CN110793458A - Coplane adjusting method for two-dimensional laser displacement sensor - Google Patents
Coplane adjusting method for two-dimensional laser displacement sensor Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention relates to a laser 2D sensor coplanarity adjusting method based on a global calibration device, which is used for measuring the profile of a large-size object by data fusion of a plurality of 2D laser sensors in a non-contact way. The device comprises a rotary support arm part and a bottom beam adjusting part, wherein the rotary support arm part comprises a high-precision stepped block model, a rotary arm, a servo motor, a high-precision angle encoder, a support arm and a support arm mounting base; the bottom beam adjusting part comprises a beam, beam positioning feet, a 360-degree surface laser in vertical and horizontal positions, a surface laser fixing base, a support arm fixing base, a beam insulating base and a beam fixing clamp; the quick high-precision coplane adjustment of the gantry laser 2D sensor can be realized.
Description
Technical Field
The invention relates to the field of non-contact profile measurement of oversized objects, and realizes global calibration of a plurality of laser 2D sensors on a portable large portal frame based on a reference coordinate system, in particular to a calibration device and a global calibration method for global calibration of a plurality of wide-range laser 2D sensors.
Background
With the rapid development of a non-contact detection method, the detection of the full-section profile of an object can be realized by adopting a laser 2D sensor at present, the measurement of the profile of the section of the object can be realized by a single laser 2D sensor or two laser 2D sensors for small parts, and the measurement of the profile of the large-size object needs to be performed by a plurality of wide-range laser 2D sensors. When the contour of the subway vehicle is measured, non-contact measurement is realized through a wide-range laser 2D sensor arranged on a gantry. When the laser 2D sensor with the range of 800-1400 mm and the visual angle of 35-45 degrees is adopted, 19 wide-range laser 2D sensors are needed to realize the measurement of the profile of the whole vehicle body section. As shown in fig. 1, in the figure: 1 is a portal frame structure frame, 2 is a laser 2D sensor, and 3 is a profile schematic diagram to be measured.
Aiming at the global coordinate system calibration of a plurality of wide-range laser 2D sensors on a large portal frame, no rapid and high-precision calibration equipment and calibration method exist at present. In order to realize high-precision measurement of the section size of a large-size object, global calibration of a plurality of laser 2D sensors based on a reference coordinate system is required to be realized, high-precision calibration is required to be carried out on calibration equipment, and coplanarity adjustment is required to be carried out on the plurality of laser 2D sensors, so that interference influence of laser among different sensors is prevented, and the measurement result is ensured to be the same section profile.
Disclosure of Invention
The problems to be solved by the invention are as follows: in order to realize high-precision measurement of the section size of a large-size object, the global calibration of a plurality of wide-range laser 2D sensors on a large portal frame based on a reference coordinate system needs to be realized, a calibration device and a global calibration method based on a space coordinate transformation algorithm are provided, and the structural parameter calibration of the calibration device and the coplanar adjustment of the plurality of laser 2D sensors are completed. By the scheme, high-precision global calibration of a reference coordinate system of the portal frame measuring system can be realized.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a be applied to global calibration device of a plurality of wide range laser 2D sensors on portable portal frame which characterized in that: it includes a rotary arm portion and a bottom cross beam fixing and adjusting portion. The rotary supporting arm part comprises a high-precision step block, a rotary arm, a servo motor, a high-precision angle encoder, a supporting arm and a supporting arm mounting base; the bottom beam fixing and adjusting part comprises a beam, beam positioning feet, vertical plane laser, horizontal plane laser, surface laser fixing bases, support arm fixing bases, beam insulating bases and beam fixing clamps. When the support arm fixing base and the mounting base are designed, the requirements of higher planeness and verticality are met. When the calibration device is installed, equipment can be quickly assembled according to the relation between the upper module and the lower module and corresponding precision requirements are met, and the specific connection relation of each part is as follows: the beam insulation base is arranged at the end part of the beam; the surface laser fixing base is arranged above the middle part of the left side of the cross beam; the support arm fixing base is arranged above the middle part of the cross beam; the support arm mounting base and the support arm fixing base are fixed in the vertical direction through the support arm pressing block; one end of the vertical support arm is fixed on the support arm mounting base through a bolt, the other end of the vertical support arm is connected with the end part of the rotary rotating arm through a servo motor, and the vertical support arm and the cross beam are in a vertical mounting relation; the calibration block is arranged at the end part of the rotary rotating arm; the rotary rotating arm can rotate clockwise or anticlockwise by any angle in a 360-degree rotary circular plane.
