北京航空航天大学学报 ›› 2018, Vol. 44 ›› Issue (6): 1321-1327.doi: 10.13700/j.bh.1001-5965.2017.0450

• 论文 • 上一篇    下一篇

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   

  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

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。

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

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