留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

激光测距传感器光束矢向和零点位置标定方法

曹双倩 袁培江 陈冬冬 史震云

曹双倩, 袁培江, 陈冬冬, 等 . 激光测距传感器光束矢向和零点位置标定方法[J]. 北京航空航天大学学报, 2018, 44(6): 1321-1327. doi: 10.13700/j.bh.1001-5965.2017.0450
引用本文: 曹双倩, 袁培江, 陈冬冬, 等 . 激光测距传感器光束矢向和零点位置标定方法[J]. 北京航空航天大学学报, 2018, 44(6): 1321-1327. doi: 10.13700/j.bh.1001-5965.2017.0450
CAO Shuangqian, YUAN Peijiang, CHEN Dongdong, et al. Calibration method for laser beam direction and zero point of laser displacement sensor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(6): 1321-1327. doi: 10.13700/j.bh.1001-5965.2017.0450(in Chinese)
Citation: CAO Shuangqian, YUAN Peijiang, CHEN Dongdong, et al. Calibration method for laser beam direction and zero point of laser displacement sensor[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(6): 1321-1327. doi: 10.13700/j.bh.1001-5965.2017.0450(in Chinese)

激光测距传感器光束矢向和零点位置标定方法

doi: 10.13700/j.bh.1001-5965.2017.0450
基金项目: 

国家自然科学基金 61375085

详细信息
    作者简介:

    曹双倩  女, 硕士研究生。主要研究方向:自动化制孔机器人

    袁培江  男, 副教授, 硕士生导师。主要研究方向:自动化制孔机器人、AGV、深度学习

    通讯作者:

    袁培江, E-mail:itr@buaa.edu.cn

  • 中图分类号: V19;TP242

Calibration method for laser beam direction and zero point of laser displacement sensor

Funds: 

National Natural Science Foundation of China 61375085

More Information
  • 摘要:

    激光测距传感器常用于飞机壁板法向检测。为了解决激光测距传感器加工和安装误差导致的法向检测精度下降问题,提出和实施了一种利用几何数学模型和最小二乘法进行激光测距传感器光束矢向和零点位置标定的方法。首先,利用角度标定理论获取激光束与主轴进给方向的夹角。然后,借助激光跟踪仪建立坐标系,根据激光测距传感器射在与电主轴进给方向成不同夹角的平面上的测量值,利用几何数学模型计算出各激光点之间的相对坐标,运用最小二乘法拟合出激光束的空间方程,进而得到光束矢向和零点位置。最后,在航空制孔机器人平台上进行标定实验,并且根据标定结果进行了实验验证。实验结果证明:该方法能够较为准确地标定出激光测距传感器的光束矢向和零点位置,可使法向检测精度在0.18°内。

     

  • 图 1  航空自动化制孔系统

    Figure 1.  Aviation automatic drilling system

    图 2  激光束发射示意图

    Figure 2.  Schematic of laser beam emission

    图 3  激光束投影图

    Figure 3.  Projection of laser beam

    图 4  激光束与电主轴进给方向角度标定

    Figure 4.  Calibration of angle between laser beam andfeed direction of spindle

    图 5  激光束空间位置标定

    Figure 5.  Spatial position calibration of laser beam

    图 6  激光束标定结果

    Figure 6.  Calibration results of laser beam

    表  1  激光束标定结果

    Table  1.   Calibration results of laser beam

    传感器矢向vi零点Oi0
    A
    (-0.357 7, -0.353 8,
    0.864 2)
    (9.598 4, 9.495 5,
    -23.193 3)
    B(0.359 0, -0.358 6,
    0.861 7)
    (-61.075 2, 9.296 9,
    -23.029 8)
    C(0.382 8, 0.332 7,
    0.861 8)
    (-61.465 5, -59.669 9,
    -22.912 6)
    D(-0.339 1, 0.371 0,
    0.864 5)
    (8.738 2, -60.962 9,
    -23.044 0)
    下载: 导出CSV

