the encoder pulse signal of y-axis motor or grating scale pulse signal are measured as line laser Number, the interval of pulse is the step pitch Δ of line laser measurement_y。

Further, regulation path scanning standard part are as follows:

Line laser scanning standard part three times；

Line laser first time scanning standard part, line laser are moved along Y-axis, the outline data of measurement standard part；

Second of scanning standard part of line laser, line laser are identical when scanning with first time along X-axis forward direction translation distance w Y-direction path scanning standard part again, the outline data of measurement standard part, wherein w is less than the sweep length w of line laser₀；

Line laser third time scanning standard part, line laser raise distance h along Z axis forward direction, identical when scanning with second Y-direction path scanning standard part again, the outline data of measurement standard part, wherein h is less than the range of line laser.

Further, second of the line laser opposite first time scanning feeler meets along X-axis forward direction translation distance w:

W=β × w₀ (1)

β value is 0.5~0.75；

Respectively there is (1- β) w in the data measured twice along the x axis₀Measurement data in width range, corresponding identical mark Quasi- part profile.

Further, opposite second of the scanning feeler of the line laser third time is raised distance h along Z axis forward direction and is met:

H is less than the range of line laser；

Before scanning, distance of the line laser to standard component, standard component all online laser measurement range when making to scan three times are adjusted In range.

Further, the standard component for calibration are as follows:

Required standard component is discontinuous structure part, and physical form is not only restricted to fixed shape, from straight line Or the labyrinth of the simple structure of curve to periodic arrangement is all met the requirements；Need to only it meet when different direction measures It waits, it is easy to tell the data of same area.

Further, described to calculate the fix error angle α of line laser gauge head about the z axis_ZDetailed process are as follows:

In x_lo_ly_lRelatively first time and for the second time the identical standard part outline data of measurement in plane, second of measurement phase First time is measured, standard component profile is along y_lThe offset of axis direction is l_z, the fix error angle of line laser gauge head about the z axis is full Foot:

tanα_Z=l_z/w (2)

Then

α_Z=arctan (l_z/w) (3)

Wherein l_zDetermining detailed process are as follows:

By the data of second of measurement along y_lAxis positive direction and negative direction successively translate i row (i=-n_max,-n_max+ 1 ... ,- 1,0,1,…n_max-1,n_max), wherein n_maxCorresponding mobile number of data lines range, value should be greater than the offset estimated；It calculates The coincidence data amount (or the area being overlapped) for measuring overlapping region measurement data after translation twice, finds maximum coincidence data amount (or the area being overlapped) corresponding translation line number n₁；

Offset is l_zAre as follows:

l_z=n₁×Δ_y (4)。

Further, the line laser gauge head that calculates is around the fix error angle α of Y-axis_yDetailed process are as follows:

In x_lo_lz_lRelatively first time and for the second time the identical standard part outline data of measurement in plane, second of measurement phase First time is measured, standard component profile is along z_lThe offset l of axis direction_y, fix error angle satisfaction of the line laser gauge head around Y-axis:

tanα_y=l_y/w (5)

Then

α_y=arctan (l_y/w) (6)

Wherein l_yDetermining detailed process are as follows:

After the data of second of measurement are translated w distance, the contour convergence of duplicate measurements part of standards part is calculated and is overlapped Data second measure the difference relative to first time measurement, l_yIt is taken as the average value of all differences.

Further, the line laser gauge head that calculates is around the fix error angle α of X-axis_xDetailed process are as follows:

Compare second and the identical standard part outline data of third time measurement, third time measurement are surveyed relative to second Amount, standard component profile is along z_lThe offset h' of axis direction, the fix error angle α of line laser gauge head about the z axis_xMeet:

cosα_x=h/h'(7)

Then

α_x=arccos (h/h') (8)

The wherein detailed process that h' is determined are as follows:

Third time is relative to second of measurement in x_lo_ly_lThe profile of plane internal standard part essentially coincides, and calculates coincidence Difference of the data third time measurement relative to second of measurement, h' are taken as the average value of all differences.

