The surface quality of a corrugated plate directly determines the heat transfer property of the thermal power mechanical apparatus.Traditional detection methods are impractical for real-world production,being slow and...The surface quality of a corrugated plate directly determines the heat transfer property of the thermal power mechanical apparatus.Traditional detection methods are impractical for real-world production,being slow and destructive.In contrast,the point laser displacement sensor,employing the optical triangle method,emerges as a promising device for assessing parts with variable curvature and highly reflective surfaces.Despite its benefits,high-density sampling by an innate frequency introduces challenges such as data redundancy and a poor signal-to-noise ratio,potentially affecting the efficiency and precision of subsequent data processing.To address these challenges,adjustable frequency data sampling has been developed for this sensor,allowing adaptive sampling for corrugated plate digitization.The process begins with surface digitization to extract discrete points,which are transformed into intersection curves using the B-spline fitting technique.Subsequently,dominant points are identified,considering multigeometric constraints for curvature and arch height.Finally,the sampling signal is adjusted based on the distribution information of dominant points.Comparative results indicate that the proposed method effectively minimizes redundant sampling without compromising the accurate capture of essential geometric features.展开更多
In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe...In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe head,the frame of a coordinate measuring machine（CMM）,etc.As the output of the laser sensor directly obtained possesses the 1D length of the laser beam,it needs to determine the unit direction vector of the laser beam denoted as（l,m,n）by calibration so as to convert the 1D values into 3D coordinates of target points.Therefore,an extrinsic calibration method based on a standard sphere is proposed to accomplish this task in the paper.During the calibration procedure,the laser sensor moves along with the motion of the CMM and gathers the required data on the spherical surface.Then,both the output of the laser sensor and the grating readings of the CMM are substituted into the constraint equation of the spherical surface,in which an over-determined nonlinear equation group containing unknown parameters is established.For the purpose of solving the equation group,a method based on non-linear least squares optimization is put forward.Finally,the system after calibration is utilized to measure the diameter of a metallic sphere 10 times from different orientations to verify the calibration accuracy.In the experiment,the errors between the measured results and the true values are all smaller than 0.03 mm,which manifests the validity and practicality of the extrinsic calibration method presented in the paper.展开更多
An on-machine measuring(OMM)system with a laser displacement sensor(LDS)is designed for measuring free-form surfaces of hypersonic aircraft’s radomes.To improve the measurement accuracy of the OMM system,a novel Iter...An on-machine measuring(OMM)system with a laser displacement sensor(LDS)is designed for measuring free-form surfaces of hypersonic aircraft’s radomes.To improve the measurement accuracy of the OMM system,a novel Iteratively Automatic machine learning Boosted hand-eye Calibration(IABC)method is proposed.Both the hand-eye relationship and LDS measurement errors can be calibrated in one calibration process without any hardware changes via IABC.Firstly,a new objective function is derived,containing analytical parameters of the handeye relationship and LDS errors.Then,a hybrid calibration model composed of two kernels is proposed to solve the objective function.One kernel is the analytical kernel designed for solving analytical parameters.Another kernel is the automatic machine learning(AutoML)kernel designed to model LDS errors.The two kernels are connected with stepwise iterations to find the best calibration results.Compared with traditional methods,hand-eye experiments show that IABC reduces the calibration RMSE by about 50%.Verification experiments show that IABC reduces the measurement deviations by about 25%-50%and RMSEs within 40%.Even when the training data are obviously less than the test data,IABC performs well.Experiments demonstrate that IABC is more accurate than traditional hand-eye methods.展开更多
In the laser displacement sensors measurement system,the laser beam direction is an important parameter.Particularly,the azimuth and pitch angles are the most important parameters to a laser beam.In this paper,based o...In the laser displacement sensors measurement system,the laser beam direction is an important parameter.Particularly,the azimuth and pitch angles are the most important parameters to a laser beam.In this paper,based on monocular vision,a laser beam direction measurement method is proposed.First,place the charge coupled device(CCD)camera above the base plane,and adjust and fix the camera position so that the optical axis is nearly perpendicular to the base plane.The monocular vision localization model is established by using circular aperture calibration board.Then the laser beam generating device is placed and maintained on the base plane at fixed position.At the same time a special target block is placed on the base plane so that the laser beam can project to the special target and form a laser spot.The CCD camera placed above the base plane can acquire the laser spot and the image of the target block clearly,so the two-dimensional(2D)image coordinate of the centroid of the laser spot can be extracted by correlation algorithm.The target is