Measurement Attitude Adjustment Method and Adjustment Device for Line Structured Light Sensor

Abstract

The present application discloses a method and a device for adjusting the measurement attitude of a line structured light sensor during the measurement of an involute tooth surface, belonging to the field of measurement technology. The measurement attitude adjustment method includes: constructing a virtual digital gear; constructing a virtual line structured light measurement model; simulating and analyzing the reflection characteristics of the actual involute tooth surface for the line structured light, and characterizing the light transmission process according to physical equations; determining a suitable range of incident angles; determining an evaluation method based on the proportion of invalid measurement points; roughly adjusting the incident attitude of the line structured light within the range of incident angles, and determining the optimal solution of the static line structured light measurement attitude according to the evaluation method; adding a gear rotation motion, evaluating the current incident attitude of the line structured light according to the evaluation method, and continuously fine-tuning the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum. It can effectively reduce the generation of invalid measurement points caused by multiple reflections of light at the tooth root during the measurement process.

Description

Technical Field

[0001] This application belongs to the field of measurement technology, and particularly relates to a method and device for adjusting the measurement posture of a line structured light sensor when measuring an involute tooth surface. Background Art

[0002] The prior art CN107167078A proposes a multi-degree-of-freedom laser displacement sensor gear measurement system, which consists of a laser displacement sensor and a bracket with spatial orthogonal axial rotation degrees of freedom. During the gear measurement process, by adjusting the rotation posture of the sensor bracket, it is ensured that the laser emitted by the sensor irradiates on the tooth surface of the measured gear, and through reflection, the sensor receiving window can receive tooth surface information as much as possible.

[0003] The bracket with spatial orthogonal axial rotation degrees of freedom is as Figure 1 shown, and the posture adjustment of the component 6 laser displacement sensor is realized through the component 2 rotary frame and the component 3 rotating platform. This method adjusts two orthogonal axial rotation mechanisms to keep the laser displacement sensor in the same spatial inclination posture as the tooth line of the measured gear, thereby ensuring that the sensor can collect as complete data information of the tooth surface as possible.

[0004] Currently, the above method realizes the sensor posture adjustment by designing an orthogonal mechanical structure, but has not analyzed the reflection characteristics of the tooth surface for the measurement light from the principle perspective; this method also cannot effectively reduce the generation of invalid measurement points caused by multiple reflections of light at the tooth root during the measurement process, lacks the characterization of the optical path of the reflected light, and it is difficult to ensure the consistency between the sensor measurement posture and the inclination posture of the tooth line of the measured gear during the actual measurement process. Summary of the Invention

[0005] The purpose of the embodiments of this application is to provide a method and device for adjusting the measurement posture of a line structured light sensor when measuring an involute tooth surface, which can solve the problems that the existing measurement posture adjustment method cannot effectively reduce the generation of invalid measurement points caused by multiple reflections of light at the tooth root during the measurement process, and it is difficult to ensure the consistency between the sensor measurement posture and the inclination posture of the tooth line of the measured gear during the actual measurement process, etc.

[0006] To solve the above technical problems, this application is implemented as follows:

[0007] In the first aspect, the embodiments of this application provide a method for adjusting the measurement posture of a line structured light sensor when measuring an involute tooth surface, including:

[0008] S101: Construct a virtual digital gear;

[0009] S102: Construct a virtual line structured light measurement model in combination with the measurement principle of the line structured light sensor;

[0010] S103: According to the virtual digital gear and the virtual line structured light measurement model, simulate the reflection characteristics of the actual involute tooth surface to the line structured light, and characterize the light transmission process based on the physical equation;

[0011] S104: Determine a suitable incident angle range so that when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has sufficient measurement area and avoid the occlusion effect between teeth;

[0012] S105: Determine an evaluation method based on the proportion of invalid measurement points;

[0013] S106: Coarsely adjust the incident attitude of the line structured light within the incident angle range, simulate and render the microscopic reflection of the microscopic structure on the involute tooth surface to the line structured light, observe and analyze the multiple reflection effects between teeth, and determine the optimal solution of the static line structured light measurement attitude according to the evaluation method;

[0014] S107: Add the gear rotation motion, analyze the dynamic reflection effect of the involute tooth surface on the line structured light during the dynamic measurement process, evaluate the current incident attitude of the line structured light according to the evaluation method, and continuously fine-tune the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum, and complete the adjustment of the measurement attitude of the line structured light sensor.