A coplanar adjustment method is adopted to realize coplanarity of a plurality of laser 2D sensors on the portal frame through a vertical plane laser arranged on the calibration device. The coplanarity adjusting method comprises the following steps: the method comprises the steps that firstly, two pieces of white paper are respectively placed at a certain distance in front of and behind the effective range of a single laser 2D sensor, the laser light stripes projected on the white paper by the laser 2D sensor and the laser light stripes projected on the white paper by a vertical plane laser arranged on a calibration device are observed, and the laser 2D sensor is adjusted to enable the two laser light stripes to be completely overlapped on the white paper; and step two, realizing coplanarity of all the laser 2D sensors by adopting the coplanarity adjusting method for each laser 2D sensor.
Through the horizontal laser and the vertical laser which are installed on the calibration device and the cross laser which is installed in the middle of the cross beam at the top of the portal frame, the portal frame is quickly repositioned and assembled through the quick positioning and assembling method, the situation that all laser 2D sensors need to be globally calibrated after the portal frame is disassembled every time is avoided, and the purpose of quick measurement is achieved. The quick positioning and assembling method comprises the following steps: step one, after a portal frame is installed according to design requirements, coplanar adjustment of all laser 2D sensors is completed through a coplanar adjustment method; secondly, projecting laser lines on the portal frame through a horizontal laser installed on the calibration device, and making horizontal positioning marks on two sides of the portal frame; thirdly, a laser line is projected on the portal frame through a vertical plane laser arranged on the calibration device, and vertical positioning marks are made on the upper part and the lower part of two sides of the portal frame; step three, projecting a laser line on a cross beam of the calibration device through a cross laser arranged in the middle of the cross beam at the top of the portal frame, and making a cross positioning mark on the calibration device; and step four, when the portal frame is re-installed each time, firstly placing the calibration device on the steel rail according to requirements, opening the horizontal plane laser, the vertical plane laser and the cross laser, and adjusting the portal frame bottom adjusting mechanism to enable the three laser lines to coincide with the corresponding positioning marks, so that the re-assembly of the portal frame is completed. By adopting the rapid positioning and assembling method, the portal frame and all the laser 2D sensors are fixed in position relative to the calibration device, so that global calibration is not required to be carried out again, and the purpose of rapid measurement can be realized.
The mechanical fixing structure is designed to realize high-precision matching of the rotary support arm part and the bottom beam fixing and adjusting part, the connecting part is compressed by using the bolt, the device can be quickly installed and disassembled, and the fact that the structural parameters of the equipment are not needed to be recalibrated after reassembly is guaranteed. The specific installation steps are as follows: firstly, the right side surface of a support arm mounting base is in close contact with a diagonal plane at the upper right of a support arm fixing base; secondly, bolt pressing and fixing are carried out on the left side surfaces of the support arm mounting base and the support arm fixing base through a support arm pressing block 1; and step three, carrying out bolt pressing and fixing on the front side surfaces of the support arm mounting base and the support arm fixing base by using a support arm pressing block 2.
The fixed adjustment part of bottom crossbeam one end adopts crossbeam location foot to control the location, and the fixed anchor clamps fixed mode that adopts of crossbeam, a plurality of positions of crossbeam adopt anchor clamps to press from both sides tightly respectively (when measuring to railcar, fix equipment on the track through anchor clamps and fix).
