Robot Laser Sensor Calibration Using a Planar Reference Target
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Solution Overview
Problem
There is a need for a simple and precise method to calibrate the relative position relationship between a laser displacement sensor and a robot flange in industrial robots, as existing methods are complex and prone to errors.
Innovation Solution
An apparatus and method using an auxiliary object with a planar surface, where the laser displacement sensor is positioned on or near the robot flange, and a controller determines the orientation and relative position by having the sensor point at a characteristic point multiple times with varying angles and distances, allowing for automatic calibration without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a laser displacement sensor is mounted on a robot flange for non-contact measurement, then measurement speed and accuracy are improved, but the complexity of calibrating the relative position relationship between the sensor and robot flange increases
Solution Approach 1:
An auxiliary object with a planar surface is introduced as an intermediary calibration target. The laser displacement sensor measures distances to this auxiliary object at multiple positions, and the controller uses these measurements to automatically calculate the relative position relationship between the sensor and robot flange, simplifying the calibration process while maintaining high precision
Solution Approach 2:
The patent replaces complex manual mechanical calibration methods with an automated optical measurement system. The controller automatically processes laser displacement measurements to determine sensor orientation and position parameters, eliminating the need for manual intervention and reducing calibration complexity
2Reliability
If manual calibration methods are used to determine the relative position relationship, then the calibration process can be performed, but the time consumption and potential for human error increase
Solution Approach 1:
The system performs self-calibration through automated measurement and calculation. The controller automatically processes the laser displacement sensor measurements to determine the sensor's orientation and position parameters without requiring manual intervention, thereby reducing calibration time and eliminating human error while improving reliability
Solution Approach 2:
The system uses feedback from multiple laser displacement measurements at different positions to automatically determine the sensor's relative position relationship. The controller processes this measurement data to calculate calibration parameters, creating a closed-loop system that improves both speed and reliability through automated iterative measurement and calculation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method enables precise and automatic calibration of the laser displacement sensor, ensuring accurate conversion of measured distances into robot coordinates, enhancing the reliability and simplicity of the calibration process.
Implementation Method 1
laser displacement sensor
Implementation Method 2
detecting the reflected light
Data Source
AI summary
Embodiments of present disclosure relates to an apparatus and a method for calibrating a laser displacement sensor for use with a robot. The apparatus comprises an auxiliary object arranged in a work space of the robot or held by the robot and comprising a planar surface adapted to be detected by the laser displacement sensor; and a controller configured to: determine a characteristic point on the planar surface of the auxiliary object based on a detection result from the laser displacement sensor; cause the laser displacement sensor to point at the characteristic point for plural times with the same angle and different distances to obtain an orientation of the laser displacement sensor; and cause the laser displacement sensor to point at the characteristic point for plural times with different angles and the same distance to obtain a relative position relationship between the laser displacement sensor and the robot.