Cylindrical part butt joint pose measurement system and method based on double lasers

Abstract

The invention relates to a cylindrical part butt joint pose measurement system based on double lasers, which is characterized by comprising two identical pose measurements, namely a pose measurement A (100) and a pose measurement B (200), each pose measurement comprises a laser contour scanning sensor pose measurement system (20), a laser sensor position adjusting device (10), a cylindrical part pose adjusting device (30) and a rack (50), the two cylindrical part pose adjusting devices (30) are both installed on the rack (50), the laser sensor position adjusting devices (10) are installed on the cylindrical part pose adjusting devices (30), and the laser contour scanning sensor pose measuring system (20) is installed on the laser sensor position adjusting devices (10). According to the automatic butt joint device, automatic butt joint is achieved, convenience and rapidness are achieved, the butt joint precision is greatly improved, and manpower is reduced. The production efficiency is improved, and the product quality is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated assembly, and in particular relates to a dual-laser based cylindrical part docking posture measurement system and method. Background Art

[0002] For the docking between cylindrical parts whose docking surfaces are connected by wedge rings, there is no need to measure the rotation angle of the cylindrical parts, and only the other five posture parameters of the cylindrical parts need to be measured. As the fitting clearance between the two cylindrical parts is small, it is impossible to determine the relative offset direction of the two cylinders through manual visual docking. The existing docking devices have low assembly efficiency, high requirements for manual operation proficiency, and low intelligence, which is not conducive to automatic assembly. It is difficult to control the degree of axis deviation during the docking of two cylindrical parts, which can easily cause damage to the cylindrical parts. The posture measurement system proposed in the present invention provides data as a basis for posture adjustment, which effectively improves efficiency and ensures the safety of objects. Summary of the invention

[0003] The purpose of the present invention is to propose a dual-laser based cylindrical part docking posture measurement system and method, which visually detects the offset of the cylindrical part relative to the reference position, displays the data in real time, and guides the operator to adjust the posture of the cylindrical part, effectively improving production efficiency and enhancing the degree of automation of the docking equipment.

[0004] A dual-laser-based cylindrical part docking posture measurement system, characterized in that it includes two identical posture measurements, namely posture measurement A100 and posture measurement B200, each posture measurement includes a laser contour scanning sensor posture measurement system 20, a laser sensor position adjustment device 10, a cylindrical part posture adjustment device 30 and a frame 50, wherein the two cylindrical part posture adjustment devices 30 are both installed on the frame 50, the laser sensor position adjustment device 10 is installed on the cylindrical part posture adjustment device 30, and the laser contour scanning sensor posture measurement system 20 is installed on the laser sensor position adjustment device 10; the laser contour scanning sensor posture measurement system 20 is connected to a computer 40;

[0005] The laser sensor position adjustment device 10 includes a Z-axis adjustment linear module 11, an adapter 12, a linear guide 13, a camera bracket 14, a Z-axis deflection fine-tuning bolt 15, and a Y-axis deflection fine-tuning bolt 16. The linear guide 13 is connected to the side of the Z-axis adjustment linear module 11 through the adapter 12, and two camera brackets 14 are connected to the side of the linear guide 13; the Z-axis deflection fine-tuning bolt 15 is installed on the lower surface of the linear guide 13, and the Y-axis deflection fine-tuning bolt 16 is installed on the side of the linear guide 13;

[0006] The laser profile scanning sensor posture measurement system 20 includes a laser sensor A21 and a laser sensor B22. The computer 40 is used to display the data measured by the laser sensor A21 and the laser sensor B22. The Z-axis deflection fine-tuning bolts 15 and the Y-axis deflection fine-tuning bolts 16 are used to adjust the relative positions between the laser sensor A21 and the laser sensor B22 and the frame 50, so that the laser sensor A21 and the laser sensor B22 can be detected in the same coordinate system. The Z-axis adjustment linear module 11 is used to adjust the Z-axis detection distance of the laser sensor A21 and the laser sensor B22 relative to the cylindrical part. The linear guide 13 is used to adjust the X-axis detection spacing of the laser sensor A21 and the laser sensor B22 to adapt to cylindrical parts of different lengths.