The angle encoder is arranged at the end part of the vertical support arm and is connected with a servo motor bearing, the rotary rotating arm can freely rotate to any position of a plane space by 360 degrees, and the angle encoder records the rotating angle.
Before global calibration of a plurality of laser 2D sensors based on a reference coordinate system, structural parameter calibration needs to be carried out on a standard device, and the calibration method comprises the following steps: establishing an origin coordinate system by using a total station, arranging a coordinate origin and a direction positioning point at the middle position of a beam of a standard device, and obtaining a finally required reference coordinate system through conversion (when measuring the contour of a subway vehicle, establishing the reference coordinate system by using a track reference coordinate system); rotating the rotating arm to any spatial position to obtain angle information, and obtaining coordinate values of the characteristic points on the step block in the reference coordinate system through a total station; and step three, acquiring enough groups of data points because the measured data points are on the rotating circle, solving the circle center and the radius of the rotating circle corresponding to the characteristic point by adopting a nonlinear least square method, and calculating to obtain the structural parameters of the calibration device according to the geometric position relation between the characteristic point and the profile of the step block. After the structural parameters of the calibration device are obtained through solving, the coordinate values of the step block profile data points at any position in the reference coordinate system can be calculated according to the angles obtained by the angle encoder.
The global calibration method of the gantry based on the reference coordinate system for the plurality of laser 2D sensors is characterized by comprising the following measurement methods: the system adopts a world coordinate global calibration method, namely, a rotation matrix and a translation vector from each sensor coordinate system to a global reference coordinate system are determined. And matching data of the step block profile acquired by the laser 2D sensor in a sensor coordinate system with data of the step block profile calculated by the angle sensor in a reference coordinate system, and calculating a conversion matrix between the two coordinate systems, wherein the matching algorithm adopts an iterative closest point algorithm. By adopting the calibration method for each laser 2D sensor, the global calibration of a plurality of laser 2D sensors of the portal frame in a reference coordinate system is realized.
Has the advantages that: according to the invention, a standard step block is adopted for global calibration, the standard step block is provided with a plurality of vertical surfaces, parallel surfaces and angular points, the function of convenient identification is realized in the acquired profile coordinates, the directivity is realized in the data processing, an operator can extract data according to the profile characteristics of the step block, and the data processing efficiency and the calibration precision can be improved; the mounting mode of the support arm fixing base, the support arm pressing block and the support arm mounting base can ensure the mounting precision and achieve quick assembly and disassembly without the need of calibration in each mounting, and meanwhile, the device can be conveniently disassembled and mounted, can be applied to any section of a rail, can be quickly assembled and positioned to finish high-precision calibration work, does not need calibration after being reassembled, and can directly perform the calibration work; the calibration device and the global calibration method can quickly complete high-precision global calibration of a plurality of wide-range laser 2D sensors on a large portal frame based on a reference coordinate system; the coplanarity measurement of the laser 2D sensors is realized by the coplanarity adjusting method, and the coplanarity of the 19 laser 2D sensors is quickly realized, so that the coplanarity adjustment is completed on the profile measurement of an oversized object; the rapid repositioning assembly of the portal frame is realized by a rapid positioning assembly method, so that the situation that all laser 2D sensors need to be globally calibrated after the portal frame is disassembled every time is avoided, and the purpose of rapid measurement is realized; the calibration device is quickly installed and fixed through the mechanical fixing structure of the calibration device, and the precision after each disassembly and assembly is ensured to meet the technical requirements; the calibration method of the calibration device can simply, quickly and accurately finish the calibration of the structural parameters of the calibration device; the invention has the characteristics of high precision and convenient disassembly and assembly, and provides a simple and feasible calibration mode for complicated and changeable field measurement conditions.