moved at an equal distance along the laser beam direction,and the spots and target images of each moving under the current position are collected by the CCD camera.By using the relevant transformation formula and combining the intrinsic parameters of the target block,the2D coordinates of the gravity center of the spot are converted to the three-dimensional(3D)coordinate in the base plane.Because of the moving of the target,the3D coordinates of the gravity center of the laser spot at different positions are obtained,and these3D coordinates are synthesized into a space straight line to represent the laser beam to be measured.In the experiment,the target parameters are measured by high-precision instruments,and the calibration parameters of the camera are calibrated by a high-precision calibration board to establish the corresponding positioning model.The measurement accuracy is mainly guaranteed by the monocular vision positioning accuracy and the gravity center extraction accuracy.The experimental results show the maximum error of the angle between laser beams reaches to0.04°and the maximum error of beam pitch angle reaches to0.02°.展开更多
Optical and visual measurement technology is used widely in fields that involve geometric measurements,and among such technology are laser and vision-based displacement measuring modules(LVDMMs).The displacement trans...Optical and visual measurement technology is used widely in fields that involve geometric measurements,and among such technology are laser and vision-based displacement measuring modules(LVDMMs).The displacement transformation coefficient(DTC)of an LVDMM changes with the coordinates in the camera image coordinate system during the displacement measuring process,and these changes affect the displacement measurement accuracy of LVDMMs in the full field of view(FFOV).To give LVDMMs higher accuracy in the FFOV and make them adaptable to widely varying measurement demands,a new calibration method is proposed to improve the displacement measurement accuracy of LVDMMs in the FFOV.First,an image coordinate system,a pixel measurement coordinate system,and a displacement measurement coordinate system are established on the laser receiving screen of the LVDMM.In addition,marker spots in the FFOV are selected,and the DTCs at the marker spots are obtained from calibration experiments.Also,a fitting method based on locally weighted scatterplot smoothing(LOWESS)is selected,and with this fitting method the distribution functions of the DTCs in the FFOV are obtained based on the DTCs at the marker spots.Finally,the calibrated distribution functions of the DTCs are applied to the LVDMM,and experiments conducted to verify the displacement measurement accuracies are reported.The results show that the FFOV measurement accuracies for horizontal and vertical displacements are better than±15μm and±19μm,respectively,and that for oblique displacement is better than±24μm.Compared with the traditional calibration method,the displacement measurement error in the FFOV is now 90%smaller.This research on an improved calibration method has certain significance for improving the measurement accuracy of LVDMMs in the FFOV,and it provides a new method and idea for other vision-based fields in which camera parameters must be calibrated.展开更多
Aiming at the shortcomings of traditional contact measurement methods such as low measurement efficiency,high cost and low accuracy,a non-contact optical measurement method based on the laser displacement sensor is pr...Aiming at the shortcomings of traditional contact measurement methods such as low measurement efficiency,high cost and low accuracy,a non-contact optical measurement method based on the laser displacement sensor is proposed.According to the relevant regulations of the coaxiality error evaluation standard and the structural characteristics of the compound gear shaft,we have designed and built a set of supporting software system as well as a hardware test platform.In this paper,the distance difference threshold and scale threshold methods are used to eliminate outlier data.The least squares circle is selected to calculate the center of the circle and the minimum containment cylinder axis method is used as the reference axis of the composite gear shaft.Compensated by the standard step shaft calibration,the coaxiality error of the composite gear shaft can be measured to be within 0.01 mm in less than two minutes.The range value of the multi-section measurement test is 0.065 mm.The average coaxiality error is∅0.476 mm.展开更多
The current research of hydrodynamic bearing in blood pump mainly focuses on the bearing structure design.Compared with the typical plane slider bearing and Rayleigh step bearing,spiral groove bearing has excellent pe...The current research of hydrodynamic bearing in blood pump mainly focuses on the bearing structure design.Compared with the typical plane slider bearing and Rayleigh step bearing,spiral groove bearing has excellent performance in load-carrying capacity.However,the load-carrying capacity would decrease significantly with increasing flow rate in conventional designs.In this paper,the special treatment is made to the upper spiral groove bearing to make sure that both the circulatory flowing and load-carrying capacity are high.Three-dimensional computational fluid dynamics(CFD) models in the space between rotor and shaft are developed by using FLUENT software.Effects of groove number,film height and groove depth on load-carrying capacity of the spiral groove bearings are investigated by orthogonal experiment design.The experimental results show that film height is the most remarkable factor to the load-carrying capacity.The variation tendency of load-carrying capacity reveals that the best combination of geometry is the one with groove number of 8,film height 0.03 mm and groove depth 0.08 mm.The velocity and pressure distributions in spiral groove bearings are also analyzed,and the analysis result shows that the distributions are in conformity with the design of the blood pump based on the principle of hydrodynamic bearing.The displacement of the rotor with the best combination parameters is tested by using laser displacement sensors,the testing result shows that the suspending performance is satisfactory both in axial and radial directions.This research proposes a bearing design method which has sufficient load-carrying capacity to support rotor as an effective passive hydrodynamic bearing.展开更多