[0015] Optionally, S105 is specifically:

[0016] Count the invalid measurement points after the line structured light irradiates the involute tooth surface during the measurement process, and evaluate the current incident attitude of the line structured light according to the proportion of the invalid measurement points in the total measurement points;

[0017] Among them, the invalid measurement points include the points that are not received and the points that are received after multiple reflections.

[0018] Optionally, S101 specifically includes:

[0019] S1011: Measure the surface reflection characteristics of the gear to be measured;

[0020] S1012: Construct a surface mixed reflection model of the gear to be measured according to the surface reflection characteristics;

[0021] S1013: Construct a virtual digital gear according to the surface mixed reflection model.

[0022] Optionally, the surface mixed reflection model includes a specular reflection component and a diffuse reflection component.

[0023] Second aspect, an embodiment of the present application provides a measuring attitude adjustment device for a line structured light sensor when measuring an involute tooth surface, including:

[0024] A first construction module for constructing a virtual digital gear;

[0025] A second construction module for constructing a virtual line structured light measurement model in combination with the measurement principle of the line structured light sensor;

[0026] A simulation module for simulating and analyzing the reflection characteristics of the actual involute tooth surface for the line structured light according to the virtual digital gear and the virtual line structured light measurement model, and characterizing the light transmission process based on physical equations;

[0027] A determination module for determining a suitable incident angle range so that when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has a sufficient measurement area and avoid the occlusion effect between the teeth;

[0028] An evaluation module for determining an evaluation method based on the proportion of invalid measurement points;

[0029] A coarse adjustment module for coarsely adjusting the incident attitude of the line structured light within the incident angle range, simulating and rendering the microscopic reflection of the microscopic structure on the involute tooth surface for the line structured light, observing and analyzing the multiple reflection effects between the teeth, and determining the optimal solution of the static line structured light measurement attitude according to the evaluation method;

[0030] A fine adjustment module for adding the gear rotation motion, analyzing the dynamic reflection effect of the involute tooth surface on the line structured light during the dynamic measurement process, evaluating the current incident attitude of the line structured light according to the evaluation method, and continuously fine-tuning the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum, completing the measurement attitude adjustment of the line structured light sensor.

[0031] Optionally, the evaluation module is specifically configured to:

[0032] Count the invalid measurement points after the line structured light irradiates the involute tooth surface during the measurement process, and evaluate the current incident attitude of the line structured light according to the proportion of the invalid measurement points in the total measurement points;

[0033] Among them, the invalid measurement points include the points that are not received and the points that are received after multiple reflections.

[0034] Optionally, the first construction module specifically includes:

[0035] A measurement sub-module for measuring the surface reflection characteristics of the gear to be measured;

[0036] A model construction sub-module for constructing a surface mixed reflection model of the gear to be measured according to the surface reflection characteristics;

[0037] A gear construction sub-module for constructing a virtual digital gear according to a surface mixed reflection model.

[0038] Optionally, the surface mixed reflection model includes a specular reflection component and a diffuse reflection component.

[0039] In the embodiments of the present application, by means of simulation, a suitable incident angle range of structured light is determined, and an evaluation method based on the proportion of invalid measurement points is established. First, the incident attitude of the line structured light is roughly adjusted within the incident angle range to determine the optimal solution of the static line structured light measurement attitude. Secondly, on the basis of the static optimal solution, the gear rotation motion is added and finely adjusted until the number of invalid measurement points is reduced to the minimum, and the measurement attitude adjustment of the line structured light sensor is completed. This effectively reduces the generation of invalid measurement points caused by multiple reflections of light at the tooth root during the measurement process, and ensures the consistency between the sensor measurement attitude and the inclination attitude of the tooth line of the measured gear during the actual measurement process, realizing the optimization of the sensor measurement attitude, and thus improving the three-dimensional measurement accuracy of the gear line structured light. Description of the Drawings

