Laser ranging sensor measurement system and measurement method

Abstract

The present invention discloses a laser distance sensor measurement system and a measurement method, which adopts a laser distance sensor and an auxiliary measurement device. The auxiliary measurement device includes a reference panel and an auxiliary reference panel. The reference surface and the auxiliary reference surface are parallel and the spacing is known. The reference panel is fixed, and the auxiliary reference panel slides parallel to the reference panel and is located between the laser sensor and the reference panel. The target point is equivalently replaced by a laser distance sensor to measure the straight-line distance to a certain point on the reference surface. The auxiliary reference panel is arranged parallel to the reference panel to measure the straight-line distance from the target point to the auxiliary reference surface. According to the similarity principle of triangles, the vertical distance from the target point to the reference surface can be obtained. The method provided by the present invention can be used in multiple fields such as mechanical engineering, control science and engineering, instrument science and technology, and surveying and mapping science, and has multiple advantages such as simple structure, stable and good performance, little environmental impact, and low cost.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a laser ranging sensor measurement system and a measurement method. Background Art

[0002] In order to achieve precise operation tasks, the robot arm is required to have high end positioning accuracy. In order to improve the end positioning accuracy of the robot arm, its kinematic parameters need to be accurately calibrated. The basis for achieving this goal is to be able to accurately measure and position the end.

[0003] At present, most measurements are achieved through laser distance sensors, but because it is impossible to ensure that the laser is perpendicular to the reference surface, most of them are assisted by angle sensors or optical detection instruments such as CCD and PSD to complete the measurement target. These methods undoubtedly increase the measurement error, involve more tools, and the cumbersome operation leads to insufficient stability and low efficiency. Summary of the invention

[0004] The present invention provides a laser distance measuring sensor measuring system and a measuring method, which adopts terminal measurement positioning, avoids the use of multiple measuring tools, improves the measuring accuracy, reduces the cost and simplifies the measuring system.

[0005] The specific technical solutions are:

[0006] A laser distance measuring sensor measurement system comprises: a laser distance measuring sensor and an auxiliary measuring device;

[0007] The laser distance measuring sensor is used to measure the straight-line distance from the target to be measured to a certain point;

[0008] The auxiliary measuring device comprises a reference panel and an auxiliary reference panel; the reference surface of the reference panel and the auxiliary reference surface of the auxiliary reference panel are parallel to each other with a fixed spacing and smooth surfaces.

[0009] The auxiliary reference panel is located above the reference panel, the laser ranging sensor is located above the auxiliary reference panel, the reference panel is provided with a slide groove, the auxiliary reference panel is parallel to the reference panel and forms a sliding pair, and the auxiliary reference panel slides above the reference panel along the slide groove.

[0010] The measuring method of the above laser ranging sensor measuring system comprises the following steps:

[0011] S1. The distance l1 from the target point to a point on the reference surface of the reference panel is measured by a laser ranging sensor;

[0012] S2. Keep the laser ranging sensor stationary, place the auxiliary reference panel above the reference panel (M) and parallel to the reference panel; the distance from the auxiliary reference surface of the auxiliary reference panel to the reference surface of the reference panel is d1;

[0013] S3. The distance l2 from the target point to the auxiliary reference surface is measured by the laser ranging sensor;

[0014] S4. According to the triangle similarity principle, the distance d2 from the target point to the reference surface is:

[0015] The present invention discloses a laser distance sensor measurement system and a measurement method, which adopts a laser distance sensor and an auxiliary measurement device to obtain the distance from a target point (i.e., a point to be measured) to a reference surface. The target point is equivalently replaced by a laser distance sensor, and the auxiliary measurement device includes a reference panel and an auxiliary reference panel. The reference surface and the auxiliary reference surface are parallel and the spacing is known. The reference panel is fixed and immovable. The reference panel has a slide groove. The auxiliary reference panel and the reference panel form a sliding pair. The auxiliary reference panel can slide parallel to the reference panel and is located between the laser sensor and the reference panel. During the measurement process, the position of the laser distance sensor is first determined, i.e., the target point, and the straight-line distance from the target point to a certain point on the reference surface is measured. Then, the auxiliary reference panel is slid to measure the straight-line distance from the target point to the auxiliary reference surface. Combined with the fact that the distance between the two reference panels is fixed and known, according to the similarity principle of triangles, the vertical distance from the target point to the reference surface can be obtained.