Applying the Fourier transform to the wave equations of elastic medium at its surface a laser pulse line source is acted, the integral representations of solutions are obtained. Displacement waveforms are calculated n...Applying the Fourier transform to the wave equations of elastic medium at its surface a laser pulse line source is acted, the integral representations of solutions are obtained. Displacement waveforms are calculated numerically by using double FFT. The calculated results include the displacements of the elastic half space of Aluminum medium, and epicenter and off-epicenter of an Aluminum plate. The two exciting sources of thermoelastic and ablating generation are considered respectively. The experiment was made on the Aluminum medium with a Nd:YAG laser and the normal displacement signals are detected by a laser interferometer. The numerical results are quite in agreement with experiments.展开更多
A signal processing method of realizing a large-range displacement measurement in a sinusoidal phase- modulating laser diode interferometer is proposed. The method of obtaining the dynamic value of the effective sinus...A signal processing method of realizing a large-range displacement measurement in a sinusoidal phase- modulating laser diode interferometer is proposed. The method of obtaining the dynamic value of the effective sinusoidal phase-modulating depth is detailed, and the residual amplitude modulation is also taken into account. Numerical simulations and experiments are carried out to compare this method with the traditional one. We prove that, with this method, the sinusoidal phase-modulating laser diode interferometer can realize a centimeter-level displacement measurement range with high precision, which is much better than the traditional method.展开更多
Accurate description of the elastic deformation of the flexspline is the foundation for optimization design of the structure and conjugate profiles of the harmonic drive gear. This paper proposed an experimental metho...Accurate description of the elastic deformation of the flexspline is the foundation for optimization design of the structure and conjugate profiles of the harmonic drive gear. This paper proposed an experimental method to investigate the effect of the driving speed on the deformation characteristics of the flexspline. First, an experimental apparatus that integrates a special-fabricated micro-displacement platform and a pair of laser displacement sensors is developed, and the radial displacement of the flexspline is measured in vertical and horizontal directions. Next, the deformation analyses of the flexspline at different driving speeds are performed with our method and the conventional method, and the comparison results reveal that the radial displacement of the flexspline is actually composed of both harmonic and random components, and the amplitude decreases and tends to zero with the increase of the driving speed, especially near the closed end of the flexspline. Last, the mechanisms of the inherent multi-frequency and amplitude attenuation characteristics of the radial displacement of the flexspline are discussed. It is indicated that the impact and friction existing in the flexible bearing of the wave generator is likely responsible for the existence of the random component, and the assumption of linear distribution of the ftexspline deformation along the rotating axis is invalid under high speed condition. Our research promotes the further study on the contact-impact problem of the flexible bearing of the wave generator and the transfer characteristic of the elastic deformation of the flexspline.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.52305535,52122512,and 52188102)the Natural Science Foundation of Hubei Province(Grant No.2021CFA075)。
文摘The surface quality of a corrugated plate directly determines the heat transfer property of the thermal power mechanical apparatus.Traditional detection methods are impractical for real-world production,being slow and destructive.In contrast,the point laser displacement sensor,employing the optical triangle method,emerges as a promising device for assessing parts with variable curvature and highly reflective surfaces.Despite its benefits,high-density sampling by an innate frequency introduces challenges such as data redundancy and a poor signal-to-noise ratio,potentially affecting the efficiency and precision of subsequent data processing.To address these challenges,adjustable frequency data sampling has been developed for this sensor,allowing adaptive sampling for corrugated plate digitization.The process begins with surface digitization to extract discrete points,which are transformed into intersection curves using the B-spline fitting technique.Subsequently,dominant points are identified,considering multigeometric constraints for curvature and arch height.Finally,the sampling signal is adjusted based on the distribution information of dominant points.Comparative results indicate that the proposed method effectively minimizes redundant sampling without compromising the accurate capture of essential geometric features.