[0007] The frame 50 includes a base 51 and a track 52, and the track 52 is installed on a plane 501 on the base 51;

[0008] The cylindrical part posture adjustment device 30 includes a vehicle body 35, two holding rings 34, a Y-axis posture adjustment device 31, a Z-axis posture adjustment device 32 and an X-axis position adjustment device 33. The vehicle body 35 is arranged on the track 52 of the frame 50, and the Y-axis posture adjustment device 31, the Z-axis posture adjustment device 32 and the X-axis position adjustment device 33 are all installed on the vehicle body 35; two holding rings 34 are installed on the upper surface of the vehicle body 35, the Y-axis posture adjustment device 31 is used to adjust the posture of the two holding rings 34 in the Y-axis direction, the Z-axis posture adjustment device 32 adjusts the posture of the two holding rings 34 in the Z direction, and the X-axis position adjustment device 33 adjusts the position of the two holding rings 34 in the X direction; a Y-axis posture adjustment handwheel 301 is arranged on the outer side of the Y-axis posture adjustment device 31, a Z-axis posture adjustment handwheel 302 is arranged on the outer side of the Z-axis posture adjustment device 32, and an X-axis position adjustment handwheel 303 is arranged on the outer side of the X-axis position adjustment device 33.

[0009] A method for measuring the position and posture of cylindrical parts docking based on dual lasers is characterized by using the aforementioned cylindrical parts docking position and posture measurement system based on dual lasers to perform the following steps:

[0010] Step 1: Calibrate the laser profile scanning sensor posture measurement system

[0011] (a) Adjust the laser sensor position adjustment device 10, take the frame 50 as the measurement object, rotate the Z-axis linear module hand wheel, so that the plane 501 on the frame 50 enters the measurement range of the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22;

[0012] (b) The computer collects the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22, and the Z-axis deflection fine-tuning bolts 15 and the Y-axis deflection fine-tuning bolts 16, so that the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22 are consistent, so that the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22 are located in the same coordinate system;

[0013] Step 2: Fix the cylindrical parts to be tested Ⅰ and Ⅱ

[0014] Two cylindrical parts to be tested I and II are mounted on the cylindrical part posture adjustment device 30, and two cylindrical part posture adjustment devices 30 respectively support one cylindrical body to be tested, and the cylindrical part to be tested is locked by the holding ring, and the cylindrical part no longer moves along the X direction relative to the holding ring, that is, the holding ring and the cylindrical part are considered to be a whole, and the two cylindrical parts are fixed respectively. At this time, the posture of the cylindrical part can be adjusted by adjusting the adjustment handwheels at the front and rear ends of a single cylindrical part;

[0015] Step 3: Measure the position of cylindrical part I

[0016] (a) adjusting the laser sensor position adjustment device 10 so that the cylinder I to be measured enters the measurement range of the laser profile scanning sensor posture measurement system;

[0017] (b) The laser profile sensor used is based on the principle of laser triangulation. It measures the depth change information of each point on the intersection line of the laser plane and the surface of the measured cylinder in real time. The laser line emitted by the sensor intersects with the outer surface of the cylinder. It is known that the shape of the cylinder is a cylinder, and the cylinder is cut obliquely from the side to form an ellipse. The center of the ellipse cross section passes through the axis of the cylinder. Secondary development is carried out based on the hardware interface to realize the software control of the sensor and obtain the ply format point cloud data obtained by its scanning;

[0018] (c) Extract valid data within the range of the ROI, and develop a software interface based on the VTK visualization tool library to achieve three-dimensional display of the point cloud. Then solve the axis of the cabin. The core of the axis solution is to determine the center of the ellipse. Select algebraic ellipse fitting as the optimization objective function, which can accurately estimate the parameters of the incomplete ellipse contour obtained by structured light scanning.

[0019] (d) The computer records the axis of the cylindrical part I to be measured after fitting, and displays the axis coordinates on the display screen as the reference for adjusting the posture of the cylindrical part II;

[0020] Step 4: Measure the position of cylindrical part II

[0021] Adjust the laser sensor position adjustment device 10 to make the cylinder II to be measured enter the measurement range of the laser profile scanning sensor posture measurement system, the laser profile sensor calculates the axis coordinates of the cylinder II to be measured, and the computer displays the axis coordinates of the cylinder II;

[0022] Step 5: Adjust the posture of the cylindrical part II to be tested

[0023] (a) According to the axis coordinates of the cylindrical part I obtained in step 3, the Y-axis posture adjustment handwheel 301, the Z-axis posture adjustment handwheel 302, and the X-axis position adjustment handwheel 303 of the two cylindrical part posture adjustment devices 30 below the cylindrical part II are rotated respectively to adjust the posture of the cylindrical part II;

[0024] (b) When the axis coordinates of cylindrical part II displayed by the computer are consistent with the axis coordinates of cylindrical part I, push B200 to achieve the docking of cylindrical part II and cylindrical part I.

