Research On The Calibration Method And Technology Of System Parameters Of Articulated Laser Sensor

With the development of modern industry and the advancement of science and technology,precision measuring theory,technologies and instruments are constantly updated.From the traditional coordinate measuring instruments,such as coordinate measuring machine(CMM),theodolite,laser tracker,etc.,to three-dimension vision measuring technologies,such as binocular stereo vision measuring technology and structured light three-dimension measuring technology,three-dimension measuring technologies and instruments are widely used in aerospace,intelligent manufacturing and infrastructure construction.However,each measuring instrument is limited by its own deficiencies and applicable environment.Moreover,its strict requirements for orthogonality or complicated data disposal courses lead to high costs.In order to solve the problems in regular-size space measurement,a new type of Articulated Laser Sensor based on non-orthogonal structure is proposed.This paper starts with the introduction of system components and structure of Articulated Laser Sensor,and then analyzes its abstract mathematical model and system parameters.In addition,the measuring principle is introduced in detail.The system is principally made up of two articulated laser sensing modules.Each module is composed of two rotary tables and one collimated laser.The abstract mathematical model of each module is three spatial non-coplanar lines,which are named as "vertical axis","horizontal axis" and "sight axis",respectively.The spatial poses of three axes are defined as the system parameters.Moreover,the system three-dimension measurement is based on perspective projection model,shaft angle transformation and quaternion.Then,different calibration methods are proposed for horizontal axis,vertical axis and sight axis.The research about calibration methods of system parameters is one of the key points of this paper.The calibration method for spatial pose of horizontal axis and vertical axis is based on spatial circle fitting.Due to the deficiencies and limitations of the existing calibration methods,a novel calibration method for spatial pose of laser beam is proposed in this paper.And for this calibration method,a new type of one-dimensional(1D)linear displacement optical calibration device is designed.At the same time,the image processing used in the calibration method is described in detail,and the uncertainty analysis for calibration result of spatial pose of sight axis is carried out.Finally,the simulations based on Matlab and Solidworks validate the calibration accuracy of the method for spatial pose of sight axis.Furthermore,the calibration accuracy of the system parameters is verified by experiments on the CMM platform using the system prototype and calibration device.