• 论文 •

### 激光测距传感器光束矢向和零点位置标定方法

1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
• 收稿日期:2017-07-05 出版日期:2018-06-20 发布日期:2018-06-28
• 通讯作者: 袁培江.E-mail:itr@buaa.edu.cn E-mail:itr@buaa.edu.cn
• 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。
• 基金资助:
国家自然科学基金（61375085）

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

CAO Shuangqian, YUAN Peijiang, CHEN Dongdong, SHI Zhenyun

1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
• Received:2017-07-05 Online:2018-06-20 Published:2018-06-28

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°.