[0025] Step 6: The measured posture data of cylinders I and II are consistent. Move the posture adjustment device below cylinders I and II to dock the cylinders, so as to achieve unobstructed docking between the cylindrical parts.

[0026] The present invention proposes a visual posture measurement system and method for cylindrical parts docking, which is mainly used to solve the problem that the posture cannot be accurately adjusted during the cylindrical parts docking process; the present invention automatically docks, is convenient and fast, greatly improves the docking accuracy, and reduces labor. The present invention improves production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 , is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 , is a schematic structural diagram of a laser sensor position adjustment device 10 of the present invention;

[0029] (a) Schematic diagram of the structure of the laser sensor position adjustment device 10

[0030] (b) Figure 2 A magnified schematic diagram of point A in (a);

[0031] Figure 3 , is the laser profile scanning sensor posture measurement system of the present invention;

[0032] Figure 4 , is a cylindrical member posture adjustment device of the present invention;

[0033] Figure 5 , is the working principle of the laser profile scanning sensor of the present invention; Among them: 1. Laser scanning sensor (in the dotted box); 2. Line laser projector; 3. Industrial camera; 4. Imaging plane; 5. Parts to be measured; 6. Laser belt

[0034] Figure 6 , is a schematic diagram of point cloud data of the laser profile scanning sensor of the present invention;

[0035] Figure 7 , is a list of contents of the computer interface of the laser contour scanning sensor posture measurement system of the present invention. DETAILED DESCRIPTION

[0036] The object of the present invention is achieved in this way: a dual-laser based cylindrical part docking posture measurement system and method, including a laser contour scanning sensor posture measurement system, a laser sensor position adjustment device, a cylindrical part posture adjustment device, and a frame.

[0037] A dual-laser-based cylindrical part docking posture measurement system, characterized in that it includes two identical posture measurements, namely posture measurement A100 and posture measurement B200, each posture measurement includes a laser contour scanning sensor posture measurement system 20, a laser sensor position adjustment device 10, a cylindrical part posture adjustment device 30 and a frame 50, wherein the two cylindrical part posture adjustment devices 30 are both installed on the frame 50, the laser sensor position adjustment device 10 is installed on the cylindrical part posture adjustment device 30, and the laser contour scanning sensor posture measurement system 20 is installed on the laser sensor position adjustment device 10; the laser contour scanning sensor posture measurement system 20 is connected to a computer 40;

[0038] The laser sensor position adjustment device 10 includes a Z-axis adjustment linear module 11, an adapter 12, a linear guide 13, a camera bracket 14, a Z-axis deflection fine-tuning bolt 15, and a Y-axis deflection fine-tuning bolt 16. The linear guide 13 is connected to the side of the Z-axis adjustment linear module 11 through the adapter 12, and two camera brackets 14 are connected to the side of the linear guide 13; the Z-axis deflection fine-tuning bolt 15 is installed on the lower surface of the linear guide 13, and the Y-axis deflection fine-tuning bolt 16 is installed on the side of the linear guide 13;

[0039] The laser profile scanning sensor posture measurement system 20 includes a laser sensor A21 and a laser sensor B22. The computer 40 is used to display the data measured by the laser sensor A21 and the laser sensor B22. The Z-axis deflection fine-tuning bolts 15 and the Y-axis deflection fine-tuning bolts 16 are used to adjust the relative positions between the laser sensor A21 and the laser sensor B22 and the frame 50 so that the laser sensor A21 and the laser sensor B22 are detected in the same coordinate system. The Z-direction adjustment linear module 11 is used to adjust the Z-direction detection distance of the laser sensor A21 and the laser sensor B22 relative to the cylindrical part. The linear guide rail 13 is used to adjust the X-direction detection spacing of the laser sensor A21 and the laser sensor B22 to adapt to cylindrical parts of different lengths.

