Analysis and Compensation of Object Surface Inclination Error Based on Line Laser Sensor

Base on the measurement principle of line laser sensor, when the surface of an object is tilted, the sensor will generate measurement errors, and for the same laser line, there will be deviation at different positions. To further enhance measurement accuracy, this paper examines the effect of the laser beam's optical path and the center of mass of the converging spot on the measurement accuracy on basis of the principle of laser triangulation, and establishes an object equation using the geometrical characteristics of the optical path, deduces the mathematical model of the tilting error at various positions on a laser line. Using the experimental platform for measuring tilting error, constructed with a robot, a sensor, and a tilting angle adjustment platform, the sensor error at different tilting angles is measured. The experiment takes the standard block as the measured object, and measures and compensates the data errors of different inclination angles and different positions on the laser line. The results show that the error can be controlled within 20 μ$m$after model compensation, and the proposed error model is effective and accurate, which improves the measurement precision of the line laser sensor when the object surface is tilted.