    表  2  验证数据

    Table  2.   Verification data

    编号θ0/(°)Δθ/(°)
    10.940 00.141 7
    21.054 10.139 9
    31.368 30.095 2
    41.803 50.067 5
    51.932 40.171 8
    62.005 00.131 9
    72.045 30.065 4
    82.717 30.117 9
    92.800 40.121 1
    102.887 10.097 5
    113.190 30.129 3
    123.235 70.098 8
    133.788 50.145 5
    143.959 00.082 5
    153.980 60.129 3
    164.075 70.092 4
    174.494 00.156 3
    184.976 90.154 9
    195.318 10.078 5
    205.388 50.122 0
    下载: 导出CSV
  • [1] 王珉, 薛少丁, 陈文亮, 等.面向飞机自动化装配的单向压紧制孔毛刺控制技术[J].航空制造技术, 2011(9):26-29. http://www.cqvip.com/QK/91463A/201109/1001909338.html

    WANG M, XUE S D, CHEN W L, et al.One-side pressed burless drilling technology for aircraft automatic assembly[J].Aeronautical Manufacturing Technology, 2011(9):26-29(in Chinese). http://www.cqvip.com/QK/91463A/201109/1001909338.html
    [2] 冯晓波. 机器人准确制孔技术研究[D]. 杭州: 浙江大学, 2011: 1-6. http://cdmd.cnki.com.cn/Article/CDMD-10335-1011069040.htm

    FENG X B. Research on robot precision drilling[D]. Hangzhou: Zhejiang University, 2011: 1-6(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10335-1011069040.htm
    [3] 曹国顺. 工业机器人精确制孔试验研究[D]. 杭州: 浙江大学, 2012: 1-2. http://cdmd.cnki.com.cn/Article/CDMD-10335-1012321190.htm

    CAO G S. Research on industry robot precision drilling[D]. Hangzhou: Zhejiang University, 2012: 1-2(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10335-1012321190.htm
    [4] YUAN P J, WANG Q S, SHI Z Y, et al.A micro-adjusting attitude mechanism for autonomous drilling robot end-effector[J].Science China Information Sciences, 2014, 57(12):120203. https://www.researchgate.net/publication/278391725_A_micro-adjusting_attitude_mechanism_for_autonomous_drilling_robot_end-effector
    [5] 薛汉杰, 张敬佩.蒙皮类部件钻孔法向的测量和调整[J].航空制造技术, 2010(23):60-62. doi: 10.3969/j.issn.1671-833X.2010.23.010

    XUE H J, ZHANG J P.Normal measurement and adjustment for skin drilling[J].Aeronautical Manufacturing Technology, 2010(23):60-62(in Chinese). doi: 10.3969/j.issn.1671-833X.2010.23.010
    [6] 宋腾, 张凤生, 任锦霞.直射式激光位移传感器光束入射角对测量精度的影响[J].机械, 2017, 44(2):37-41. http://cdmd.cnki.com.cn/Article/CDMD-10446-2008125318.htm

    SONG T, ZHANG F S, REN J X.Effect of the beam incident angle of direct-incident type laser displacement sensor on mea-suring precision[J].Machinery, 2017, 44(2):37-41(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10446-2008125318.htm
    [7] 孙彬, 李兵.一种量化的激光位移传感器倾角误差补偿模型[J].仪器仪表学报, 2015, 36(5):996-1004. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yqyb201505005

    SUN B, LI B.A quantitative error compensation model of the inclination angle of the laser displacement sensor[J].Chinese Journal of Scientific Instrument, 2015, 36(5):996-1004(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yqyb201505005
    [8] 宁光芳, 甘泉.激光位移传感器误差补偿的仿真分析[J].激光杂志, 2016, 37(4):37-40. http://www.cqvip.com/QK/91041X/201604/668620810.html

    NING G F, GAN Q.Simulation and analysis of error compensation of laser displacement sensor[J].Laser Journal, 2016, 37(4):37-40(in Chinese). http://www.cqvip.com/QK/91041X/201604/668620810.html
    [9] ZHU A Z, TANG B Q, LI J, et al.Calibration of laser displacement sensor used by industrial robots[J].Optical Engineering, 2004, 43(1):12-13. doi: 10.1117/1.1631935
    [10] 出晓岚, 王磊, 胡天林, 等.坐标测量机激光位移测头的标定方法研究[J].仪器仪表学报, 2008, 29(4):426-429. http://cpfd.cnki.com.cn/Article/CPFDTOTAL-YQYB200806002113.htm

