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Chinese Journal of Lasers, Volume. 46, Issue 10, 1004002(2019)

Research on Calibration Technology of Laser Scanning Projection System Based on Laser Ranging

Maosheng Hou1、*, Jiqiang Liu1, Dali Liu2, Yuqing Chen1, Xu Zhang1, and Chengbo Fan1
Author Affiliations
  • 1Key Laboratory of Optoelectronic Measurement and Optical Information Transmission Technology of Ministry of Education, College of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun, Jilin 130022, China
  • 2Beijing Institute of Space Mechanics & Electricity, Beijing 100094, China;
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    AbstractGet PDF(in Chinese)
    Figures&Tables (19)
    Equations (0)
    References (11)
    Cited By (7)
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    Figures & Tables(19)
    Laser scanning projection system projection model

    Fig. 1. Laser scanning projection system projection model

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    Calibration diagram of laser scanning projection system

    Fig. 2. Calibration diagram of laser scanning projection system

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    Calibration model with laser ranging

    Fig. 3. Calibration model with laser ranging

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    c1, c2 and w when f is small without laser ranging module

    Fig. 4. c1, c2 and w when f is small without laser ranging module

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    Effect of c1、c2 and w on the convergence probability of the algorithm. (a) c1=c2=2.3, w=0.7;(b) c1=c2=2.1, w=0.5; (c) c1=c2=1.5, w=0.8; (d) c1=c2=1.1, w=0.8

    Fig. 5. Effect of c1、c2 and w on the convergence probability of the algorithm. (a) c1=c2=2.3, w=0.7;(b) c1=c2=2.1, w=0.5; (c) c1=c2=1.5, w=0.8; (d) c1=c2=1.1, w=0.8

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    c1, c2 and w when f is small with laser ranging module

    Fig. 6. c1, c2 and w when f is small with laser ranging module

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    Flow chart of particle swarm derivative calibration algorithm

    Fig. 7. Flow chart of particle swarm derivative calibration algorithm

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    Positioning error after calibration with and without laser ranging

    Fig. 8. Positioning error after calibration with and without laser ranging

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    • Table 1. 0 Positioning error with ±0.01 mm ranging errors in particle swarm derivative calibration algorithm

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      Table 1. 0 Positioning error with ±0.01 mm ranging errors in particle swarm derivative calibration algorithm

      Target pointsdh /mmdj /mmdk /mmΔl /mm
      P1-1.11×10-73.55×10-71.75×10-74.11×10-7
      P24.98×10-72.56×10-72.79×10-76.26×10-7
      P32.99×10-72.51×10-71.96×10-74.36×10-7
      P44.00×10-73.43×10-77.97×10-85.33×10-7
      P52.90×10-72.44×10-7-1.63×10-83.79×10-7
      P62.88×10-73.48×10-73.62×10-84.53×10-7
      Average4.73×10-7

    • Table 1. 1 Cooperation target point space location information

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      Table 1. 1 Cooperation target point space location information

      Target pointsm /mmn /mmq /mmh /mmj /mmk /mm
      P71008.79384317.7677980-1304.513-168.6260033000
      P8603.8210581255.479860-899.54018-1106.338073000
      P9-255.133741675.983980-40.585376-1526.842183000
      P10-1348.33621447.9919401052.61713-1298.850143000
      P11-1649.3914300.59154301353.67225-151.4497483000
      P12-1374.2905-796.4008201078.57141945.54261633000
      P13-979.06597-1234.12140683.3468481383.2631693000
      P14-525.82694-1220.41790230.1078191369.5596593000
      P15-102.64258-1198.96370-193.076531348.1054453000
      P16485.144189-1064.49650-780.863311213.6382773000

    • Table 1. Cooperation target point space location information

      View table

      Table 1. Cooperation target point space location information

      Target pointsP1P2P3P4P5P6
      H /(°)14164-13-12-2
      V /(°)10-10-12-15914
      m /mm-1080.1748-1197.9003-517.17885444.404719371.154856-184.2575777
      n /mm-379.83915678.122737786.81148952.989372-326.01153-598.8422135
      q /mm000000
      h /mm784.455668902.181225221.459737-740.12384-666.87397-111.4615399
      j /mm528.980942-528.98094-637.66969-803.84758475.153321747.9840085
      k /mm300030003000300030003000

    • Table 2. Three-dimensional coordinates of the cooperative target point in the projected coordinate system and its positioning error

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      Table 2. Three-dimensional coordinates of the cooperative target point in the projected coordinate system and its positioning error

      Target pointsh /mmj /mmk /mmdh /mmdj /mmdk /mmΔl /mm
      P1784.4556679528.980941730005.13×10-8-3.93×10-79.99×10-71.08×10-6
      P2902.1812254-528.98094330002.38×10-7-5.39×10-71.72×10-61.82×10-6
      P3221.4597368-637.6696853000-4.68×10-9-2.73×10-75.77×10-76.39×10-7
      P4-740.123836-803.84757730003.04×10-82.03×10-7-1.03×10-61.05×10-6
      P5-666.873974475.153321130004.30×10-77.39×10-8-1.52×10-61.58×10-6
      P6-111.461539747.984008530005.37×10-7-4.31×10-8-6.80×10-78.68×10-7
      Average1.17×10-6