Drawings
For better clarity of the apparatus and method of the embodiments of the present invention, the drawings that will be used in the description of the embodiments of the present invention are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious to those skilled in the art that other design schemes can be obtained according to the principles of these drawings without inventive effort.
FIG. 1 is a schematic view showing the installation of a gantry and a laser 2D sensor according to an embodiment of the present invention;
FIG. 2 is a schematic view illustrating an overall installation of a calibration device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a laser installation of a calibration apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view of a mechanical fixing structure of the calibration apparatus according to the embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating processing requirements of a calibrated step block according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a coordinate system transformation according to an embodiment of the present invention;
FIG. 7 is a general schematic diagram of global calibration according to an embodiment of the present invention;
description of the figures
1. Gantry frame 2, laser 2D sensor 3 and measurement model section schematic diagram
4. Crossbeam positioning foot 5, surface laser fixing box 6, horizontal plane laser
7. Vertical surface laser 8, vertical support arm 9 and beam insulating base 1
10. Beam insulation base 211, support arm installation base 12 and support arm fixing base
13. Support arm pressing block 114, support arm rotating arm fixing part 15 and servo motor
16. Angle encoder 17, standard step block 18, rotary tumbler
19. Positioning angle mounting base 20, cross beam 21 and track model
22. Vertical laser adjusting seat 23 and support arm pressing block 2
Detailed Description
The technical solutions in the embodiments of the present invention will be described below with reference to the drawings of the present invention, and it is obvious that the described embodiments are only a part of specific embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, the present invention mainly comprises a rotary arm part and a bottom beam fixing and adjusting part: the rotary arm part comprises a standard step block (17), a rotary rotating arm (18), a servo motor (16), a high-precision angle encoder (15), a supporting arm (8), a supporting arm mounting base (11), a supporting arm pressing block 1(13) and a supporting arm pressing block 2 (23); the bottom beam fixing and adjusting part comprises a beam (20), a beam positioning pin (19), a vertical plane laser (7), a horizontal position (6), a surface laser fixing base (5), a support arm fixing base (12), a beam insulating base 1(9) and a beam insulating base 2 (10). The support arm fixing base (11) and the support arm fixing base (12) have higher planeness and verticality requirements during design and processing. When the equipment is installed, the cross beam (20) is close to the inner side face of the rail, the cross beam is clamped on the upper face of the rail by adopting a clamp, and the upper module and the lower module are installed, so that the equipment can be quickly assembled and the corresponding precision requirement can be met. After the installation is finished, the rotating arm (18) can be rotated randomly in a rotating circular plane, so that each laser 2D sensor (2) in the portal frame can obtain the profile coordinate of the standard step block (17).
As shown in fig. 3, a schematic diagram of the installation of horizontal and vertical plane lasers on the calibration device is described, wherein a horizontal plane laser (6) and a vertical plane laser (7) are used for positioning the gantry, and a cross laser is installed on the middle of a beam of the gantry to project a laser line to position on the calibration device, so that the gantry can be conveniently reassembled. The vertical plane laser (7) is used for adjusting the coplanarity of the portal frame laser 2D sensor (2), two pieces of white paper are respectively placed at a certain distance from the front to the back and the upper and lower positions of the laser 2D sensor (2), the laser light stripe projected by the laser 2D sensor (2) and the vertical plane laser projected by the calibration device are observed to form the laser light stripe, and the laser 2D sensor (2) is adjusted to enable the laser light stripe to be completely overlapped on the white paper, and then the position of the white paper is finely adjusted by moving the white paper back and forth, so that the laser can be completely overlapped. Laser coplanarity of all the laser 2D sensors (2) is realized by adjusting the laser 2D sensors (2) to be coplanar with the vertical plane laser (7) of the calibration device.
