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为了实现激光传感器测头可以根据现场条件来实时改变入射角度,建立了结构可调的点激光测量系统。建立了相机的针孔模型,利用张正友标定算法得到该相机模型的内部参数,定义点激光测量系统中的光心角,推导出利用像点坐标和相机内部参数实时求取光心角公式。建立了点激光测量系统的数学模型,引入点激光测量系统的结构参数:基线距和基准角,利用零平面和两个基准面标定系统结构参数。利用标定得到的系统结构参数进行实时的逆向工程在线测量。实验结果表明:测量系统量程为75mm时,该标定算法最大标定误差≤0.02mm,点激光测量系统的测量误差≤0.06mm,达到精密测量的要求。
In order to realize the laser sensor probe can change the angle of incidence in real time according to the site conditions, a point laser measuring system with adjustable structure was established. The pinhole model of the camera is established. The internal parameters of the camera model are obtained by using Zhang Zhengyou calibration algorithm. The optical center angle of the point laser measurement system is defined. The formula of the light center angle is obtained by using the coordinates of the point and the internal parameters of the camera. The mathematical model of point laser measurement system is established. The structural parameters of point laser measurement system are introduced: the baseline distance and the reference angle, and the system structural parameters are calibrated by using zero plane and two reference planes. The real-time reverse engineering on-line measurement is carried out by using the calibrated system structure parameters. The experimental results show that the maximum calibration error of the calibration algorithm is less than 0.02 mm and the measurement error of the point laser measurement system is less than 0.06 mm when the measurement system measuring range is 75 mm, which meets the requirements of precision measurement.