    CHU X L, WANG L, HU T L, et al.Study on calibration method of laser displacement sensor coordinates measurement machine[J].Chinese Journal of Scientific Instrument, 2008, 29(4):426-429(in Chinese). http://cpfd.cnki.com.cn/Article/CPFDTOTAL-YQYB200806002113.htm
    [11] 卢科青, 王文, 陈子辰.点激光测头激光束方向标定[J].光学精密工程, 2010, 18(4):880-886. http://www.cqvip.com/QK/92835A/201004/33749733.html

    LU K Q, WANG W, CHEN Z C.Calibration of laser beam-direction for point laser sensors[J].Optics and Precision Engineering, 2010, 18(4):880-886(in Chinese). http://www.cqvip.com/QK/92835A/201004/33749733.html
    [12] 毕超, 房建国, 刘京亮, 等.基于球形目标的激光位移传感器光束方向标定[J].光学精密工程, 2015, 23(3):678-685. http://www.cnki.com.cn/Article/CJFDTotal-GXJM201503010.htm

    BI C, FANG J G, LIU J L, et al.Calibration of beam direction of laser displacement sensor based on spherical target[J].Optics and Precision Engineering, 2015, 23(3):678-685(in Chinese). http://www.cnki.com.cn/Article/CJFDTotal-GXJM201503010.htm
    [13] 毕超, 吕来鹏, 刘勇, 等. 非线性最小二乘法在激光束方向标定中的应用[C]//2015年第二届中国航空科学技术大会, 2015, 20: 542-546.

    BI C, LV L P, LIU Y, et al. Application of nonlinear least squares method in calibration of the laser beam direction[C]//China Aeronautical Science and Technology Conference, 2015, 20: 542-546(in Chinese).
    [14] ZHOU A, GUO J, SHAO W, et al.A segmental calibration method for a miniature serial-link coordinate measuring machine using a compound calibration artefact[J].Measurementence & Technology, 2013, 24(6):065001. http://adsabs.harvard.edu/abs/2013MeScT..24f5001Z
    [15] 王胜华, 都东, 张文增, 等.机器人定点变位姿手-眼标定方法[J].清华大学学报(自然科学版), 2007, 47(2):165-168. http://mall.cnki.net/magazine/Article/QHXB200702001.htm

    WANG S H, DU D, ZHANG W Z, et al.Hand-eye calibration for the robot by measuring a fixed point from different poses[J].Journal of Tsinghua University(Science and Technology), 2007, 47(2):165-168(in Chinese). http://mall.cnki.net/magazine/Article/QHXB200702001.htm
    [16] REN Y J, YIN S B, ZHU J G.Calibration technology in application of robot-laser scanning system[J].Optical Engineering, 2012, 51(11):114204. doi: 10.1117/1.OE.51.11.114204
    [17] 袁康正, 朱伟东, 陈磊, 等.机器人末端位移传感器的安装位置标定方法[J].浙江大学学报(工学版), 2015, 49(5):829-834. http://www.cqvip.com/QK/90076X/201505/665074569.html

    YUAN K Z, ZHU W D, CHEN L, et al.Approach for calibrating position of displacement sensor mounted on robot end-effector[J].Journal of Zhejiang University(Engineering Science), 2015, 49(5):829-834(in Chinese). http://www.cqvip.com/QK/90076X/201505/665074569.html
    [18] 袁康正. 激光位移传感器安装位置标定及其应用研究[D]. 杭州: 浙江大学, 2015: 26-46. http://cdmd.cnki.com.cn/Article/CDMD-10335-1015630426.htm

    YUAN K Z. Approach for calibrating the position of laser displacement sensor and its application[D]. Hangzhou: Zhejiang University, 2015: 26-46(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-10335-1015630426.htm
    [19] 王战玺, 李飞飞, 王宁, 等. 工业机器人精准制孔的四点法向调平方法: 201510133460. 6[P]. 2015-08-05.

    WANG Z X, LI F F, WANG N, et al. Four point normal leveling method for precise hole making of industrial robot: 201510133460. 6[P]. 2015-08-05(in Chinese).
  • 加载中
图(6) / 表(2)
计量
  • 文章访问数:  713
  • HTML全文浏览量:  27
  • PDF下载量:  622
  • 被引次数: 0
出版历程
  • 收稿日期:  2017-07-05
  • 录用日期:  2017-08-21
  • 网络出版日期:  2018-06-20

目录

    /

    返回文章
    返回
    常见问答