[0040] The frame 50 includes a base 51 and a track 52, and the track 52 is installed on a plane 501 on the base 51;

[0041] The cylindrical part posture adjustment device 30 includes a vehicle body 35, two holding rings 34, a Y-axis posture adjustment device 31, a Z-axis posture adjustment device 32 and an X-axis position adjustment device 33. The vehicle body 35 is arranged on the track 52 of the frame 50, and the Y-axis posture adjustment device 31, the Z-axis posture adjustment device 32 and the X-axis position adjustment device 33 are all installed on the vehicle body 35; two holding rings 34 are installed on the upper surface of the vehicle body 3, the Y-axis posture adjustment device 31 is used to adjust the posture of the two holding rings 34 in the Y-axis direction, the Z-axis posture adjustment device 32 adjusts the posture of the two holding rings 34 in the Z direction, and the X-axis position adjustment device 33 adjusts the position of the two holding rings 34 in the X direction; a Y-axis posture adjustment handwheel 301 is arranged on the outer side of the Y-axis posture adjustment device 31, a Z-axis posture adjustment handwheel 302 is arranged on the outer side of the Z-axis posture adjustment device 32, and an X-axis position adjustment handwheel 303 is arranged on the outer side of the X-axis position adjustment device 33.

[0042] A method for measuring the butt joint posture of cylindrical parts based on dual lasers is characterized in that the following steps are performed using the above-mentioned butt joint posture measurement system of cylindrical parts based on dual lasers:

[0043] (1) Calibration of the laser profile scanning sensor posture measurement system

[0044] (1a) Adjust the laser sensor position adjustment device 10, take the frame 50 as the measurement object, rotate the Z-axis linear module hand wheel, so that the plane 501 on the frame 50 enters the measurement range of the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22;

[0045] (1b) The computer collects the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22, and the Z-axis deflection fine-tuning bolts 15 and the Y-axis deflection fine-tuning bolts 16, so that the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22 are consistent, so that the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22 are located in the same coordinate system;

[0046] (2) Fix the cylindrical parts to be tested Ⅰ and Ⅱ

[0047] Two cylindrical parts to be tested I and II are mounted on the cylindrical part posture adjustment device 30, and two cylindrical part posture adjustment devices 30 respectively support one cylindrical body to be tested, and the cylindrical part to be tested is locked by the holding ring, and the cylindrical part no longer moves along the X direction relative to the holding ring, that is, the holding ring and the cylindrical part are considered to be a whole, and the two cylindrical parts are fixed respectively. At this time, the posture of the cylindrical part can be adjusted by adjusting the adjustment handwheels at the front and rear ends of a single cylindrical part;

[0048] (3) Measuring the position and posture of cylindrical parts I

[0049] (3a) adjusting the laser sensor position adjustment device 10 so that the cylinder I to be measured enters the measurement range of the laser profile scanning sensor posture measurement system;

[0050] (3b) The laser profile sensor used is based on the principle of laser triangulation measurement, and measures the depth change information of each point on the intersection line of the laser plane and the surface of the measured cylinder in real time. The laser line emitted by the sensor intersects with the outer surface of the cylinder. It is known that the outer shape of the cylinder is a cylinder, and the cylinder is cut obliquely from the side to form an ellipse. The center of the ellipse cross section passes through the axis of the cylinder. Secondary development is carried out based on the hardware interface to realize the software control of the sensor and obtain the ply format point cloud data obtained by its scanning;

[0051] (3c) Extract valid data within the range of the ROI, and develop a software interface based on the VTK visualization tool library to achieve three-dimensional display of the point cloud. Then solve the axis of the cabin. The core of the axis solution is to determine the center of the ellipse. Select algebraic ellipse fitting as the optimization objective function, which can accurately estimate the parameters of the incomplete ellipse contour obtained by structured light scanning.

[0052] (3d) The computer records the axis of the cylindrical part I to be tested after fitting, and displays the axis coordinates on the display screen as the reference for adjusting the posture of the cylindrical part II;

[0053] (4) Measuring the position and posture of cylindrical parts II

[0054] The laser sensor position adjustment device 10 is adjusted in the same manner as step 4, so that the cylinder II to be measured enters the measurement range of the laser profile scanning sensor posture measurement system, the laser profile sensor calculates the axis coordinates of the cylinder II to be measured, and the computer displays the axis coordinates of the cylinder II;

[0055] (5) Adjust the posture of the cylindrical part II to be tested

[0056] (5a) According to the axis coordinates of the cylindrical component I obtained in step 3, the Y-axis posture adjustment handwheel 301, the Z-axis posture adjustment handwheel 302, and the X-axis position adjustment handwheel 303 of the two cylindrical component posture adjustment devices 30 below the cylindrical component II are rotated respectively to adjust the posture of the cylindrical component II;

[0057] (5b) When the axis coordinates of cylindrical part II shown by the computer are consistent with the axis coordinates of cylindrical part I, push B200 to achieve docking of cylindrical part II with cylindrical part I.