[0040] Figure 1 It is a schematic diagram of a measurement attitude adjustment method when an existing line structured light sensor is used for involute tooth surface measurement;

[0041] Figure 2 It is a schematic flow diagram of a measurement attitude adjustment method when a line structured light sensor provided by an embodiment of the present application is used for involute tooth surface measurement;

[0042] Figure 3 It is a schematic diagram of using a line structured light sensor for involute tooth surface measurement provided by an embodiment of the present application;

[0043] Figure 4 It is a schematic diagram of the reflection characteristics of the tooth surface of a measured gear provided by an embodiment of the present application;

[0044] Figure 5 is a schematic diagram of interference when a line structured light sensor provided by an embodiment of the present application is used for involute tooth surface measurement;

[0045] Figure 6 It is a schematic structural diagram of a measurement attitude adjustment device when a line structured light sensor provided by an embodiment of the present application is used for involute tooth surface measurement.

[0046] The realization, functional characteristics and advantages of the object of the present invention will be further described in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Embodiments

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0048] Currently, the three-dimensional measurement accuracy of the gear line structured light is affected by multiple factors such as tooth surface error, motion error, and optical error. In addition, the complex geometric features of the gear itself, the drastic change in tooth surface curvature, and the narrow space between adjacent teeth greatly limit the incident attitude of the line structured light sensor. The complex geometric features of the gear result in different reflection laws of the tooth surface for the structured light; the narrow space near the tooth root will cause the measurement light to be reflected multiple times at the root; in addition, the rotational motion during gear measurement will also change the relative attitude between the tooth surface and the line structured light, and the reflection characteristics of the tooth surface will also change accordingly; the above factors interact and jointly act on the gear three-dimensional measurement process, making it difficult to clarify the reflection mechanism of the involute tooth surface for the structured light at the present stage, posing challenges to determining the optimal incident attitude of the line structured light sensor, and limiting the accuracy of the gear line structured light three-dimensional measurement.

[0049] The following will, with reference to the accompanying drawings, detail the measurement attitude adjustment method of the line structured light sensor provided in the embodiments of the present application when used for involute tooth surface measurement through specific embodiments and their application scenarios.

[0050] Embodiment 1

[0051] Refer to Figure 2 , which shows a schematic flowchart of a measurement attitude adjustment method of a line structured light sensor provided in the embodiments of the present application when used for involute tooth surface measurement.

[0052] A measurement attitude adjustment method of a line structured light sensor provided in the present application when used for involute tooth surface measurement includes:

[0053] S101: Construct a virtual digital gear.

[0054] Optionally, the construction of the virtual digital gear can be completed in a physics engine.

[0055] Optionally, the virtual digital gear is constructed by modeling the digital gear through 3D software. Through the research on the virtual digital gear, technical support is provided for the actual gear.

[0056] Optionally, step S101 can be specifically completed by sub-steps S1011 to S1013.

[0057] S1011: Measure the surface reflection characteristics of the gear under test.

[0058] Refer to Figure 3 , which shows a schematic diagram of involute tooth surface measurement using a line structured light sensor provided by an embodiment of the present application.

[0059] Figure 3 In , the line structured light sensor 31 projects a light beam onto the tooth surface 321 under test. The incident light 311 changes its propagation direction after being reflected by the tooth surface 321 under test and becomes the reflected light 312. The tooth surface data information is obtained by collecting the reflected light 312. At the same time, during the measurement process, the gear 32 under test needs to rotate at a certain speed to obtain the tooth surface geometric information to the greatest extent.

[0060] Refer to Figure 4 , which shows a schematic diagram of the reflection characteristics of the tooth surface of the gear under test provided by an embodiment of the present application.

[0061] Figure 4 In , during the process of the incident light 41 being reflected by the tooth surface 42 under test, the microscopic surface structure 43 of the tooth surface under test causes the light reflection to include a specular reflection component 44 and a diffuse reflection component 45. The physical engine can well simulate the reflection path of the measurement light on the surface.

[0062] S1012: Construct a surface mixed reflection model of the gear under test according to the surface reflection characteristics.

[0063] Among them, the surface mixed reflection model includes a specular reflection component and a diffuse reflection component.