基金supported by the National Science and Technology Major Project for ‘‘High-grade Numerical Control Machine Tools and Basic Manufacturing Equipment” of China (No. 2013ZX04001071)
文摘In order to implement 3D scanning of those complicated parts such as blades in the aviation field,a non-contact optical measuring system is established in the paper,which integrates a laser displacement sensor,a probe head,the frame of a coordinate measuring machine（CMM）,etc.As the output of the laser sensor directly obtained possesses the 1D length of the laser beam,it needs to determine the unit direction vector of the laser beam denoted as（l,m,n）by calibration so as to convert the 1D values into 3D coordinates of target points.Therefore,an extrinsic calibration method based on a standard sphere is proposed to accomplish this task in the paper.During the calibration procedure,the laser sensor moves along with the motion of the CMM and gathers the required data on the spherical surface.Then,both the output of the laser sensor and the grating readings of the CMM are substituted into the constraint equation of the spherical surface,in which an over-determined nonlinear equation group containing unknown parameters is established.For the purpose of solving the equation group,a method based on non-linear least squares optimization is put forward.Finally,the system after calibration is utilized to measure the diameter of a metallic sphere 10 times from different orientations to verify the calibration accuracy.In the experiment,the errors between the measured results and the true values are all smaller than 0.03 mm,which manifests the validity and practicality of the extrinsic calibration method presented in the paper.
基金supported by the National Natural Science Foundation of China (Nos. 51875406 and 51805365)
文摘An on-machine measuring(OMM)system with a laser displacement sensor(LDS)is designed for measuring free-form surfaces of hypersonic aircraft’s radomes.To improve the measurement accuracy of the OMM system,a novel Iteratively Automatic machine learning Boosted hand-eye Calibration(IABC)method is proposed.Both the hand-eye relationship and LDS measurement errors can be calibrated in one calibration process without any hardware changes via IABC.Firstly,a new objective function is derived,containing analytical parameters of the handeye relationship and LDS errors.Then,a hybrid calibration model composed of two kernels is proposed to solve the objective function.One kernel is the analytical kernel designed for solving analytical parameters.Another kernel is the automatic machine learning(AutoML)kernel designed to model LDS errors.The two kernels are connected with stepwise iterations to find the best calibration results.Compared with traditional methods,hand-eye experiments show that IABC reduces the calibration RMSE by about 50%.Verification experiments show that IABC reduces the measurement deviations by about 25%-50%and RMSEs within 40%.Even when the training data are obviously less than the test data,IABC performs well.Experiments demonstrate that IABC is more accurate than traditional hand-eye methods.
