Abstract: Aiming at the problems of complex operation of automatic hole making normal sensor calibration and dependence on external measuring equipment,a calibration method of normal measurement sensor based on space plane transformation and vector theory was proposed.The plane was constructed by the movement of calibrated plate and spindle,the relationship between the sensor position vector and the measured point was established according to the vector theory,and the equations about the sensor position vector were established by using the space plane transformation matrix.Then the position vector of the normal sensor was obtained,and the calibration test and verification test of the normal sensor were carried out for the proposed method.The test results showed that the calibration of the position vector of the normal sensor using this method was accurate,and the hole making normal error was not more than 0.3°.

Key words: normal measurement, sensor calibration, position vector calibration, automatic hole making, space plane transformation

摘要： 针对自动制孔法向传感器标定工作操作复杂和依赖外部测量设备等问题,提出一种基于空间平面变换和向量理论的法向测量传感器标定方法。利用标定板构建平面,根据向量理论建立传感器位置矢量与被测点关系,利用空间平面变换矩阵建立关于传感器位置矢量的方程组,进而得到法向传感器的位置矢量。通过对所提方法进行法向传感器的标定试验和验证试验表明,采用该方法标定法向传感器位置矢量准确,制孔法向误差不超过0.3°。

关键词: 法向测量, 传感器标定, 位置矢量标定, 自动制孔, 空间平面变换