[0064] S1013: Construct a virtual digital gear according to the surface mixed reflection model.

[0065] S102: Combine the measurement principle of the line structured light sensor to construct a virtual line structured light measurement model.

[0066] S103: According to the virtual digital gear and the virtual line structured light measurement model, simulate and analyze the reflection characteristics of the actual involute tooth surface for the line structured light, and characterize the light transmission process according to the physical equation.

[0067] S104: Determine a suitable incident angle range so that when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has sufficient measurement area and avoid the occlusion effect between the teeth.

[0068] It should be noted that the appropriate incident angle range in this step is only a preliminary incident angle range, and it only needs to meet the following requirement: when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has sufficient measurement area and avoid the occlusion effect between the teeth. This preliminary requirement is sufficient.

[0069] Specifically, the angle when the light starts to be severely occluded can be recorded, and this is used as the upper and lower limits of the incident angle range.

[0070] S105: Determine the evaluation method based on the proportion of invalid measurement points.

[0071] Specifically, according to statistical methods, the measurement accuracy at a specific posture is evaluated by the proportion of invalid measurement points.

[0072] Regarding the invalid measurement points, referring to Fig. 5, a schematic diagram of interference during the involute tooth surface measurement using a line structured light sensor provided by an embodiment of the present application is shown.

[0073] During the measurement process, the situation shown in Fig. 5 will occur. Fig. 5(a) shows that the line structured light sensor is not in a suitable measurement posture, resulting in the reflected light beam of the line structured light emitted by the line structured light emitter 51 not reaching the receiving area of the line structured light receiver 52, thus causing the measurement point to be invalid. Fig. 5(b) shows that the line structured light emitted by the line structured light emitter 51 enters the receiving area of the line structured light receiver 52 after multiple reflections on the tooth surface, thus causing the measurement point to be invalid.

[0074] Optionally, S105 is specifically: count the invalid measurement points after the line structured light irradiates the involute tooth surface during the measurement process, and evaluate the incident posture of the current line structured light according to the proportion of the invalid measurement points in the total measurement points.

[0075] Among them, the invalid measurement points include the points that are not received and the points that are received after multiple reflections.

[0076] It should be noted that because the theoretical sampling points of the line structured light sensor are a fixed value each time during the measurement process, for example, 1920 sampling points, but the actual sampling value each time is less than the theoretical sampling points due to the situation that the reflection points are not received, and there will also be some multiple reflection points among the received points, and these multiple reflection points cannot truly reflect the information of the measured tooth surface. Therefore, when the number of multiple reflection points and non-received points is smaller, it indicates that the current measurement position of the line structured light sensor is better, and at this time, the number of effective information points of the tooth surface that the sensor can collect is more. Using the proportion of the number of multiple reflections and non-received points (invalid measurement points) in the total measurement points as the evaluation standard, the smaller the proportion, the better the measurement posture of the current line structured light sensor.

[0077] S106: Coarsely adjust the incident attitude of the line structured light within the incident angle range, simulate and render the microscopic reflection of the line structured light on the involute tooth surface's microscopic structure, observe and analyze the multiple reflection effects between the teeth, and determine the optimal solution for the static line structured light measurement attitude according to the evaluation method.

[0078] It can be understood that in S106, first coarsely adjust within the incident angle range to obtain a static optimal solution for subsequent fine adjustment.

[0079] S107: Increase the gear rotation motion, analyze the dynamic reflection effect of the involute tooth surface on the line structured light during the dynamic measurement process, evaluate the current incident attitude of the line structured light according to the evaluation method, and continuously fine-tune the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum, completing the adjustment of the measurement attitude of the line structured light sensor.

[0080] In the embodiment of the present application, determine a suitable structured light incident angle range through simulation, establish an evaluation method based on the proportion of invalid measurement points. First, coarsely adjust the incident attitude of the line structured light within the incident angle range to determine the optimal solution for the static line structured light measurement attitude. Secondly, based on the static optimal solution, increase the gear rotation motion and perform fine adjustment until the number of invalid measurement points is reduced to the minimum, completing the adjustment of the measurement attitude of the line structured light sensor. Effectively reduce the generation of invalid measurement points caused by the multiple reflections of light at the tooth root during the measurement process, and ensure the consistency between the sensor measurement attitude and the tooth line inclination attitude of the measured gear during the actual measurement process, realizing the optimization of the sensor measurement attitude, thereby improving the three-dimensional measurement accuracy of the gear line structured light.

