融合双轴转台的全方位工业激光投影系统标定方法  

Calibration Method for an Omnidirectional Industrial Laser Projection System Integrating a Dual-axis Turntable

作　　者：郭丽丽 韩振寰[1] 林雪竹 李丽娟 GUO Lili;HAN Zhenhuan;LIN Xuezhu;LI Lijuan(Key Laboratory of Optical Control and Optical Information Transmission Technology,Ministry of Education,School of Optoelectronic Engineering,Changchun University of Science and Technology,Changchun 130022,China;Zhongshan Institute of Changchun University of Science and Technology,Zhongshan 528437,China)

机构地区：[1]长春理工大学光电工程学院,光电测控与光信息传输技术教育部重点实验室,长春130022 [2]长春理工大学中山研究院,中山528437

出　　处：《光子学报》2025年第3期132-146,共15页Acta Photonica Sinica

基　　金：长春理工大学中山研究院引进创新科研团队项目(No.CXTD2023006);吉林省教育厅科学技术研究项目(No.JJKH20230819KJ)。

摘　　要：为解决工业激光投影系统面向大尺寸(大于9.2 m×9.2 m)构件进行投影定位时,因自身投影范围受限导致系统需多次转站标定,致使投影标定所需的合作目标点布设繁琐、增加标定时间等问题,构建了融合双轴转台的全方位工业激光投影定位系统,并针对本系统提出了基于双轴振镜和双轴转台两者四轴转角的标定方法。首先,提出了基于激光跟踪仪与多参数集成标定板的系统构建参数标定方法,建立系统构建参数标定模型,实现了对双轴转台与激光3D投影系统之间的实时相对位姿的标定;其次,根据不同合作目标点对应的双轴振镜与双轴转台两者四轴转角,建立了系统外部参数标定模型,基于双轴转台坐标系,获取激光3D投影系统坐标系与被投影物体坐标系之间的相对位姿并实时监测位姿变动;最后,针对标定模型构建目标优化函数,采用序列最小二乘法优化算法解算标定参数。仿真结果表明,所建模型标定精度可达10^(-6) mm,加入系统正态分布误差后进行仿真,其平均标定精度为0.242 mm,实验结果表明实际投影最大偏差大约为0.30 mm,实现了全方位投影。Traditional laser projection systems face significant challenges when projecting onto large objects,mainly due to their limited projection range.Projection errors are positively correlated with parameters such as projection angle and projection distance,and it is not advisable to increase the projection distance to extend the projection range.Furthermore,if the projection environment is relatively narrow,it is impossible to extend the projection range by increasing the projection distance.Frequent station changes and repeated calibration are required.This limitation leads to the need for multiple recalibrations to position the projected object,which requires the arrangement of complex cooperative target points and increases the calibration time,which greatly reduces the overall efficiency.To solve these problems,this study introduces an innovative omnidirectional industrial laser projection positioning system that integrates a dual-axis turntable,which can project 360°without the need for repeated calibration,thereby improving projection efficiency and expanding the effective projection range.For the omnidirectional industrial laser projection positioning system integrating a dual-axis turntable constructed in this paper,a calibration method based on the four-axis rotation angles of both the dual-axis galvanometer and the dual-axis turntable is proposed.First,a calibration model is established for the system construction parameters,which are the relative poses between the 3D laser projection system and the dual-axis turntable.In principle,calibration only needs to be performed before the unit leaves the factory or when accessories are replaced,and does not need to be repeated in the field.Specifically:1)use a laser tracking system to separately position the dual-axis turntable and the multi-parameter integrated calibration plate to obtain the relative pose of the laser tracker with respect to each of the two;2)use the laser 3D projection system to position and calibrate the multi-parameter integrated calibration

关 键 词：测量 激光投影定位系统 双轴转台 标定模型 全方位投影 

分 类 号：TN249[电子电信—物理电子学]