[0058] Step 5: The measured posture data of cylinders I and II are consistent. Move the posture adjustment devices under cylinders I and II to dock the cylinders, so as to achieve unobstructed docking between the cylindrical parts.

[0059] The following describes the implementation mode with reference to the accompanying drawings:

[0060] Reference Figure 1 A dual-laser-based cylindrical joint posture measurement system includes two identical posture measurements, namely posture measurement A100 and posture measurement B200, each posture measurement includes a laser contour scanning sensor posture measurement system 20, a laser sensor position adjustment device 10, a cylindrical part posture adjustment device 30 and a frame 50, wherein the two cylindrical part posture adjustment devices 30 are both installed on the frame 50, the laser sensor position adjustment device 10 is installed on the cylindrical part posture adjustment device 30, and the laser contour scanning sensor posture measurement system 20 is installed on the laser sensor position adjustment device 10; the laser contour scanning sensor posture measurement system 20 is connected to a computer 40, the frame 50 includes a base 51 and a track 52, and the track 52 is installed on a plane 501 on the base 51;

[0061] Reference Figure 2 The laser sensor position adjustment device 10 includes a Z-axis adjustment linear module 11, an adapter 12, a linear guide 13, a camera bracket 14, a Z-axis deflection fine-tuning bolt 15, and a Y-axis deflection fine-tuning bolt 16. The linear guide 13 is connected to the side of the Z-axis adjustment linear module 11 through the adapter 12, and the two camera brackets 14 are connected to the side of the linear guide 13; the Z-axis deflection fine-tuning bolt 15 is installed on the lower surface of the linear guide 13, and the Y-axis deflection fine-tuning bolt 16 is installed on the side of the linear guide 13;

[0062] Reference Figure 3The laser profile scanning sensor posture measurement system 20 includes a laser sensor A21 and a laser sensor B22. The computer 40 is used to display the data measured by the laser sensor A21 and the laser sensor B22. The Z-axis deflection fine-tuning bolt 15 and the Y-axis deflection fine-tuning bolt 16 are used to adjust the relative position between the laser sensor A21 and the laser sensor B22 and the frame 50, so that the laser sensor A21 and the laser sensor B22 are detected in the same coordinate system. The Z-direction adjustment linear module 11 is used to adjust the Z-direction detection distance of the laser sensor A21 and the laser sensor B22 relative to the cylindrical part; the linear guide 13 is used to adjust the X-direction detection spacing of the laser sensor A21 and the laser sensor B22 to adapt to cylindrical parts of different lengths.

[0063] Reference Figure 4 The cylindrical part posture adjustment device 30 includes a vehicle body 35, two holding rings 34, a Y-axis posture adjustment device 31, a Z-axis posture adjustment device 32 and an X-axis position adjustment device 33. The vehicle body 35 is arranged on the track 52 of the frame 50, and the Y-axis posture adjustment device 31, the Z-axis posture adjustment device 32 and the X-axis position adjustment device 33 are all installed on the vehicle body 35; two holding rings 34 are installed on the upper surface of the vehicle body 3, the Y-axis posture adjustment device 31 is used to adjust the posture of the two holding rings 34 in the Y-axis direction, the Z-axis posture adjustment device 32 adjusts the posture of the two holding rings 34 in the Z direction, and the X-axis position adjustment device 33 adjusts the position of the two holding rings 34 in the X direction; a Y-axis posture adjustment handwheel 301 is arranged on the outer side of the Y-axis posture adjustment device 31, a Z-axis posture adjustment handwheel 302 is arranged on the outer side of the Z-axis posture adjustment device 32, and an X-axis position adjustment handwheel 303 is arranged on the outer side of the X-axis position adjustment device 33.