Further, the fix error angle α of the line laser gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith around X-axis Fix error angle α_x, can be with according to all angles error caused by measurement data, direct compensation, can also into measurement data Accurately to be adjusted by mechanical structure.

Compared with prior art, the invention has the following advantages:

1. easy to operate.By the measurement to standard component, the fix error angle of sensor can be quickly calculated.

2. measurement accuracy is high.Machining accuracy and its placement position of the present invention without being bound by measured standard component itself, And by accurately calculating, obtained error angular accuracy is high.

3. strong applicability.The present invention can be suitable for the occasion that sensor needs continuous installing and dismounting, may be implemented in place Measurement.

4. at low cost.Present invention only requires a standard components, and low to standard component requirement, are easy to get, at low cost.

Detailed description of the invention

For the clearer technical solution for illustrating the embodiment of the present invention or the prior art, to embodiment or will show below There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, the accompanying drawings in the following description is only Some embodiments of the present invention without creative efforts, may be used also for those of ordinary skill in the art To obtain other drawings based on these drawings.

Fig. 1 is that a kind of line laser fix error angle of the present invention determines method flow diagram.

Fig. 2 is the line laser instrumentation plan in the embodiment of the present invention.

Fig. 3 is the standard component schematic diagram in the embodiment of the present invention.

Fig. 4 is the fix error angle α of middle line of embodiment of the present invention laser feeler about the z axis_ZCalculating schematic diagram.

Fig. 5 is fix error angle α of middle line of the embodiment of the present invention laser feeler around Y-axis_yCalculating schematic diagram.

Fig. 6 is fix error angle α of middle line of the embodiment of the present invention laser feeler around X-axis_xCalculating schematic diagram.

Specific embodiment

To keep the purposes, technical schemes and advantages of the embodiment of the present invention clearer, below with reference to the embodiment of the present invention In attached drawing, technical solution in the embodiment of the present invention carries out clear and complete description:

The technical solution adopted by the present invention implements step as shown in Figure 1: are as follows:

1. measuring table is built

Line laser sensor is mounted on three axis numerically controlled machine, and line laser sensor is generally moved along lathe coordinate system OXYZ, Line laser is moved in a straight line along Y-axis in the present embodiment, along X-axis or other feasible embodiments, with along Y-axis similarly, consolidate Determine step pitch scanning survey；It is measured using the encoder pulse signal of y-axis motor or grating scale pulse signal as line laser Trigger signal, the interval of pulse are the step pitch Δ of line laser measurement_y.By the encoder pulse signal of three axis of lathe or It is grating scale feedback signal, step-by-step counting processing system is accessed, in the encoder pulse signal or grating scale feedback letter of y-axis motor When number firing line laser measurement, while the umber of pulse that the step-by-step counting processing system records three axis is triggered, according to umber of pulse With the relationship at a distance from actual motion, the gauge head coordinates of motion [x can determine₀,y₀,z₀]。

The heeling error of line laser gauge head installation can successively be decomposed into rotation alpha about the z axis_ZAngle, around Y-axis rotation alpha_yAngle, Around X-axis rotation alpha_xAngle.Data coordinate system and lathe coordinate system after line laser measurement, which exist, to misplace, and separately establishes line laser measurement Data coordinate system is o_l-x_ly_lz_l, wherein x_lAxis and z_lThe coordinate of axis laser measurement data itself, x_lAxis is laser rays direction, z_l Axis is measurement height value, y_lAxis be by machine tool motion be line laser supplement reference axis, with x_lAxis, z_lAxis is mutually perpendicular to, such as Shown in Fig. 2.

2. standard component

To determine the fix error angle α of line laser gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith the installation mistake around X-axis Declinate α_x, need according to regulation path scanning standard part；Required standard component be discontinuous structure part, physical form not by It is limited to fixed shape, the labyrinth from the simple structure of straight line or curve to periodic arrangement is all met the requirements；Only It need to meet when different direction measurement, it is easy to tell the data of same area；Required standard component example such as Fig. 3 It is shown.