[0081] Embodiment Two

[0082] Refer to Figure 6 , which shows a schematic structural diagram of a measurement attitude adjustment device 60 of a line structured light sensor for involute tooth surface measurement provided by an embodiment of the present application.

[0083] The measurement attitude adjustment device 60 includes:

[0084] The first construction module 601 is used to construct a virtual digital gear;

[0085] The second construction module 602 is used to construct a virtual line structured light measurement model in combination with the measurement principle of the line structured light sensor;

[0086] The simulation module 603 is used to simulate and analyze the reflection characteristics of the actual involute tooth surface on the line structured light according to the virtual digital gear and the virtual line structured light measurement model, and characterize the light transmission process based on physical equations;

[0087] A determination module 604, configured to determine a suitable incident angle range, so that when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has a sufficient measurement area and avoid the occlusion effect between the teeth;

[0088] An evaluation module 605, configured to determine an evaluation method based on the proportion of invalid measurement points;

[0089] A coarse adjustment module 606, configured to coarsely adjust the incident posture of the line structured light within the incident angle range, simulate and render the microscopic reflection of the line structured light by the microscopic structure on the involute tooth surface, observe and analyze the multiple reflection effect between the teeth, and determine the optimal solution of the static line structured light measurement posture according to the evaluation method;

[0090] A fine adjustment module 607, configured to increase the rotational movement of the gear, analyze the dynamic reflection effect of the involute tooth surface on the line structured light during the dynamic measurement process, evaluate the current incident posture of the line structured light according to the evaluation method, and continuously fine-tune the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum, thereby completing the adjustment of the measurement posture of the line structured light sensor.

[0091] Optionally, the evaluation module 605 is specifically configured to:

[0092] Count the invalid measurement points after the line structured light irradiates the involute tooth surface during the measurement process, and evaluate the current incident posture of the line structured light according to the proportion of the invalid measurement points in the total measurement points;

[0093] Wherein, the invalid measurement points include the points that are not received and the points that are received after multiple reflections.

[0094] Optionally, the first construction module 601 specifically includes:

[0095] A measurement sub-module 6011, configured to measure the surface reflection characteristics of the gear to be measured;

[0096] A model construction sub-module 6012, configured to construct a surface mixed reflection model of the gear to be measured according to the surface reflection characteristics;

[0097] A gear construction sub-module 6013, configured to construct a virtual digital gear according to the surface mixed reflection model.

[0098] Optionally, the surface mixed reflection model includes a specular reflection component and a diffuse reflection component.

[0099] The measurement posture adjustment device 60 provided by the embodiments of the present application can implement each process implemented in the above method embodiments. To avoid repetition, it will not be elaborated here.

[0100] In the embodiment of the present application, the appropriate incident angle range of the structured light is determined through simulation, and an evaluation method based on the proportion of invalid measurement points is established. First, the incident attitude of the line structured light is roughly adjusted within the incident angle range to determine the optimal solution of the static line structured light measurement attitude. Second, on the basis of the static optimal solution, the gear rotation movement is added and finely adjusted until the number of invalid measurement points is reduced to the minimum, and the measurement attitude adjustment of the line structured light sensor is completed. The multiple reflections of light at the tooth root during the measurement process are effectively reduced, which may cause the generation of invalid measurement points, and the consistency between the sensor measurement attitude and the tooth line inclination attitude of the measured gear is ensured during the actual measurement process, realizing the optimization of the sensor measurement attitude, thereby improving the three-dimensional measurement accuracy of the gear line structured light.

[0101] The virtual device in the embodiment of the present application may be a device, or a component, an integrated circuit, or a chip in a terminal.