As shown in fig. 4, the connection and assembly of the modules by the mechanical fixing structure is described, the base has the requirements of flatness and verticality during processing, and the base is made of iron. The support arm installation base is composed of a horizontal bottom plate and a vertical part, wherein the horizontal bottom plate and the vertical part are provided with cut angles, the support arm fixing base 12 is provided with a first rectangular block and a second rectangular block, the left side of the first rectangular block is in a step shape, the left side of the second rectangular block protrudes out of the upper surface of the first rectangular block to form a concave groove, an oblique upward left oblique plane is arranged on the right side of the second rectangular block, the support arm pressing block I is approximately in a U shape and consists of a horizontal part, a vertical part and a right oblique part, the horizontal part is buckled in the concave groove of the support arm fixing base, and the right oblique part of the support arm pressing block I and the left oblique plane part of the support arm fixing base are buckled with the left and right.
The installation steps are as follows: firstly, the right side surface of a support arm mounting base (11) is closely contacted with a bevel plane at the upper right of a support arm fixing base (12); secondly, the left side surfaces of the support arm mounting base (11) and the support arm fixing base (12) are pressed and fixed by bolts through support arm pressing blocks 1 and 13; and thirdly, performing bolt pressing and fixing on the front side surfaces of the support arm mounting base (11) and the support arm fixing base (12) by using a support arm pressing block II (23). The support arm mounting base 11 and the support arm fixing base 12 are integrally formed, so that the mounting accuracy can be guaranteed while the support arm mounting base and the support arm fixing base are quickly disassembled and assembled.
As shown in fig. 5, the processing requirements of the standard step block (17) are described, and in order to achieve higher calibration precision, the parallelism, perpendicularity and surface roughness of the step block (17) need to meet certain processing requirements.
As shown in fig. 6, the transformation process of the laser 2D sensor (2) coordinate system to the global reference coordinate system is described. For realizing the conversion of the coordinate system, the data coordinate under the global reference coordinate system and the coordinate coefficient data coordinate of the corresponding laser 2D sensor (2) need to be obtained, and then the conversion relation of the data set is solved. And global calibration is carried out by acquiring profile data of the step block (17).
And under a global reference coordinate system, solving the profile coordinates of the step block (17) when the rotating arm (18) is at any position. The profile coordinates need to be calculated from the structural parameters of the calibration device and the angles obtained by the angle encoder (16). And the structural parameters of the calibration device are calibrated and solved by adopting a high-precision total station. And global coordinates of two feature points on the calibration block (17) are obtained according to different angular positions of the rotating arm (18), the coordinates of the feature points at different angular positions are on the same rotating circle, and the circle center and the radius corresponding to the feature points are solved through a nonlinear least square method. The solving method is as follows:
let the arc equation be:
(x+D)2+(y+E)2＝r2(1)
data points on a known arc (x)l，yl) Setting:
for the non-linear least square method based circular arc fitting, the objective function is:
wherein m is the number of data points involved in the fitting calculation.
If the minimum value of the function f (x, y) can be obtained, the optimal solution of the center coordinates (-D, -E) and the radius r can be obtained. Thus, the circular arc fitting problem transforms into a nonlinear least squares optimization problem.
And after the circle center and the radius of the characteristic point are obtained through solving, the structural parameters of the calibration device can be solved according to the geometric position relation between the characteristic point and the profile of the step block. And the global coordinate of the step block profile at any position can be solved according to the obtained structural parameters and the rotating angle of the rotating arm (18).
Setting coordinates A (Ax, Ay) and B (Bx, By) of characteristic points on the standard block (17), and setting profile coordinates [ x, y ] of the standard block (17)]TWhen the standard block (17) is arranged at the position of an angle 0 point, the coordinates A1(Ax1, Ay1) and B1(Bx1, By1) of the characteristic point at the zero point position can be obtained according to the circle center coordinate and the radius obtained By calibration and the distance d between the point A and the point B, and the coordinates A1(Ax1, Ay1) and the B1(Bx1 and By1) are
Sum vector
Rotational-translational relationship between:
can solve for theta, tx，tyTo obtain a vector
Sum vector
Then the position coordinates [ X, Y ] after the step block (17) profile conversion can be obtained]T。
Obtaining the global coordinate of any position of the stair block (17) and the measurement coordinate of the laser 2D sensor (2) requires solving a conversion relation between coordinate systems, as shown in fig. 6, the sensor coordinate system is U, V, W. Sensor coordinate system OSRelative global coordinate system O of UVWTRotating the XYZ at α, β and theta respectively, and adding OSAfter UVW is translated by x ', y ' and z ', a measurement reference coordinate system O can be obtainedTXYZ, solving the transformation relation among the 2 coordinate systems according to a rotation matrix method.