基金National Science and Technology Major Project of China(No.2016ZX04003001)Tianjin Research Program of Application Foundation and Advanced Technology(No.14JCZDJC39700)
文摘In the laser displacement sensors measurement system,the laser beam direction is an important parameter.Particularly,the azimuth and pitch angles are the most important parameters to a laser beam.In this paper,based on monocular vision,a laser beam direction measurement method is proposed.First,place the charge coupled device(CCD)camera above the base plane,and adjust and fix the camera position so that the optical axis is nearly perpendicular to the base plane.The monocular vision localization model is established by using circular aperture calibration board.Then the laser beam generating device is placed and maintained on the base plane at fixed position.At the same time a special target block is placed on the base plane so that the laser beam can project to the special target and form a laser spot.The CCD camera placed above the base plane can acquire the laser spot and the image of the target block clearly,so the two-dimensional(2D)image coordinate of the centroid of the laser spot can be extracted by correlation algorithm.The target is moved at an equal distance along the laser beam direction,and the spots and target images of each moving under the current position are collected by the CCD camera.By using the relevant transformation formula and combining the intrinsic parameters of the target block,the2D coordinates of the gravity center of the spot are converted to the three-dimensional(3D)coordinate in the base plane.Because of the moving of the target,the3D coordinates of the gravity center of the laser spot at different positions are obtained,and these3D coordinates are synthesized into a space straight line to represent the laser beam to be measured.In the experiment,the target parameters are measured by high-precision instruments,and the calibration parameters of the camera are calibrated by a high-precision calibration board to establish the corresponding positioning model.The measurement accuracy is mainly guaranteed by the monocular vision positioning accuracy and the gravity center extraction accuracy.The experimental results show the maximum error of the angle between laser beams reaches to0.04°and the maximum error of beam pitch angle reaches to0.02°.
基金supported financially by the National Natural Science Foundation of China (NSFC) (Grant No.51775378)the Key Projects in Tianjin Science&Technology Support Program (Grant No.19YFZC GX00890).
文摘Optical and visual measurement technology is used widely in fields that involve geometric measurements,and among such technology are laser and vision-based displacement measuring modules(LVDMMs).The displacement transformation coefficient(DTC)of an LVDMM changes with the coordinates in the camera image coordinate system during the displacement measuring process,and these changes affect the displacement measurement accuracy of LVDMMs in the full field of view(FFOV).To give LVDMMs higher accuracy in the FFOV and make them adaptable to widely varying measurement demands,a new calibration method is proposed to improve the displacement measurement accuracy of LVDMMs in the FFOV.First,an image coordinate system,a pixel measurement coordinate system,and a displacement measurement coordinate system are established on the laser receiving screen of the LVDMM.In addition,marker spots in the FFOV are selected,and the DTCs at the marker spots are obtained from calibration experiments.Also,a fitting method based on locally weighted scatterplot smoothing(LOWESS)is selected,and with this fitting method the distribution functions of the DTCs in the FFOV are obtained based on the DTCs at the marker spots.Finally,the calibrated distribution functions of the DTCs are applied to the LVDMM,and experiments conducted to verify the displacement measurement accuracies are reported.The results show that the FFOV measurement accuracies for horizontal and vertical displacements are better than±15μm and±19μm,respectively,and that for oblique displacement is better than±24μm.Compared with the traditional calibration method,the displacement measurement error in the FFOV is now 90%smaller.This research on an improved calibration method has certain significance for improving the measurement accuracy of LVDMMs in the FFOV,and it provides a new method and idea for other vision-based fields in which camera parameters must be calibrated.
基金supported by the National Natural Science Foundation of China(No.51975293)Aeronautical Science Foundation of China (No. 2019ZD052010)
文摘Aiming at the shortcomings of traditional contact measurement methods such as low measurement efficiency,high cost and low accuracy,a non-contact optical measurement method based on the laser displacement sensor is proposed.According to the relevant regulations of the coaxiality error evaluation standard and the structural characteristics of the compound gear shaft,we have designed and built a set of supporting software system as well as a hardware test platform.In this paper,the distance difference threshold and scale threshold methods are used to eliminate outlier data.The least squares circle is selected to calculate the center of the circle and the minimum containment cylinder axis method is used as the reference axis of the composite gear shaft.Compensated by the standard step shaft calibration,the coaxiality error of the composite gear shaft can be measured to be within 0.01 mm in less than two minutes.The range value of the multi-section measurement test is 0.065 mm.The average coaxiality error is∅0.476 mm.
