Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial measurement.We propose a geometric error identification method based on multi-station synchronization laser tracer...Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial measurement.We propose a geometric error identification method based on multi-station synchronization laser tracers to enable the rapid and high-precision measurement of geometric errors for gantry-type computer numerical control(CNC)machine tools.This method also improves on the existing measurement efficiency issues in the single-base station measurement method and multi-base station time-sharing measurement method.We consider a three-axis gantry-type CNC machine tool,and the geometric error mathematical model is derived and established based on the combination of screw theory and a topological analysis of the machine kinematic chain.The four-station laser tracers position and measurement points are realized based on the multi-point positioning principle.A self-calibration algorithm is proposed for the coordinate calibration process of a laser tracer using the Levenberg-Marquardt nonlinear least squares method,and the geometric error is solved using Taylor’s first-order linearization iteration.The experimental results show that the geometric error calculated based on this modeling method is comparable to the results from the Etalon laser tracer.For a volume of 800 mm×1000 mm×350 mm,the maximum differences of the linear,angular,and spatial position errors were 2.0μm,2.7μrad,and 12.0μm,respectively,which verifies the accuracy of the proposed algorithm.This research proposes a modeling method for the precise measurement of errors in machine tools,and the applied nature of this study also makes it relevant both to researchers and those in the industrial sector.展开更多
Tribological tests play an important role on the evaluation of long-term bio-tribological performances of prosthetic materials for commercial fabrication.Those tests focus on the motion simulation of a real joint in v...Tribological tests play an important role on the evaluation of long-term bio-tribological performances of prosthetic materials for commercial fabrication.Those tests focus on the motion simulation of a real joint in vitro with only normal loads and constant velocities,which are far from the real friction behavior of human joints characterized with variable loads and multiple directions.In order to accurately obtain the bio-tribological performances of artificial joint materials,a tribological tester with a miniature four-station tribological system is proposed with four distinctive features.Firstly,comparability and repeatability of a test are ensured by four equal stations of the tester.Secondly,cross-linked scratch between tribo-pairs of human joints can be simulated by using a gear-rack meshing mechanism to produce composite motions.With this mechanism,the friction tracks can be designed by varying reciprocating and rotating speeds.Thirdly,variable loading system is realized by using a ball-screw mechanism driven by a stepper motor,by which loads under different gaits during walking are simulated.Fourthly,dynamic friction force and normal load can be measured simultaneously.The verifications of the performances of the developed tester show that the variable frictional tracks can produce different wear debris compared with one-directional tracks,and the accuracy of loading and friction force is within ？5%.Thus the high consistency among different stations can be obtained.Practically,the proposed tester system could provide more comprehensive and accurate bio-tribological evaluations for prosthetic materials.展开更多
煤矿掘进巷道锚护位置的精准识别与定位是钻锚机器人实现智能永久支护亟需突破的关键技术。笔者提出一种基于视觉图像与激光点云融合的巷道锚护孔位智能识别定位方法,包括图像目标识别、点云图像特征融合和定位坐标提取3个步骤:①针对...煤矿掘进巷道锚护位置的精准识别与定位是钻锚机器人实现智能永久支护亟需突破的关键技术。笔者提出一种基于视觉图像与激光点云融合的巷道锚护孔位智能识别定位方法,包括图像目标识别、点云图像特征融合和定位坐标提取3个步骤:①针对煤矿井下低照度、水雾和粉尘等环境因素导致的锚孔轮廓成像模糊的问题,采用IA(Image-Adaptive)-SimAM-YOLOv7-tiny网络对巷道待锚护孔位进行视觉识别,该网络能够自适应地增强图像亮度和对比度,恢复锚孔边缘的高频信息,并使模型重点关注锚孔特征,提高锚孔检测的成功率;②求解激光雷达和工业相机联合标定的外参矩阵,将图像检测的锚孔边界框通过透视投影关系生成锥形感兴趣区域(Region Of Interest,ROI),获得对应的目标点云团簇;③采用点云处理算法提取锚护孔位边界点云,获得孔位中心坐标及其法向量,并通过坐标深度差比较判断锚孔识别的正确性。文中搭建了锚杆台车机械臂钻孔定位系统,对算法自主定位的精度以及准确度进行验证,试验结果表明:IA-SimAM-YOLOv7-tiny模型的平均精度均值(Mean Average Precision,mAP)为87.3%,较YOLOv7-tiny模型提高了4.6%;提出的融合算法定位误差为3 mm,单锚孔情况下系统平均识别时间为0.77 s,与单一视觉方法相比,采用激光与视觉多源融合不仅可以降低环境和小样本训练对定位性能的影响,而且可以获得锚护孔位的法向量,为机械臂调整钻孔位姿实现精准锚固提供依据。展开更多
通导融合是综合定位、导航和授时(positioning,navigation,timing,PNT)体系发展的重要组成部分和关键方向。以PNT体系需求以及用户典型应用为牵引,研究了联合定位的融合算法;采用北斗和第五代移动通信技术(5th generation mobile commun...通导融合是综合定位、导航和授时(positioning,navigation,timing,PNT)体系发展的重要组成部分和关键方向。以PNT体系需求以及用户典型应用为牵引,研究了联合定位的融合算法;采用北斗和第五代移动通信技术(5th generation mobile communication technology,5G)这2种PNT手段,设计并构建了2类典型试验场景:室内5G信号定位场景、室外北斗+5G联合定位场景。围绕定位精度这一关键指标开展了试验验证。最后结合未来工业互联网2.0应用以及未来6G的定位预期,阐述了北斗与5G通导融合、一体化的未来发展趋势。展开更多
基金Supported by Natural Science Foundation of Shaanxi Province of China(Grant No.2021JM010)Suzhou Municipal Natural Science Foundation of China(Grant Nos.SYG202018,SYG202134).