A more convenient representation of Rotation when computing the coordinate transformation is the Rotation Matrix (Rotation Matrix). The rotation matrix of the three-dimensional space can be represented as a 3x3 matrix, and the rotation matrix is calculated as follows:
(1) rotation of the matrix about the Z-axis:
(2) rotating the matrix around the Y-axis:
(3) rotation of the matrix about the X-axis:
(4) x, Y, Z rotational translation:
in the formula: x ═ X Y Z]T、u＝[U V W]TCoordinate vectors of the measured point under a measurement reference coordinate system and a sensor coordinate system are respectively. The sensor calibration is the process of solving the rotation matrix R and the translation vector t.
For the solution of R and t, the known condition is 2 data point sets: one is that a point set Q is calculated on a specially-made step block (17) under a track reference coordinate system by using a total station and an angle encoder (16); and the other point set is a data point set P acquired by the laser 2D sensor (2) to obtain the step block (17). And (3) iteratively calculating the optimal coordinate transformation, namely a rotation matrix R and a translation matrix t by a least square method to minimize an error function.
The rotation matrix R and the translation matrix T are rotation parameters and translation parameters between the data to be registered and the reference point data, so that the two-point set data meet the optimal matching under a certain measurement criterion. The calibration from the coordinate system of the laser 2D sensor (2) to the global coordinate system is realized through the algorithm.
The error analysis method of the invention comprises the following steps: the errors mainly come from laser plane calibration errors E1, original data precision errors E2 of the laser 2D sensor (2), iteration threshold setting errors E (R, T) and calibration device errors E3.
E1+ E2+ E (R, T) + E3, where E1 can be calibrated by certain methods and E (R, T) can be as small as possible in case of algorithm convergence.
And setting the maximum errors of the data acquired by the laser 2D sensor (2) to be delta x and delta y mm. The laser plane has an included angle Δ θ, the iteration error approaches 0(θ ═ 0), and the error due to the laser plane is calculated.
When the value of delta β is 0.5 degrees, the value of delta α is 0.5 degrees, the value of delta x is 0.1mm, the value of delta y is 0.1mm, the value of delta z is 0.5, the value of U is 800mm, the value of V is 500mm, and the value of W is 0;
the influence of the size of the delta α on the Y direction is about (cos (delta α) -1) V, the size of the delta β is about (cos (delta β) -1) U, when the delta α and the delta β are smaller than 2 degrees and the U, V is smaller than 500 degrees, the error is small and 0.4mm, and the general calibration precision requirement can be met through error analysis.
The invention realizes the global calibration of a plurality of wide-range laser 2D sensors (2) of the portable large-scale portal frame, can achieve higher calibration precision, and meets the high-precision measurement of general large-scale objects.