基金supported by National Natural Science Foundation of China(Grant No.51275461)Zhejiang Provincial Natural Science Foundation of China(Grant No.Z1110189)+1 种基金National Hi-tech Research and Development Program of China(863 ProgramGrant No.2009AA045401)
文摘The current research of hydrodynamic bearing in blood pump mainly focuses on the bearing structure design.Compared with the typical plane slider bearing and Rayleigh step bearing,spiral groove bearing has excellent performance in load-carrying capacity.However,the load-carrying capacity would decrease significantly with increasing flow rate in conventional designs.In this paper,the special treatment is made to the upper spiral groove bearing to make sure that both the circulatory flowing and load-carrying capacity are high.Three-dimensional computational fluid dynamics(CFD) models in the space between rotor and shaft are developed by using FLUENT software.Effects of groove number,film height and groove depth on load-carrying capacity of the spiral groove bearings are investigated by orthogonal experiment design.The experimental results show that film height is the most remarkable factor to the load-carrying capacity.The variation tendency of load-carrying capacity reveals that the best combination of geometry is the one with groove number of 8,film height 0.03 mm and groove depth 0.08 mm.The velocity and pressure distributions in spiral groove bearings are also analyzed,and the analysis result shows that the distributions are in conformity with the design of the blood pump based on the principle of hydrodynamic bearing.The displacement of the rotor with the best combination parameters is tested by using laser displacement sensors,the testing result shows that the suspending performance is satisfactory both in axial and radial directions.This research proposes a bearing design method which has sufficient load-carrying capacity to support rotor as an effective passive hydrodynamic bearing.
基金This work is supported by the National Natural Science Foundation of ChinaState key Lab.of Information Function Material of
文摘Applying the Fourier transform to the wave equations of elastic medium at its surface a laser pulse line source is acted, the integral representations of solutions are obtained. Displacement waveforms are calculated numerically by using double FFT. The calculated results include the displacements of the elastic half space of Aluminum medium, and epicenter and off-epicenter of an Aluminum plate. The two exciting sources of thermoelastic and ablating generation are considered respectively. The experiment was made on the Aluminum medium with a Nd:YAG laser and the normal displacement signals are detected by a laser interferometer. The numerical results are quite in agreement with experiments.
基金supported by the National Natural Science Foundation of China under Grant No.51475262
文摘A signal processing method of realizing a large-range displacement measurement in a sinusoidal phase- modulating laser diode interferometer is proposed. The method of obtaining the dynamic value of the effective sinusoidal phase-modulating depth is detailed, and the residual amplitude modulation is also taken into account. Numerical simulations and experiments are carried out to compare this method with the traditional one. We prove that, with this method, the sinusoidal phase-modulating laser diode interferometer can realize a centimeter-level displacement measurement range with high precision, which is much better than the traditional method.
基金supported by the Beijing Natural Science Foundation(Grant No.3172017)the National Natural Science Foundation of China(Grant No.11272171)Education Ministry Doctoral Fund of China(Grant No.20120002110070)
文摘Accurate description of the elastic deformation of the flexspline is the foundation for optimization design of the structure and conjugate profiles of the harmonic drive gear. This paper proposed an experimental method to investigate the effect of the driving speed on the deformation characteristics of the flexspline. First, an experimental apparatus that integrates a special-fabricated micro-displacement platform and a pair of laser displacement sensors is developed, and the radial displacement of the flexspline is measured in vertical and horizontal directions. Next, the deformation analyses of the flexspline at different driving speeds are performed with our method and the conventional method, and the comparison results reveal that the radial displacement of the flexspline is actually composed of both harmonic and random components, and the amplitude decreases and tends to zero with the increase of the driving speed, especially near the closed end of the flexspline. Last, the mechanisms of the inherent multi-frequency and amplitude attenuation characteristics of the radial displacement of the flexspline are discussed. It is indicated that the impact and friction existing in the flexible bearing of the wave generator is likely responsible for the existence of the random component, and the assumption of linear distribution of the ftexspline deformation along the rotating axis is invalid under high speed condition. Our research promotes the further study on the contact-impact problem of the flexible bearing of the wave generator and the transfer characteristic of the elastic deformation of the flexspline.