3. standard component scans

To determine the fix error angle α of line laser gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith the installation mistake around X-axis Declinate α_x, carry out regulation path scanning standard part；

Line laser scanning standard part three times:

Line laser first time scanning standard part, line laser are moved along Y-axis, the outline data of measurement standard part；

Second of scanning standard part of line laser, along X-axis forward direction translation distance w, (w is less than the sweep length of line laser to line laser w₀), identical Y-direction path scanning standard part again, the outline data of measurement standard part when being scanned with first time；

Line laser third time scanning standard part, line laser raise distance h (range that h is less than line laser) along Z axis forward direction, with Identical Y-direction path scanning standard part again, the outline data of measurement standard part when being scanned with second.

Second of line laser opposite first time scanning feeler meets along X-axis forward direction translation distance w:

W=β × w₀ (1)

β value is 0.5~0.75；

Respectively there is (1- β) w in the data measured twice along the x axis₀Measurement data in width range, corresponding identical mark Quasi- part profile.

Opposite second of the scanning feeler of line laser third time is raised distance h along Z axis forward direction and is met:

H is less than the range of line laser；

Before scanning, distance of the line laser to standard component, standard component all online laser measurement range when making to scan three times are adjusted In range.

4. the fix error angle α of line laser gauge head about the z axis_ZCalculating

As shown in figure 4, by taking the standard component with continuous hexagonal structure unit as an example, specification error angle α_ZCalculating it is former Reason, other shapes are similarly.

By the data of second of measurement along y_lAxis positive direction and negative direction successively translate i row (i=-n_max,-n_max+ 1 ... ,- 1,0,1,…n_max-1,n_max), wherein n_maxCorresponding mobile number of data lines range, value should be greater than the offset estimated；It calculates The coincidence data amount (or the area being overlapped) for measuring overlapping region measurement data after translation twice, finds maximum coincidence data amount (or the area being overlapped) corresponding translation line number n₁；

Offset is l_zAre as follows:

l_z=n_y1×Δ_y (2)

In x_lo_ly_lRelatively first time and for the second time the identical standard part outline data of measurement in plane, second of measurement phase First time is measured, standard component profile is along y_lThe offset of axis direction is l_z, the fix error angle of line laser gauge head about the z axis is full Foot:

tanα_Z=l_z/w (3)

Then

α_Z=arctan (l_z/w) (4)

5. line laser gauge head is around the fix error angle α of Y-axis_yCalculating

As shown in figure 5, by taking the standard component with continuous hexagonal structure unit as an example, specification error angle α_yCalculating it is former Reason, other shapes are similarly.

After the data of second of measurement are translated w distance, the contour convergence of duplicate measurements part of standards part is calculated and is overlapped Data second measure the difference relative to first time measurement, l_yIt is taken as the average value of all differences.

In x_lo_lz_lRelatively first time and for the second time the identical standard part outline data of measurement in plane, second of measurement phase First time is measured, standard component profile is along z_lThe offset l of axis direction_y, fix error angle satisfaction of the line laser gauge head around Y-axis:

tanα_y=l_y/w (5)

Then

α_y=arctan (l_y/w) (6)

6. line laser gauge head is around the fix error angle α of X-axis_xCalculating

As shown in fig. 6, by taking the standard component with continuous hexagonal structure unit as an example, specification error angle α_xCalculating it is former Reason, other shapes are similarly.

Third time is relative to second of measurement in x_lo_ly_lThe profile of plane internal standard part essentially coincides, and calculates coincidence Difference of the data third time measurement relative to second of measurement, h' are taken as the average value of all differences.

Compare second and the identical standard part outline data of third time measurement, third time measurement are surveyed relative to second Amount, standard component profile is along z_lThe offset h' of axis direction, the fix error angle α of line laser gauge head about the z axis_xMeet:

cosα_x=h/h'(7)

Then

α_x=arccos (h/h') (8)

7. line laser gauge head is around the fix error angle α of X-axis_xCalculating

It is further characterized in that the fix error angle α of the line laser gauge head about the z axis_Z, around the fix error angle α of Y-axis_yWith around X The fix error angle α of axis_x, can be with according to all angles error caused by measurement measurement data, direct compensation to measurement data In, it can also accurately be adjusted by mechanical structure.