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Calibration method for calibrating installation position error of laser distance-measuring sensor

A technology of laser distance measurement and installation position, which is applied in the field of robotics, can solve the problems of sensor part processing error, underutilization of the theoretical position of the sensor, and the installation accuracy of the laser distance measurement sensor cannot meet the demand, so as to avoid local convergence.

Inactive Publication Date: 2018-02-23
BEIHANG UNIV
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Problems solved by technology

Due to the assembly error caused during the assembly process and the processing error of the parts where the sensor is installed, the installation accuracy of the laser ranging sensor cannot meet the requirements. Therefore, it is necessary to calibrate the installation position error of the laser ranging sensor to improve the measurement accuracy.
Calibration of the installation location is one method that underutilizes the theoretical location of the sensor installation

Method used

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  • Calibration method for calibrating installation position error of laser distance-measuring sensor
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  • Calibration method for calibrating installation position error of laser distance-measuring sensor

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Embodiment approach

[0022] see figure 1 , The device used in the present invention consists of an industrial robot 1, a flat test board 2, a laser ranging sensor 3, a sensor mounting frame 4, and a laser tracker 5. The flat test board 2 is installed at the end of the industrial robot 1, the laser ranging sensor 3 is installed on the sensor mounting frame 4, and the sensor mounting frame 4 remains fixed. There are three reference holes on the plane test plate 2, namely reference hole I, reference hole J, and reference hole K. There are three reference holes on the sensor mounting frame 4, which are respectively reference hole M, reference hole O, and reference hole N, and the connection line between reference hole O and reference hole M is perpendicular to the connection line between reference hole O and reference hole N.

[0023] The steps of the method of the present invention are described in detail below.

[0024] The specific implementation steps of the inventive method are as follows:

[...

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Abstract

The invention discloses a method for calibrating the installation position error of a laser distance-measuring sensor based on the Levenberg-Marquardt algorithm and belongs to the technical field of robots. According to the method, a device is composed of an industrial robot, a plane test plate, a laser distance-measuring sensor, a sensor installation bracket and a laser tracking instrument. The plane test plate is arranged at the tail end of the industrial robot. The laser distance-measuring sensor is arranged on the sensor installation bracket. The sensor installation bracket is held stationary. According to the method, a mathematical model is modeled for the measurement distance of the laser distance-measuring sensor. Based on the above model, an error model is obtained. After that, theLevenberg-Marquardt algorithm is adopted for the parameter identification of the installation position error of the laser distance-measuring sensor, so that the measurement accuracy of the distance-measuring sensor is improved. By adopting the method, the installation position error of the distance-measuring sensor can be well calibrated. The local convergence problem of the ordinary least squaremethod can be avoided.

Description

technical field [0001] The present invention relates to robot technology, and more specifically, the present invention relates to a method for calibrating installation position errors of laser ranging sensors based on the Levenberg-Marquardt method. Background technique [0002] The laser ranging sensor is a non-contact measurement method, which has the advantages of high measurement accuracy. It has been widely used in various fields. For example, the laser ranging sensor is used in the normal measurement of the drilling and riveting robot. Due to the assembly error caused during the assembly process and the processing error of the parts where the sensor is installed, the installation accuracy of the laser ranging sensor cannot meet the requirements. Therefore, it is necessary to calibrate the installation position error of the laser ranging sensor to improve the measurement accuracy. Calibration of the installation location is one method that underutilizes the theoretical ...

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Application Information

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IPC IPC(8): G01B11/02
CPCG01B11/026G01B21/042
Inventor 袁培江陈冬冬曹双倩蔡鹦高雷史震云
Owner BEIHANG UNIV
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