Spatial pose calibration method for multi-line laser sensor combined measurement

A line laser measurement and multi-line laser technology, applied in the field of measurement, can solve problems such as the problem of sensor pose determination, and achieve the effects of improving measurement accuracy and measurement efficiency, convenient operation and high practical value

Active Publication Date: 2020-08-25
DALIAN UNIV OF TECH
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Problems solved by technology

[0006] In order to overcome the shortcomings of the above methods, the present invention provides a space pose calibration method for multi-line laser combined measurement to solve the problem of sensor pose determination during multi-line laser combined measurement of complex curved surfaces

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  • Spatial pose calibration method for multi-line laser sensor combined measurement
  • Spatial pose calibration method for multi-line laser sensor combined measurement
  • Spatial pose calibration method for multi-line laser sensor combined measurement

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Embodiment Construction

[0055] The implementation of the present invention will be described in detail below with reference to the drawings and technical solutions, and the calibration process of the line laser displacement sensor will be described.

[0056] In order to meet the actual calibration requirements, the horizontal displacement of the single-axis linear translation stage 4 is 25 mm, and the displacement resolution is 10 μm; the pitch and tilt adjustment angle of the three-axis angular deflection stage 5 is ±5°, and the angular resolution is 0.036°. The rotation adjustment angle is ±10°, and the angular resolution is 0.03°.

[0057] Figure 7 It is a flowchart of the measurement and calibration method of the present invention, and the specific steps are as follows:

[0058] The first step, line laser combined measurement sensor pre-installation

[0059] First, the right column 2 and the left column 12 are fixed on the upper surface of the measurement platform 1, and the beam 8 is installe...

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Abstract

The invention provides a spatial pose calibration method for multi-line laser sensor combined measurement, and belongs to the technical field of measurement. Firstly, a linear laser sensor is fixed ona multi-degree-of-freedom adjustment displacement table, and then a stepped calibration block and a calibration block are placed on a motion shaft of a measurement platform; measuring different positions of the calibration block by using a linear laser displacement sensor to obtain a deflection angle of a laser plane; adjusting the positions of the plurality of line laser sensors in the measurement sensitive direction through a standard cone; and measuring a plurality of feature points on the calibration block, establishing a matrix equation of coordinate system space transformation accordingto the measurement base coordinates of the feature points and the sensor coordinates, and solving an optimal solution based on a least square method to complete calibration. The sensors can completeangle deflection, position alignment and multi-sensor calibration of a laser plane under one-time clamping, and the dependence on auxiliary calibration of a numerical control machine tool and an industrial robot is eliminated; the calibration process is quick, efficient, high in practical value, convenient to operate and high in calibration accuracy.

Description

technical field [0001] The invention belongs to the technical field of measurement, and relates to a method for calibrating space poses and postures in combined measurement of multi-line laser sensors. Background technique [0002] Line laser displacement measurement is a high-precision, high-efficiency non-contact measurement method with a large single-scanning range and higher resolution. It is widely used in reverse engineering and high-precision measurement of complex curved surface parts. At the present stage, the requirements for quality control in the manufacturing industry are constantly increasing, and the accuracy of line laser sensors has been greatly improved. A new coordinate measurement system is formed by properly combining multiple line laser sensors. And accurate overall information of freeform surface components. [0003] During the measurement process, due to factors such as the manufacturing and installation errors of the mechanical device and the error ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/245
CPCG01B11/245
Inventor 刘海波窦保平薄其乐文海林李特刘阔李红丽王永青
Owner DALIAN UNIV OF TECH
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