[0064] A method for measuring the butt joint posture of cylindrical parts based on dual lasers. Figure 1 A dual-laser-based cylindrical part docking posture measurement system is shown, and the following steps are performed:

[0065] (1) Calibration of the laser profile scanning sensor posture measurement system

[0066] (1a) Adjust the laser sensor position adjustment device 10, take the frame 50 as the measurement object, rotate the Z-axis linear module hand wheel, so that the plane 501 on the frame 50 enters the measurement range of the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22;

[0067] (1b) The computer collects the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22, and the Z-axis deflection fine-tuning bolts 15 and the Y-axis deflection fine-tuning bolts 16, so that the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22 are consistent, so that the first laser profile scanning sensor A21 and the second laser profile scanning sensor B22 are located in the same coordinate system;

[0068] (2) Fix the cylindrical parts to be tested Ⅰ and Ⅱ

[0069] Two cylindrical parts to be tested I and II are mounted on the cylindrical part posture adjustment device 30, and two cylindrical part posture adjustment devices 30 respectively support one cylindrical body to be tested, and the cylindrical part to be tested is locked by the holding ring, and the cylindrical part no longer moves along the X direction relative to the holding ring, that is, the holding ring and the cylindrical part are considered to be a whole, and the two cylindrical parts are fixed respectively. At this time, the posture of the cylindrical part can be adjusted by adjusting the adjustment handwheels at the front and rear ends of a single cylindrical part;

[0070] (3) Measuring the position and posture of cylindrical parts I

[0071] (3a) adjusting the laser sensor position adjustment device 10 so that the cylinder I to be measured enters the measurement range of the laser profile scanning sensor posture measurement system;

[0072] (3b) Reference Figure 5 The laser profile sensor used is based on the principle of laser triangulation. It measures the depth change information of each point on the intersection line of the laser plane and the surface of the measured cylinder in real time. The laser line emitted by the sensor intersects with the outer surface of the cylinder. It is known that the shape of the cylinder is a cylinder, and the cylinder is cut obliquely from the side to form an ellipse. The center of the ellipse cross section passes through the axis of the cylinder. Secondary development is carried out based on the hardware interface to realize the control of the sensor by software. Figure 6 , obtain the ply format point cloud data obtained by scanning;

[0073] (3c) Extract valid data within the ROI range and develop the software interface based on the VTK visualization tool library. Figure 7 The three-dimensional display of the point cloud is realized, and then the axis of the cabin is solved. The core of the axis solution is to determine the center of the ellipse. The algebraic ellipse fitting is selected as the objective function of the optimization, which can accurately estimate the parameters of the incomplete ellipse contour obtained by structured light scanning.

[0074] (3d) The computer records the axis of the cylindrical part I to be tested after fitting, and displays the axis coordinates on the display screen as the reference for adjusting the posture of the cylindrical part II;

[0075] (4) Measuring the position and posture of cylindrical parts II

[0076] The laser sensor position adjustment device 10 is adjusted in the same manner as step 4, so that the cylinder II to be measured enters the measurement range of the laser profile scanning sensor posture measurement system, the laser profile sensor calculates the axis coordinates of the cylinder II to be measured, and the computer displays the axis coordinates of the cylinder II;

[0077] (5) Adjust the posture of the cylindrical part II to be tested

[0078] (5a) According to the axis coordinates of the cylindrical component I obtained in step 3, the Y-axis posture adjustment handwheel 301, the Z-axis posture adjustment handwheel 302, and the X-axis position adjustment handwheel 303 of the two cylindrical component posture adjustment devices 30 below the cylindrical component II are rotated respectively to adjust the posture of the cylindrical component II;

[0079] (5b) When the axis coordinates of cylindrical part II shown by the computer are consistent with the axis coordinates of cylindrical part I, push B200 to achieve docking of cylindrical part II with cylindrical part I.

[0080] Step 5: The measured posture data of cylinders I and II are consistent. Move the posture adjustment devices under cylinders I and II to dock the cylinders, so as to achieve unobstructed docking between the cylindrical parts.

[0081] The present invention proposes a visual posture measurement system and method for cylindrical parts docking, which is mainly used to solve the problem that the posture cannot be accurately adjusted during the cylindrical parts docking process. The system mainly includes a laser profile scanning sensor posture measurement system, a laser sensor position adjustment device, a cylindrical parts posture adjustment device, and a frame. The present invention guides the cylindrical parts to perform docking posture adjustment through a posture measurement system composed of two laser profile scanning sensors, aligns the axes of the two cylindrical parts, and realizes the rapid docking of the two cylindrical parts.

