Acta Optica Sinica, Volume. 39, Issue 8, 0812002(2019)
Calibration Method for Spatial Pose of Laser Beam with High-Accuracy
Figures & Tables(12)
Fig. 1. Structure of an articulated laser sensor. (a) Structural representation; (b) real product
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
Fig. 6. Results of linear fitting. (a) Sight axis of left module; (b) sight axis of right module
Table 1. System parameters and physical meaning
View tableTable 1. System parameters and physical meaning
Left/right module Category Parameter Physical meaning Left module Vertical axis ( x LV,y LV,z LV)Direction vector of vertical axis ( x LVO,y LVO,z LVO)Fixed point of vertical axis Horizontal axis ( x LH,y LH,z LH)Direction vector of horizontal axis ( x LHO,y LHO,z LHO)Fixed point of horizontal axis Sight axis ( x LS,y LS,z LS)Direction vector of sight axis ( x LSO,y LSO,z LSO)Fixed point ofsight axis Right module Vertical axis ( x RV,y RV,z RV)Direction vector of vertical axis ( x RVO,y RVO,z RVO)Fixed point of vertical axis Horizontal axis ( x RH,y RH,z RH)Direction vector of horizontal axis ( x RHO,y RHO,z RHO)Fixed point of horizontal axis Sight axis ( x RS,y RS,z RS)Direction vector of sight axis ( x RSO,y RSO,z RSO)Fixed point ofsight axis
Table 2. Coordinate representation of each point in corresponding coordinate system
View tableTable 2. Coordinate representation of each point in corresponding coordinate system
Point O w-x wy wz wO -uv p' 1( u 1,v 1)p' 2( u 2,v 2)p' 3( u 3,v 3)p' 4( u 4,v 4)p' L( u L,v L)p 1( x w1,y w1,z w1)p 2( x w2,y w2,z w2)p 3( x w3,y w3,z w3)p 4( x w4,y w4,z w4)p L( x wL,y wL,z wL)
Table 3. System parameters of horizontal and vertical axesmm
View tableTable 3. 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)
Table 4. System parameters of sightaxismm
View tableTable 4. 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)
Table 5. Comparison between the measured values and standard values
View tableTable 5. Comparison between the measured values and standard values
Point number Left/right module Horizontal angle /(°) Vertical angle /(°) 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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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
Paper Information
Category: Instrumentation, Measurement and Metrology
Received: Apr. 2, 2019
Accepted: May. 5, 2019
Published Online: Aug. 7, 2019
The Author Email: Jiehu Kang (zhongdian313@163.com)
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