The above-mentioned embodiments, the technical route, the laser coplanarity adjustment method, the fast positioning and assembling method of the device, the calibration method of the structural parameters of the calibration device, the system global calibration method and the precision error analysis of the system of the present invention have been described in detail, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A laser 2D sensor coplanarity adjusting method based on a global calibration device is disclosed, wherein the global calibration device comprises a rotary support arm part and a bottom beam adjusting part; the rotary arm part comprises a step block (17), a rotary rotating arm (18), a servo motor (16), a high-precision angle encoder (15), a support arm (8), a support arm mounting base (11), a support arm pressing block 1(13), a support arm pressing block 2(23) and a plurality of laser 2D sensors; the bottom beam adjusting part comprises a beam (20), a beam positioning pin (19), a vertical 360-degree surface laser (7), a horizontal 360-degree surface laser (6), a surface laser fixing base (5), a support arm fixing base (12), beam insulating bases 1(9) and beam insulating bases 2 (10); the assembly and positioning of the system are realized through a horizontal position 360-degree surface laser (6); coplanar adjustment of the laser 2D sensor (2) is realized by the laser (7) vertical to the 360-degree plane; the step block model (17) is rotated to the view angle range of each laser 2D sensor (2) through a rotating arm (18), so that the calibration of each laser 2D sensor (2) is realized; the method is characterized in that in the first step, two pieces of white paper are respectively placed at a certain distance from the front position, the rear position, the upper position and the lower position of an effective range of a single laser 2D sensor, and the two laser light bars are completely overlapped on the white paper by observing the laser light bars projected on the white paper by the laser 2D sensor and the laser light bars projected on the white paper by a vertical 360-degree surface laser arranged on a calibration device and adjusting the laser 2D sensor; and step two, realizing coplanarity of all the laser 2D sensors by adopting the coplanarity adjusting method for each laser 2D sensor.
2. A coplanarity adjustment method according to claim 1, characterized in that the connection relationship of the respective parts is: the beam insulation base is arranged at the end part of the beam; the surface laser fixing base is arranged above the middle part of the left side of the cross beam; the support arm fixing base is arranged above the middle part of the cross beam; the support arm mounting base and the support arm fixing base are fixed in the vertical direction through the support arm pressing block; one end of the vertical support arm is fixed on the support arm mounting base through a bolt, the other end of the vertical support arm is connected with the end part of one end of the rotary rotating arm through a servo motor, and the vertical support arm and the cross beam are in a vertical mounting relation; the standard step block is arranged at the end part of the other end of the rotating arm; the rotary rotating arm can rotate at any angle clockwise or anticlockwise in a 360-degree rotary circular plane, so that each laser 2D sensor in the portal frame can obtain the profile coordinate of the standard step block; during installation, the cross beam is close to the inner side face of the rail, and the cross beam is clamped on the upper face of the rail by adopting a clamp.
3. Coplanarity adjustment method according to claim 1, characterized in that the number of laser 2D sensors is 19.
4. A coplanarity adjusting method according to claim 1, characterized in that the arm mounting base is composed of a horizontal base plate having a chamfered arrangement and a vertical portion, the arm fixing base 12 has a first rectangular block and a second rectangular block, the left side of the first rectangular block is stepped, the left side of the second rectangular block protrudes from the upper surface of the first rectangular block to form a concave groove, the right side of the rectangular block II is provided with an oblique upward left oblique plane, the support arm pressing block I is approximately U-shaped and consists of a horizontal part, a vertical part and a right oblique part, wherein, horizontal part buckle in support arm unable adjustment base's concave groove, support arm compact heap I's right oblique angle part and support arm unable adjustment base's left chamfer part buckle respectively support arm installation base horizontal bottom plate's left and right corner cut part, support arm unable adjustment base 12, support arm compact heap I, support arm installation base 11 and support arm compact heap II's mounting method includes: firstly, the right side surface of a support arm mounting base (11) is closely contacted with a left inclined plane at the upper right of a support arm fixing base (12); secondly, the left side surfaces of the support arm mounting base (11) and the support arm fixing base (12) are pressed and fixed by bolts through support arm pressing blocks 1 and 13; thirdly, the front side surfaces of the support arm mounting base (11) and the support arm fixing base (12) are compressed and fixed by bolts through a support arm compression block II (23); the support arm mounting base 11 and the support arm fixing base 12 are integrally formed, so that the mounting accuracy can be guaranteed while the support arm mounting base and the support arm fixing base are quickly disassembled and assembled.
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