[0102] The above are only the embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. A method for adjusting the measurement attitude of a line structured light sensor during involute tooth surface measurement, characterized in that, it includes: S101: Construct a virtual digital gear; S102: Combine the measurement principle of the line structured light sensor to construct a virtual line structured light measurement model; S103: According to the virtual digital gear and the virtual line structured light measurement model, simulate the reflection characteristics of the actual involute tooth surface for the line structured light, and characterize the light transmission process based on physical equations; S104: Determine a suitable incident angle range so that when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has sufficient measurement area and avoid the occlusion effect between teeth; S105: Determine an evaluation method based on the proportion of invalid measurement points; S106: Coarsely adjust the incident attitude of the line structured light within the incident angle range, simulate and render the microscopic reflection of the microscopic structure on the involute tooth surface for the line structured light, observe and analyze the multiple reflection effects between teeth, and determine the optimal solution of the static line structured light measurement attitude according to the evaluation method; S107: Add the gear rotation motion, analyze the dynamic reflection effect of the involute tooth surface on the line structured light during the dynamic measurement process, evaluate the current incident attitude of the line structured light according to the evaluation method, and continuously fine-tune the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum, and complete the adjustment of the measurement attitude of the line structured light sensor.

2. The measurement attitude adjustment method according to claim 1, characterized in that, the specific content of S105 is: Count the invalid measurement points after the line structured light irradiates the involute tooth surface during the measurement process, and evaluate the current incident attitude of the line structured light according to the proportion of the invalid measurement points in the total measurement points; wherein, the invalid measurement points include the unreceived points and the points received after multiple reflections.

3. The measurement attitude adjustment method according to claim 1, characterized in that, the specific content of S101 includes: S1011: Measure the surface reflection characteristics of the measured gear; S1012: Construct the surface mixed reflection model of the measured gear according to the surface reflection characteristics; S1013: Construct a virtual digital gear according to the surface mixed reflection model.

4. The measurement attitude adjustment method according to claim 3, characterized in that, the surface mixed reflection model includes a specular reflection component and a diffuse reflection component.

5. A measurement attitude adjustment device for a line structured light sensor during involute tooth surface measurement, characterized in that, it includes: The first construction module is used to construct a virtual digital gear; The second construction module is used to combine the measurement principle of the line structured light sensor to construct a virtual line structured light measurement model; The simulation module is used to simulate the reflection characteristics of the actual involute tooth surface for the line structured light according to the virtual digital gear and the virtual line structured light measurement model, and characterize the light transmission process based on physical equations; A determination module, configured to determine a suitable incident angle range, so that when the line structured light within the incident angle range irradiates the tooth surface of the virtual digital gear, it can ensure that the line structured light sensor has a sufficient measurement area and avoid the occlusion effect between the teeth; An evaluation module, configured to determine an evaluation method based on the proportion of invalid measurement points; A coarse adjustment module, configured to coarsely adjust the incident posture of the line structured light within the incident angle range, simulate and render the microscopic reflection of the line structured light by the microscopic structure on the involute tooth surface, observe and analyze the multiple reflection effect between the teeth, and determine the optimal solution of the static line structured light measurement posture according to the evaluation method; A fine adjustment module, configured to increase the rotational movement of the gear, analyze the dynamic reflection effect of the involute tooth surface on the line structured light during the dynamic measurement process, evaluate the current incident posture of the line structured light according to the evaluation method, and continuously fine-tune the incident angle of the line structured light until the number of invalid measurement points is reduced to the minimum, thereby completing the adjustment of the measurement posture of the line structured light sensor.

6. The measurement posture adjustment device according to claim 5, wherein, the evaluation module is specifically configured to: count the invalid measurement points after the line structured light irradiates the involute tooth surface during the measurement process, and evaluate the current incident posture of the line structured light according to the proportion of the invalid measurement points in the total measurement points; wherein, the invalid measurement points include the points that are not received and the points that are received after multiple reflections.

7. The measurement posture adjustment device according to claim 5, wherein, the first construction module specifically includes: a measurement sub-module, configured to measure the surface reflection characteristics of the gear to be measured; a model construction sub-module, configured to construct a surface mixed reflection model of the gear to be measured according to the surface reflection characteristics; a gear construction sub-module, configured to construct a virtual digital gear according to the surface mixed reflection model.

8. The measurement posture adjustment device according to claim 7, wherein, the surface mixed reflection model includes a specular reflection component and a diffuse reflection component.

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