激光束空间位姿高精度标定方法 
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Calibration Method for Spatial Pose of Laser Beam with High-Accuracy
天津大学精密测试技术与仪器国家重点实验室, 天津 300072
图 & 表
图 1. 关节型激光传感器系统结构。(a)结构示意图;(b)实物图
Fig. 1. Structure of an articulated laser sensor. (a) Structural representation; (b) real product
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图 2. 激光点三维坐标标定原理
Fig. 2. Calibration principle of laser spot 3D coordinate
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图 3. 原始图像
Fig. 3. Original image
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图 4. 标定实验装置
Fig. 4. Calibration experiment equipment
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图 5. 圆拟合结果。(a)左单元竖直轴;(b)左单元水平轴;(c)右单元竖直轴;(d)右单元水平轴
Fig. 5. Results of circle fitting. (a) Vertical axis of left module; (b) horizontal axis of left module; (c) vertical axis of right module; (d) horizontal axis of right module
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图 6. 直线拟合结果。(a)左单元视准轴;(b)右单元视准轴
Fig. 6. Results of linear fitting. (a) Sight axis of left module; (b) sight axis of right module
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图 7. 测量实验装置
Fig. 7. Measurement experiment equipment
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表 1系统参数及物理意义
Table1. System parameters and physical meaning
| Left/right module | Category | Parameter | Physical meaning |
|---|
| Left module | Vertical axis | (xLV, yLV, zLV) | Direction vector of vertical axis | | (xLVO, yLVO, zLVO) | Fixed point of vertical axis | | Horizontal axis | (xLH, yLH, zLH) | Direction vector of horizontal axis | | (xLHO, yLHO, zLHO) | Fixed point of horizontal axis | | Sight axis | (xLS, yLS, zLS) | Direction vector of sight axis | | (xLSO, yLSO, zLSO) | Fixed point ofsight axis | | Right module | Vertical axis | (xRV, yRV, zRV) | Direction vector of vertical axis | | (xRVO, yRVO, zRVO) | Fixed point of vertical axis | | Horizontal axis | (xRH, yRH, zRH) | Direction vector of horizontal axis | | (xRHO, yRHO, zRHO) | Fixed point of horizontal axis | | Sight axis | (xRS, yRS, zRS) | Direction vector of sight axis | | (xRSO, yRSO, zRSO) | Fixed point ofsight axis |
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表 2各点在相应坐标系下的坐标表示
Table2. Coordinate representation of each point in corresponding coordinate system
| Point | Ow-xwywzw | O-uv |
|---|
| p'1 | | (u1, v1) | | p'2 | | (u2, v2) | | p'3 | | (u3, v3) | | p'4 | | (u4, v4) | | p'L | | (uL, vL) | | p1 | (xw1, yw1, zw1) | | | p2 | (xw2, yw2, zw2) | | | p3 | (xw3, yw3, zw3) | | | p4 | (xw4, yw4, zw4) | | | pL | (xwL, ywL, zwL) | |
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表 3水平轴和竖直轴系统参数
Table3. System parameters of horizontal and vertical axesmm
| Left/right module | Category | System parameter |
|---|
| Left module | Horizontal axis | Direction vector | (0.957983,-0.286808, 0.003181) | | Fixed point | (169.680000, 51.262000, -622.078000) | | Vertical axis | Direction vector | (0.002228, 0.003319,-0.999992) | | Fixed point | (217.771000, 36.764000, -602.765000) | | Right module | Horizontal axis | Direction vector | (0.994939,-0.100413, -0.003714) | | Fixed point | (426.697000, 23.508000, -622.327000) | | Vertical axis | Direction vector | (-0.005708, 0.003100, -0.999979) | | Fixed point | (378.383000, 36.193000, -602.448000) |
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表 4视准轴系统参数
Table4. System parameters of sightaxismm
| Left/right module | Category | System parameter |
|---|
| Left module | Direction vector | (0.277045, 0.960857, -0.000547) | | Fixed point | (361.211000, 714.754000, -619.939000) | | Right module | Direction vector | (-0.217045, 0.976162, 0.000698) | | Fixed point | (298.145000, 608.918000, -619.126000) |
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表 5真值和测量值对比
Table5. Comparison between the measured values and standard values
| Point number | Left/right module | Horizontal angle /(°) | Verticalangle /(°) | Measured value /mm | Standard value /mm | Error /mm |
|---|
| 1 | Left | 0 | 0.915 | 75.627 | 75.613 | 0.013 | | Right | 0 | 0.851 | | 2 | Left | 0 | 0.920 | | Right | 3.570 | 0.888 | | 3 | Left | 9.550 | 1.567 | 283.295 | 283.245 | 0.050 | | Right | -4.400 | 1.507 | | 4 | Left | 6.880 | 1.798 | | Right | 11.970 | 1.914 | | 5 | Left | -25.520 | 1.905 | 111.441 | 111.484 | -0.043 | | Right | -18.750 | 1.557 | | 6 | Left | -27.450 | 8.080 | | Right | -23.750 | 7.011 | | 7 | Left | -9.420 | 7.621 | 200.538 | 200.580 | -0.042 | | Right | -6.872 | 7.306 | | 8 | Left | 10.570 | 8.452 | | Right | 12.975 | 9.101 | | 9 | Left | 14.250 | 1.227 | 169.024 | 169.069 | -0.045 | | Right | 19.000 | 1.400 | | 10 | Left | -1.250 | 1.254 | | Right | 3.100 | 1.223 |
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段晓登, 吴斌, 康杰虎. 激光束空间位姿高精度标定方法[J]. 光学学报, 2019, 39(8): 0812002. Xiaodeng Duan, Bin Wu, Jiehu Kang. Calibration Method for Spatial Pose of Laser Beam with High-Accuracy[J]. Acta Optica Sinica, 2019, 39(8): 0812002.
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