    • Table 3. Cooperation target point space location information

      View table

      Table 3. Cooperation target point space location information

      Target pointsP1P2P3P4P5P6
      D /mm3242.598883273.073143174.755333290.1553207.486663193.786456

    • Table 4. Three-dimensional coordinates of the cooperative target point in the projected coordinate system and its positioning error after adding laser ranging module

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      Table 4. Three-dimensional coordinates of the cooperative target point in the projected coordinate system and its positioning error after adding laser ranging module

      Target pointsh /mmj /mmk /mmdh /mmdj /mmdk /mmΔl /mm
      P1784.4556674528.98094213000-4.50×10-73.98×10-82.77×10-94.51×10-7
      P2902.1812254-528.98094230001.52×10-7-5.99×10-82.88×10-91.64×10-7
      P3221.4597368-637.6696853000-4.75×10-8-6.12×10-85.93×10-97.77×10-8
      P4-740.123836-803.84757730005.29×10-83.70×10-81.02×10-86.53×10-8
      P5-666.873974475.15332093000-4.96×10-8-6.29×10-89.16×10-98.06×10-8
      P6-111.46154747.98400853000-5.01×10-83.81×10-86.57×10-96.33×10-8
      Average1.50×10-7

    • Table 5. Positioning error at ranging errors of ±1 mm

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      Table 5. Positioning error at ranging errors of ±1 mm

      Target pointsdx /mmdy /mmdz /mmΔl /mm
      P10.3025323290.0387197730.9555559721.00
      P20.0828592810.0142984410.9462613329.50×10-1
      P30.0629684350.155955736-0.9753693799.90×10-1
      P40.0322510150.356061090-3.6938665853.71
      P50.2969877210.340726794-3.0850060793.12
      P60.3513742200.225133035-1.4586887311.52
      Average1.88

    • Table 6. Positioning error at ranging errors of ±0.1 mm

      View table

      Table 6. Positioning error at ranging errors of ±0.1 mm

      Target pointsdx /mmdy /mmdz /mmΔl /mm
      P1-0.00669991-0.00317092-0.0955574769.58×10-2
      P20.001115951-0.002284240.0946637989.47×10-2
      P30.001951032-0.00734551-0.0975724499.79×10-2
      P40.003224518-0.01449479-0.3672809383.68×10-1
      P5-0.00623375-0.01396377-0.5313494785.32×10-1
      P6-0.00827656-0.00983606-0.4013468954.02×10-1
      Average2.65×10-1

    • Table 7. Positioning error at ranging errors of ±0.01 mm

      View table

      Table 7. Positioning error at ranging errors of ±0.01 mm

      Target pointsdx /mmdy /mmdz /mmΔl /mm
      P1-0.00067234-0.00031625-0.0095555649.58×10-3
      P20.000115166-0.000228610.0094665659.47×10-3
      P30.000196132-0.00073525-0.0097575889.79×10-3
      P40.000320292-0.00145083-0.0367291853.68×10-2
      P5-0.00063122-0.00139655-0.0531358785.32×10-2
      P6-0.00083442-0.00098309-0.0401351724.02×10-2
      Average2.65×10-2

    • Table 8. Positioning error with ±1 mm ranging errors in particle swarm derivative calibration algorithm

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      Table 8. Positioning error with ±1 mm ranging errors in particle swarm derivative calibration algorithm

      Target pointsdh /mmdj /mmdk /mmΔl /mm
      P1-8.89×10-82.93×10-72.60×10-74.02×10-7
      P24.59×10-71.88×10-7-1.63×10-84.96×10-7
      P32.54×10-72.21×10-7-1.06×10-73.53×10-7
      P43.46×10-73.68×10-7-2.37×10-75.58×10-7
      P53.08×10-72.65×10-71.16×10-74.23×10-7
      P63.22×10-73.37×10-72.39×10-75.24×10-7
      Average4.59×10-7

    • Table 9. Positioning error with ±0.1 mm ranging errors in particle swarm derivative calibration algorithm

      View table

      Table 9. Positioning error with ±0.1 mm ranging errors in particle swarm derivative calibration algorithm

      Target pointsdh /mmdj /mmdk /mmΔl /mm
      P1-1.01×10-73.29×10-73.64×10-75.01×10-7
      P24.81×10-72.27×10-73.80×10-76.54×10-7
      P32.79×10-72.38×10-71.91×10-74.14×10-7
      P43.77×10-73.54×10-7-7.61×10-85.22×10-7
      P52.98×10-72.53×10-7-3.62×10-83.92×10-7
      P63.02×10-73.43×10-71.21×10-74.73×10-7
      Average4.93×10-7
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    Maosheng Hou, Jiqiang Liu, Dali Liu, Yuqing Chen, Xu Zhang, Chengbo Fan. Research on Calibration Technology of Laser Scanning Projection System Based on Laser Ranging[J]. Chinese Journal of Lasers, 2019, 46(10): 1004002

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    Paper Information

    Category: measurement and metrology

    Received: Mar. 22, 2019

    Accepted: Jun. 10, 2019

    Published Online: Oct. 25, 2019

    The Author Email: Hou Maosheng (houmsh@cust.edu.cn)

    DOI:10.3788/CJL201946.1004002

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology