为了获取磨削工件表面特征信息，提出一种基于激光扫描的磨削工件表面检测方法。利用机械臂带动激光传感器扫描放置在激光测量平面中的磨削工件，从而获得工件在激光测量平面中的三维坐标信息，通过相邻2个扫描点之间的高度变化求出工件边界点的三维坐标信息，结合x轴和y轴坐标的极值点利用最小二乘法拟合出工件边界在激光测量平面中的解析式，进一步求出附着在工件上的坐标系相对于激光测量坐标系的位姿，最后利用工件在激光测量坐标系中的位置矢量信息得出其表面特征信息。实验结果表明，利用该方法对工件表面进行检测，得到工件表面检测误差为0.11 mm，检测平均时间在1 s内，满足工件表面特征检测要求。
Abstract
In order to obtain the surface features information of the workpiece to be grinded, a method for surface detection of grinding workpiece based on laser scanning was proposed. The robotic arm was used to drive the laser sensor to scan the grinding workpiece placed in the laser measuring plane, thereby obtaining the three-dimensional coordinates information of the workpiece in the laser measuring plane, and obtaining the characteristic boundary point of the workpiece by the height change between two adjacent scanning points. Then, the extreme points and least squares of the x-axis and y-axis coordinates were combined to fit the analytical expression of the workpiece boundary in the laser measurement plane, and the offset and rotation angle of the workpiece relative to the laser measurement plane were further determined. Finally, the surface features information of the workpiece was obtained by using the position and attitude information of the workpiece in the laser measuring plane. The experimental results show that the detection error of the workpiece surface is 0.11 mm and the average detection time is within 1 s, which meets the requirements of workpiece surface features detection.
关键词
工件检测 /
非接触检测 /
测量 /
激光扫描
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Key words
laser scanning /
workpiece detection /
non-contact detection /
measurement
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