[0016] The method provided in this application can be used in many fields such as mechanical engineering, control science and engineering, instrument science and technology, surveying and mapping science, etc. Compared with the existing technology, it avoids the use of optical detection instruments such as angle sensors or CCD, PSD to complete the measurement target. It has many advantages such as simple structure, stable and good performance, little environmental impact, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention. DETAILED DESCRIPTION

[0018] The specific technical solution of the present invention is described in conjunction with the accompanying drawings.

[0019] like Figure 1 As shown, a laser distance measuring sensor measurement system comprises: a laser distance measuring sensor (P) and an auxiliary measurement device;

[0020] The laser distance measuring sensor P is used to measure the straight-line distance from the target to a certain point;

[0021] The auxiliary measuring device comprises a reference panel M and an auxiliary reference panel M'; the reference surface of the reference panel M and the auxiliary reference surface of the auxiliary reference panel M' are parallel to each other with a fixed interval and smooth surfaces.

[0022] The auxiliary reference panel M' is located above the reference panel M, the laser ranging sensor P is located above the auxiliary reference surface of the auxiliary reference panel M', the reference panel M is provided with a slide groove, the auxiliary reference panel M' is parallel to the reference panel M and forms a sliding pair, and the auxiliary reference panel M' slides above the reference panel M along the slide groove.

[0023] The measuring method of the laser distance measuring sensor measuring system comprises the following steps:

[0024] S1. The distance l1 from the target point A to a point E on the reference surface of the reference panel M is measured by the laser ranging sensor P;

[0025] S2. Keep the laser ranging sensor P stationary, place the auxiliary reference panel M' above the reference panel M, and parallel to the reference panel M; the distance from the auxiliary reference surface of the auxiliary reference panel M' to the reference surface of the reference panel M is d1;

[0026] S3. The distance l2 from the target point A to the auxiliary reference surface is measured by the laser ranging sensor P;

[0027] S4. According to the triangle similarity principle, the distance d2 from the target point A to the reference surface is:

Claims

1. A measurement method of a laser distance measuring sensor measurement system, using a laser distance measuring sensor measurement system, comprising: Laser distance measuring sensor (P) and auxiliary measuring devices; The laser distance sensor (P) is used to measure the straight-line distance from a target to be measured to a certain point; The auxiliary measuring device comprises a reference panel (M) and an auxiliary reference panel (M'); the reference surface of the reference panel (M) and the auxiliary reference surface of the auxiliary reference panel (M') are parallel to each other and have a fixed spacing, and the surfaces are smooth; The auxiliary reference panel (M') is located above the reference panel (M), the laser distance measuring sensor (P) is located above the auxiliary reference panel (M'), the reference panel (M) is provided with a slide groove, the auxiliary reference panel (M') is parallel to the reference panel (M) and forms a sliding pair, and the auxiliary reference panel (M') slides above the reference panel (M) along the slide groove; It is characterized in that the measuring method comprises the following steps: S1. The laser distance sensor (P) measures the distance from the target point (A) to a point (E) on the reference surface of the reference panel (M). ; S2. Keep the laser distance sensor (P) still, place the auxiliary reference panel (M') above the reference panel (M) and parallel to the reference panel (M); the distance from the auxiliary reference surface of the auxiliary reference panel (M') to the reference surface of the reference panel (M) is ; S3. The laser distance sensor (P) measures the distance from the target point (A) to the auxiliary reference surface ; S4. The distance from the target point (A) to the reference surface based on the triangle similarity principle for: .

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