文摘Laser tracers are a three-dimensional coordinate measurement system that are widely used in industrial measurement.We propose a geometric error identification method based on multi-station synchronization laser tracers to enable the rapid and high-precision measurement of geometric errors for gantry-type computer numerical control(CNC)machine tools.This method also improves on the existing measurement efficiency issues in the single-base station measurement method and multi-base station time-sharing measurement method.We consider a three-axis gantry-type CNC machine tool,and the geometric error mathematical model is derived and established based on the combination of screw theory and a topological analysis of the machine kinematic chain.The four-station laser tracers position and measurement points are realized based on the multi-point positioning principle.A self-calibration algorithm is proposed for the coordinate calibration process of a laser tracer using the Levenberg-Marquardt nonlinear least squares method,and the geometric error is solved using Taylor’s first-order linearization iteration.The experimental results show that the geometric error calculated based on this modeling method is comparable to the results from the Etalon laser tracer.For a volume of 800 mm×1000 mm×350 mm,the maximum differences of the linear,angular,and spatial position errors were 2.0μm,2.7μrad,and 12.0μm,respectively,which verifies the accuracy of the proposed algorithm.This research proposes a modeling method for the precise measurement of errors in machine tools,and the applied nature of this study also makes it relevant both to researchers and those in the industrial sector.
基金Supported by Funding of State Key Laboratory of Mechanical Transmissions,Chongqing University,China(Grant No.SKLMT-KFKT-201504)National Natural Science Foundation of China(Grant No.51275381)Science and Technology Planning Project of Shaanxi Province,China(Grant No.2012GY2-37)
文摘Tribological tests play an important role on the evaluation of long-term bio-tribological performances of prosthetic materials for commercial fabrication.Those tests focus on the motion simulation of a real joint in vitro with only normal loads and constant velocities,which are far from the real friction behavior of human joints characterized with variable loads and multiple directions.In order to accurately obtain the bio-tribological performances of artificial joint materials,a tribological tester with a miniature four-station tribological system is proposed with four distinctive features.Firstly,comparability and repeatability of a test are ensured by four equal stations of the tester.Secondly,cross-linked scratch between tribo-pairs of human joints can be simulated by using a gear-rack meshing mechanism to produce composite motions.With this mechanism,the friction tracks can be designed by varying reciprocating and rotating speeds.Thirdly,variable loading system is realized by using a ball-screw mechanism driven by a stepper motor,by which loads under different gaits during walking are simulated.Fourthly,dynamic friction force and normal load can be measured simultaneously.The verifications of the performances of the developed tester show that the variable frictional tracks can produce different wear debris compared with one-directional tracks,and the accuracy of loading and friction force is within ？5%.Thus the high consistency among different stations can be obtained.Practically,the proposed tester system could provide more comprehensive and accurate bio-tribological evaluations for prosthetic materials.
文摘煤矿掘进巷道锚护位置的精准识别与定位是钻锚机器人实现智能永久支护亟需突破的关键技术。笔者提出一种基于视觉图像与激光点云融合的巷道锚护孔位智能识别定位方法,包括图像目标识别、点云图像特征融合和定位坐标提取3个步骤:①针对煤矿井下低照度、水雾和粉尘等环境因素导致的锚孔轮廓成像模糊的问题,采用IA(Image-Adaptive)-SimAM-YOLOv7-tiny网络对巷道待锚护孔位进行视觉识别,该网络能够自适应地增强图像亮度和对比度,恢复锚孔边缘的高频信息,并使模型重点关注锚孔特征,提高锚孔检测的成功率;②求解激光雷达和工业相机联合标定的外参矩阵,将图像检测的锚孔边界框通过透视投影关系生成锥形感兴趣区域(Region Of Interest,ROI),获得对应的目标点云团簇;③采用点云处理算法提取锚护孔位边界点云,获得孔位中心坐标及其法向量,并通过坐标深度差比较判断锚孔识别的正确性。文中搭建了锚杆台车机械臂钻孔定位系统,对算法自主定位的精度以及准确度进行验证,试验结果表明:IA-SimAM-YOLOv7-tiny模型的平均精度均值(Mean Average Precision,mAP)为87.3%,较YOLOv7-tiny模型提高了4.6%;提出的融合算法定位误差为3 mm,单锚孔情况下系统平均识别时间为0.77 s,与单一视觉方法相比,采用激光与视觉多源融合不仅可以降低环境和小样本训练对定位性能的影响,而且可以获得锚护孔位的法向量,为机械臂调整钻孔位姿实现精准锚固提供依据。
文摘通导融合是综合定位、导航和授时(positioning,navigation,timing,PNT)体系发展的重要组成部分和关键方向。以PNT体系需求以及用户典型应用为牵引,研究了联合定位的融合算法;采用北斗和第五代移动通信技术(5th generation mobile communication technology,5G)这2种PNT手段,设计并构建了2类典型试验场景:室内5G信号定位场景、室外北斗+5G联合定位场景。围绕定位精度这一关键指标开展了试验验证。最后结合未来工业互联网2.0应用以及未来6G的定位预期,阐述了北斗与5G通导融合、一体化的未来发展趋势。
