基于点云驱动的DD马达端面全跳动测量  

Full Runout Measurement of DD Motor End Face Based on Point Cloud Drive

作　　者：周虎[1] 舒登登 吴重军 王琪冰 Zhou Hu;Shu Dengdeng;Wu Chongjun;Wang Qibing(College of Mechanical Engineering,Donghua University,Shanghai 201620,China;Sicher Elevator Co.,Ltd.,Huzhou 313009,Zhejiang,China;College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 200031,Zhejiang,China)

机构地区：[1]东华大学机械工程学院,上海201620 [2]森赫电梯股份有限公司,浙江湖州313009 [3]中国计量大学机电工程学院,浙江杭州200031

出　　处：《激光与光电子学进展》2023年第12期340-349,共10页Laser & Optoelectronics Progress

基　　金：上海市自然科学基金(22ZR1402400);上海市青年科技英才扬帆计划(19YF1401400)。

摘　　要：direct driver(DD)马达的端面全跳动直接影响着其定位精度。由于端面全跳动测量复杂,实际生产中一般使用千分表测量其端面跳动来近似替代。此方法易损坏被测物的表面,效率低下且精度不高。针对上述问题,提出一种基于点云驱动的DD马达端面全跳动测量方法。首先,采用线激光传感器获得DD马达表面的点云,该传感器使用激光三角测量法测量被测物的距离,Z轴测量精度为1.8~3.0μm,重复精度为0.4μm;其次,使用均匀下采样算法压缩点云;接着,设计一种基于曲率和密度的混合分割算法分割压缩后的点云,获得DD马达工作面的点云;然后,对工作面点云进行异常值分析,并采用基于拉依达准则的算法将异常值剔除;最后,使用随机抽样一致性算法对点云进行平面拟合,获得点云平面方程,并将该平面作为基准面计算DD马达的端面全跳动。实验结果表明,所提方法测量结果为16.8458μm,与参考结果(15μm)在微米级别上误差为12%左右,满足工业精度要求,有效验证了所提方法的优越性。此外,还基于点云库、Qt和Visual Studio平台开发了DD马达端面全跳动测量软件,实现了数据显示、点云处理、一键测量、数据管理等功能。The total lateral runout of the direct driver(DD)motor directly affects the positioning accuracy of DD.In realtime production,face runout is measured using dial indicators because of the complex measurement process for total face runout.This method can easily damage the surface of the measured object and is associated with inefficiency and low precision.To address this issue,a method to measure the DD motor end face runout based on point cloud driving is proposed.In this method,the point cloud on the DD motor surface is obtained using a linear laser sensor that incorporates laser triangulation to measure the distance of the object.The Z-axis measurement accuracy is 1.8‒3.0μm,and the repetition accuracy is 0.4μm.Then,the point cloud is first compressed using a uniform down sampling algorithm and then segmented using a hybrid segmentation algorithm based on curvature and density.The segmentation of the compressed point cloud helps in obtaining the point cloud of the DD motor working face.The outliers in the point cloud of the working face are then analyzed and eliminated using an algorithm based on the Pauta criterion.Finally,the random sampling consistency algorithm is used to fit the point cloud plane to obtain the point cloud plane equation,and the plane is used as the reference to calculate the total end face runout of the DD motor.Our experimental results show that the measurement result of the proposed method exhibits about 12%error at the micrometer level compared to the reference result,indicating the effectiveness of the proposed method and confirming that it also meets the industrial precision requirements.In addition,the DD motor end face runout measurement software is developed based on the point cloud library,Qt,and Visual Studio platforms.The developed software realizes data display,point cloud processing,one-click measurement,data management,and other functions.

关 键 词：机器视觉 端面全跳动 点云处理 线激光 direct driver马达 随机抽样一致性算法 

分 类 号：TP391.72[自动化与计算机技术—计算机应用技术]