中国激光, 2019, 46 (10): 1004002, 网络出版: 2019-10-25 复制并引用该论文  本文已被引 7 次  被引通知

图 & 表

图 1. 激光扫描投影系统投影模型

Fig. 1. Laser scanning projection system projection model

下载图片 查看原文

图 2. 激光扫描投影系统标定示意图

Fig. 2. Calibration diagram of laser scanning projection system

下载图片 查看原文

图 3. 加入激光测距的标定模型图

Fig. 3. Calibration model with laser ranging

下载图片 查看原文

图 4. 未加激光测距模块下f较小时对应的c1、c2与w

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

下载图片 查看原文

图 5. c1、c2与w对算法收敛概率的影响。(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

下载图片 查看原文

图 6. 加入激光测距模块后,f取最小值时对应的c1、c2与w

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

下载图片 查看原文

图 7. 粒子群导数标定算法流程图

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

下载图片 查看原文

图 8. 加入激光测距模块标定前后的定位误差

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

下载图片 查看原文

表 10 粒子群导数标定算法在测距误差为±1 mm时的定位误差

Table1. 0 Positioning error with ±0.01 mm ranging errors in particle swarm derivative calibration algorithm

Target points dh /mm dj /mm dk /mm Δl /mm P1 -1.11×10-7 3.55×10-7 1.75×10-7 4.11×10-7 P2 4.98×10-7 2.56×10-7 2.79×10-7 6.26×10-7 P3 2.99×10-7 2.51×10-7 1.96×10-7 4.36×10-7 P4 4.00×10-7 3.43×10-7 7.97×10-8 5.33×10-7 P5 2.90×10-7 2.44×10-7 -1.63×10-8 3.79×10-7 P6 2.88×10-7 3.48×10-7 3.62×10-8 4.53×10-7 Average 4.73×10-7

查看原文

表 11 合作目标点空间位置信息

Table1. 1 Cooperation target point space location information

Target points m /mm n /mm q /mm h /mm j /mm k /mm P7 1008.79384 317.767798 0 -1304.513 -168.626003 3000 P8 603.821058 1255.47986 0 -899.54018 -1106.33807 3000 P9 -255.13374 1675.98398 0 -40.585376 -1526.84218 3000 P10 -1348.3362 1447.99194 0 1052.61713 -1298.85014 3000 P11 -1649.3914 300.591543 0 1353.67225 -151.449748 3000 P12 -1374.2905 -796.40082 0 1078.57141 945.5426163 3000 P13 -979.06597 -1234.1214 0 683.346848 1383.263169 3000 P14 -525.82694 -1220.4179 0 230.107819 1369.559659 3000 P15 -102.64258 -1198.9637 0 -193.07653 1348.105445 3000 P16 485.144189 -1064.4965 0 -780.86331 1213.638277 3000

查看原文

表 1合作目标点空间位置信息

Table1. Cooperation target point space location information

Target points P1 P2 P3 P4 P5 P6 H /(°) 14 16 4 -13 -12 -2 V /(°) 10 -10 -12 -15 9 14 m /mm -1080.1748 -1197.9003 -517.17885 444.404719 371.154856 -184.2575777 n /mm -379.83915 678.122737 786.81148 952.989372 -326.01153 -598.8422135 q /mm 0 0 0 0 0 0 h /mm 784.455668 902.181225 221.459737 -740.12384 -666.87397 -111.4615399 j /mm 528.980942 -528.98094 -637.66969 -803.84758 475.153321 747.9840085 k /mm 3000 3000 3000 3000 3000 3000

查看原文

表 2合作目标点在投影坐标系下的三维坐标及其定位误差

Table2. Three-dimensional coordinates of the cooperative target point in the projected coordinate system and its positioning error

Target points h /mm j /mm k /mm dh /mm dj /mm dk /mm Δl /mm P1 784.4556679 528.9809417 3000 5.13×10-8 -3.93×10-7 9.99×10-7 1.08×10-6 P2 902.1812254 -528.980943 3000 2.38×10-7 -5.39×10-7 1.72×10-6 1.82×10-6 P3 221.4597368 -637.669685 3000 -4.68×10-9 -2.73×10-7 5.77×10-7 6.39×10-7 P4 -740.123836 -803.847577 3000 3.04×10-8 2.03×10-7 -1.03×10-6 1.05×10-6 P5 -666.873974 475.1533211 3000 4.30×10-7 7.39×10-8 -1.52×10-6 1.58×10-6 P6 -111.461539 747.9840085 3000 5.37×10-7 -4.31×10-8 -6.80×10-7 8.68×10-7 Average 1.17×10-6

查看原文

表 3合作目标点空间位置信息

Table3. Cooperation target point space location information

Target points P1 P2 P3 P4 P5 P6 D /mm 3242.59888 3273.07314 3174.75533 3290.155 3207.48666 3193.786456