[0082] A dual-laser-based cylindrical part docking posture measurement system includes a laser profile scanning sensor posture measurement system, a laser sensor position adjustment device, a cylindrical part posture adjustment device, and a frame. The sensor position adjustment device is used to adjust the relative position between the laser profile scanning sensors; the cylindrical part posture adjustment device is used to achieve posture adjustment of a single cylindrical part.

[0083] After leveling through the sensor position adjustment device using the dual laser system, the position and posture of the cylindrical part are solved to guide the posture adjustment of the cylindrical part.

[0084] The dual laser posture measurement system measures the posture of cylindrical parts I and II respectively, gives the posture data in the computer, and adjusts the posture adjustment handwheel of the cylindrical parts according to the posture data. When the posture data of parts I and II are consistent, the two cylindrical parts can be docked.

Claims

1. A dual-laser based cylindrical part docking position measurement system, characterized in that: The invention comprises two identical posture measurements, namely posture measurement A (100) and posture measurement B (200), each posture measurement comprising a laser profile scanning sensor posture measurement system (20), a laser sensor position adjustment device (10), a cylindrical part posture adjustment device (30) and a frame (50), wherein the two cylindrical part posture adjustment devices (30) are both mounted on the frame (50), the laser sensor position adjustment device (10) is mounted on the cylindrical part posture adjustment device (30), and the laser profile scanning sensor posture measurement system (20) is mounted on the laser sensor position adjustment device (10); the laser profile scanning sensor posture measurement system (20) is connected to a computer (40); The laser sensor position adjustment device (10) comprises a Z-axis adjustment linear module (11), an adapter (12), a linear guide (13), a camera bracket (14), a Z-axis deflection fine-tuning bolt (15) and a Y-axis deflection fine-tuning bolt (16); the linear guide (13) is connected to the side of the Z-axis adjustment linear module (11) through the adapter (12); the two camera brackets (14) are connected to the side of the linear guide (13); the Z-axis deflection fine-tuning bolt (15) is installed on the lower surface of the linear guide (13); and the Y-axis deflection fine-tuning bolt (16) is installed on the side of the linear guide (13); The laser profile scanning sensor posture measurement system (20) comprises a laser sensor A (21) and a laser sensor B (22); a computer (40) is used to display data measured by the laser sensor A (21) and the laser sensor B (22); a Z-axis deflection fine-tuning bolt (15) and a Y-axis deflection fine-tuning bolt (16) are used to adjust the relative position between the laser sensor A (21) and the laser sensor B (22) and a frame (50) so that the laser sensor A (21) and the laser sensor B (22) perform detection in the same coordinate system; a Z-direction adjustment linear module (11) is used to adjust the Z-direction detection distance of the laser sensor A (21) and the laser sensor B (22) relative to a cylindrical member; and a linear guide rail (13) is used to adjust the X-direction detection spacing between the laser sensor A (21) and the laser sensor B22 to adapt to cylindrical members of different lengths. The frame (50) comprises a base (51) and a track (52), wherein the track (52) is installed on a plane (501) on the base (51); The cylindrical member posture adjustment device (30) comprises a vehicle body (35), two holding rings (34), a Y-axis posture adjustment device (31), a Z-axis posture adjustment device (32) and an X-axis position adjustment device (33); the vehicle body (35) is arranged on a track (52) of a frame (50); the Y-axis posture adjustment device (31), the Z-axis posture adjustment device (32) and the X-axis position adjustment device (33) are all installed on the vehicle body (35); two holding rings (34) are installed on the upper surface of the vehicle body (35); the Y-axis posture adjustment device (31) is installed on the upper surface of the vehicle body (35); the Z-axis posture adjustment device (32) is installed on the upper surface of the vehicle body (35); the Y-axis posture adjustment device (33) is installed on the upper surface of the vehicle body (35); the Z-axis posture adjustment device (3 ... 1) used to adjust the posture of two holding rings (34) in the Y-axis direction, the Z-axis posture adjustment device (32) adjusts the posture of the two holding rings (34) in the Z direction, and the X-axis position adjustment device (33) adjusts the position of the two holding rings (34) in the X direction; the Y-axis posture adjustment device (31) is provided with a Y-axis posture adjustment hand wheel (301) on the outside, the Z-axis posture adjustment device (32) is provided with a Z-axis posture adjustment hand wheel (302) on the outside, and the X-axis position adjustment device (33) is provided with an X-axis position adjustment hand wheel (303) on the outside.

