关键词: 激光测距传感器, 光束空间位置标定, 最小二乘法, 自动化制孔, 法向检测, 机器人

Abstract: Laser displacement sensor is usually used in normal detection of aircraft panel. To solve the problem of the decrease of normal detection accuracy caused by machining and installing errors of laser displacement sensor, a calibration method based on math model and least square method was proposed and applied, which can calibrate the laser beam direction and zero point of laser displacement sensor. First, angle calibration theory was used to obtain the angle between laser beam and spindle feed direction. Then coordinate systems were built by a laser tracker. According to the measurements of laser displacement sensors when they detect the planes which have different angles with feed direction of the spindle, geometry math model was used to calculate the relative coordinates of all laser points. The space equations of laser beams were fitted by the least square method, so laser beam directions and zero points came out. Finally, calibration experiment was carried out in aviation drilling robot platform, and verification experiment was made according to the calibration result. The experimental results show that the method can precisely calibrate the laser beam direction and zero point of laser displacement sensor and the normal detection accuracy is 0.18°.

Key words: laser displacement sensor, laser beam spatial position calibration, least square method, automatic drilling, normal detection, robot