查看原文

表 4加入激光测距模块后,合作目标点在投影坐标系下的三维坐标及其定位误差

Table4. Three-dimensional coordinates of the cooperative target point in the projected coordinate system and its positioning error after adding laser ranging module

Target points h /mm j /mm k /mm dh /mm dj /mm dk /mm Δl /mm P1 784.4556674 528.9809421 3000 -4.50×10-7 3.98×10-8 2.77×10-9 4.51×10-7 P2 902.1812254 -528.980942 3000 1.52×10-7 -5.99×10-8 2.88×10-9 1.64×10-7 P3 221.4597368 -637.669685 3000 -4.75×10-8 -6.12×10-8 5.93×10-9 7.77×10-8 P4 -740.123836 -803.847577 3000 5.29×10-8 3.70×10-8 1.02×10-8 6.53×10-8 P5 -666.873974 475.1533209 3000 -4.96×10-8 -6.29×10-8 9.16×10-9 8.06×10-8 P6 -111.46154 747.9840085 3000 -5.01×10-8 3.81×10-8 6.57×10-9 6.33×10-8 Average 1.50×10-7

查看原文

表 5测距误差为±1 mm时的定位误差

Table5. Positioning error at ranging errors of ±1 mm

Target points dx /mm dy /mm dz /mm Δl /mm P1 0.302532329 0.038719773 0.955555972 1.00 P2 0.082859281 0.014298441 0.946261332 9.50×10-1 P3 0.062968435 0.155955736 -0.975369379 9.90×10-1 P4 0.032251015 0.356061090 -3.693866585 3.71 P5 0.296987721 0.340726794 -3.085006079 3.12 P6 0.351374220 0.225133035 -1.458688731 1.52 Average 1.88

查看原文

表 6测距误差为±0.1 mm时的定位误差

Table6. Positioning error at ranging errors of ±0.1 mm

Target points dx /mm dy /mm dz /mm Δl /mm P1 -0.00669991 -0.00317092 -0.095557476 9.58×10-2 P2 0.001115951 -0.00228424 0.094663798 9.47×10-2 P3 0.001951032 -0.00734551 -0.097572449 9.79×10-2 P4 0.003224518 -0.01449479 -0.367280938 3.68×10-1 P5 -0.00623375 -0.01396377 -0.531349478 5.32×10-1 P6 -0.00827656 -0.00983606 -0.401346895 4.02×10-1 Average 2.65×10-1

查看原文

表 7测距误差为±0.01 mm时的定位误差

Table7. Positioning error at ranging errors of ±0.01 mm

Target points dx /mm dy /mm dz /mm Δl /mm P1 -0.00067234 -0.00031625 -0.009555564 9.58×10-3 P2 0.000115166 -0.00022861 0.009466565 9.47×10-3 P3 0.000196132 -0.00073525 -0.009757588 9.79×10-3 P4 0.000320292 -0.00145083 -0.036729185 3.68×10-2 P5 -0.00063122 -0.00139655 -0.053135878 5.32×10-2 P6 -0.00083442 -0.00098309 -0.040135172 4.02×10-2 Average 2.65×10-2

查看原文

表 8粒子群导数标定算法在测距误差为±1 mm时的定位误差

Table8. Positioning error with ±1 mm ranging errors in particle swarm derivative calibration algorithm

Target points dh /mm dj /mm dk /mm Δl /mm P1 -8.89×10-8 2.93×10-7 2.60×10-7 4.02×10-7 P2 4.59×10-7 1.88×10-7 -1.63×10-8 4.96×10-7 P3 2.54×10-7 2.21×10-7 -1.06×10-7 3.53×10-7 P4 3.46×10-7 3.68×10-7 -2.37×10-7 5.58×10-7 P5 3.08×10-7 2.65×10-7 1.16×10-7 4.23×10-7 P6 3.22×10-7 3.37×10-7 2.39×10-7 5.24×10-7 Average 4.59×10-7

查看原文

表 9粒子群导数标定算法在测距误差为±0.1 mm时的定位误差

Table9. Positioning error with ±0.1 mm ranging errors in particle swarm derivative calibration algorithm

Target points dh /mm dj /mm dk /mm Δl /mm P1 -1.01×10-7 3.29×10-7 3.64×10-7 5.01×10-7 P2 4.81×10-7 2.27×10-7 3.80×10-7 6.54×10-7 P3 2.79×10-7 2.38×10-7 1.91×10-7 4.14×10-7 P4 3.77×10-7 3.54×10-7 -7.61×10-8 5.22×10-7 P5 2.98×10-7 2.53×10-7 -3.62×10-8 3.92×10-7 P6 3.02×10-7 3.43×10-7 1.21×10-7 4.73×10-7 Average 4.93×10-7

查看原文

侯茂盛, 刘继强, 刘大礼, 陈雨情, 张旭, 范成博. 基于激光测距的激光扫描投影系统标定技术研究[J]. 中国激光, 2019, 46(10): 1004002. 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.