2. A method for measuring the position and posture of cylindrical parts docking based on dual lasers, characterized in that: Using the dual-laser-based cylindrical part docking posture measurement system described in claim 1, perform the following steps: Step 1: Calibrate the laser profile scanning sensor posture measurement system (a) adjusting the laser sensor position adjustment device (10), taking the frame (50) as the measurement object, rotating the Z-axis linear module hand wheel, so that the plane (501) on the frame (50) enters the measurement range of the first laser profile scanning sensor A (21) and the second laser profile scanning sensor B (22); (b) The computer collects the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A (21) and the second laser profile scanning sensor B22, the Z-axis deflection fine-tuning bolt (15), and the Y-axis deflection fine-tuning bolt (16), so that the upper surface depth values ​​of the frame measured by the first laser profile scanning sensor A (21) and the second laser profile scanning sensor B (22) are consistent, and the first laser profile scanning sensor A2 (1) and the second laser profile scanning sensor B (22) are located in the same coordinate system; Step 2: Fix the cylindrical parts to be tested Ⅰ and Ⅱ Two cylindrical parts to be tested I and II are mounted on the cylindrical part posture adjustment device (30), and one cylindrical body to be tested is supported by each of the two cylindrical part posture adjustment devices (30). The cylindrical part to be tested is locked by the holding ring, and the cylindrical part no longer moves relative to the holding ring along the X direction, that is, the holding ring and the cylindrical part are considered to be a whole. The two cylindrical parts are fixed respectively, and at this time, the posture of the cylindrical part can be adjusted by adjusting the adjustment hand wheels at the front and rear ends of the single cylindrical part; Step 3: Measure the position of cylindrical part I (a) adjusting the laser sensor position adjustment device (10) so that the cylinder I to be measured enters the measurement range of the laser profile scanning sensor posture measurement system; (b) The laser profile sensor used is based on the principle of laser triangulation. It measures the depth change information of each point on the intersection line of the laser plane and the surface of the measured cylinder in real time. The laser line emitted by the sensor intersects with the outer surface of the cylinder. It is known that the shape of the cylinder is a cylinder, and the cylinder is cut obliquely from the side to form an ellipse. The center of the ellipse cross section passes through the axis of the cylinder. Secondary development is carried out based on the hardware interface to realize the software control of the sensor and obtain the ply format point cloud data obtained by its scanning; (c) Extract valid data within the range of the ROI, and develop a software interface based on the VTK visualization tool library to achieve three-dimensional display of the point cloud. Then solve the axis of the cabin. The core of the axis solution is to determine the center of the ellipse. Select algebraic ellipse fitting as the optimization objective function, which can accurately estimate the parameters of the incomplete ellipse contour obtained by structured light scanning. (d) The computer records the axis of the cylindrical part I to be measured after fitting, and displays the axis coordinates on the display screen as the reference for adjusting the posture of the cylindrical part II; Step 4: Measure the position of cylindrical part II The laser sensor position adjustment device (10) is adjusted to allow the cylinder II to enter the measurement range of the laser profile scanning sensor posture measurement system, the laser profile sensor calculates the axis coordinates of the cylinder II to be measured, and the computer displays the axis coordinates of the cylinder II; Step 5: Adjust the posture of the cylindrical part II to be tested (a) According to the axis coordinates of the cylindrical component I obtained in step 3, the Y-axis posture adjustment hand wheel (301), the Z-axis posture adjustment hand wheel 302, and the X-axis position adjustment hand wheel (303) of the two cylindrical component posture adjustment devices (30) below the cylindrical component II are rotated respectively to adjust the posture of the cylindrical component II; (b) When the axis coordinates of cylindrical component II displayed by the computer are consistent with the axis coordinates of cylindrical component I, push B (200) to achieve docking of cylindrical component II with cylindrical component I. Step 6: The measured posture data of cylinders I and II are consistent. Move the posture adjustment device below cylinders I and II to dock the cylinders, so as to achieve unobstructed docking between the cylindrical parts.

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