Fig. 1. Experimental setup
Fig. 2. Flow chart of the center extraction.
Fig. 3. Process of center extraction
Fig. 4. Flow chart of the center extraction error calculation.
Fig. 5. Process of the center extraction error calculation
Fig. 6. Scanning retroreflective targets with different scanning methods
Fig. 7. Epicycloid with different parameters
Fig. 8. Sunflower-shaped curves with different parameters
Fig. 9. The voltage and coordinates of retroreflective targets with raster rectangular scanning method
Fig. 10. Scanning points of high reflection area with raster rectangular scanning method
Fig. 11. Influence of rough positioning on scanning
Fig. 12. Edge scanning points of retroreflective targets with raster rectangular scanning method
Fig. 13. Center extraction errors of retroreflective targets with raster rectangular scanning method
Fig. 14. The voltage and coordinates of retroreflective targets with epicycloid-shaped scanning method
Fig. 15. Scanning points of high reflection area with epicycloid-shaped scanning method
Fig. 16. Edge scanning points of retroreflective targets with epicycloid-shaped scanning method
Fig. 17. Center extraction errors of retroreflective targets with epicycloid-shaped scanning method
Fig. 18. The voltage and coordinates of retroreflective targets with sunflower-shaped scanning method
Fig. 19. Scanning points of high reflection area with sunflower-shaped scanning method
Fig. 20. Edge scanning points of retroreflective targets with sunflower-shaped scanning method
Fig. 21. Center extraction errors of retroreflective targets with sunflower-shaped scanning method
Retroreflective target | Pixel position of the retroreflective target's center in X axis | Pixel position of the retroreflective target's center in Y axis | Pixel position of the laser spot's center in X axis | Pixel position of the laser spot's center in Y axis | Distance between the retroreflective target's center and the laser beam's center /mm |
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P1 | 516.204 | 515.465 | 511.782 | 531.461 | 0.108 386 | P2 | 499.411 | 496.168 | 496.262 | 504.263 | 0.061 902 | P3 | 566.461 | 577.233 | 556.917 | 583.871 | 0.069 093 | P4 | 531.029 | 522.735 | 545.687 | 539.091 | 0.143 377 | P5 | 595.706 | 600.902 | 585.717 | 595.775 | 0.064 549 | P6 | 521.863 | 518.171 | 516.414 | 533.177 | 0.103 991 |
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Table 0. Center extraction error with raster rectangular scanning method
Retroreflective target | Pixel position of the retroreflective target's center in X axis | Pixel position of the retroreflective target's center in Y axis | Pixel position of the laser spot's center in X axis | Pixel position of the laser spot's center in Y axis | Distance between the retroreflective target's center and the laser beam's center/mm |
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P1 | 451.383 | 443.448 | 451.313 | 430.715 | 0.103 107 | P2 | 335.942 | 327.897 | 335.619 | 310.793 | 0.188 676 | P3 | 275.798 | 277.806 | 289.280 | 235.143 | 0.581 311 | P4 | 488.680 | 487.669 | 471.604 | 496.059 | 0.131 285 | P5 | 386.260 | 381.177 | 371.571 | 402.853 | 0.238 946 | P6 | 475.362 | 461.286 | 460.210 | 465.321 | 0.124 285 |
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Table 0. Center extraction error with epicycloid-shaped scanning method
Retroreflective target | Pixel position of the retroreflective target's center in X axis | Pixel position of the retroreflective target's center in Y axis | Pixel position of the laser spot's center in X axis | Pixel position of the laser spot's center in Y axis | Distance between the retroreflective target's center and the laser beam’s center/mm |
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P1 | 356.680 | 345.062 | 362.970 | 347.734 | 0.065 289 | P2 | 276.982 | 281.441 | 280.893 | 281.278 | 0.048 828 | P3 | 231.085 | 237.434 | 232.889 | 237.483 | 0.029 916 | P4 | 373.871 | 373.349 | 367.656 | 369.715 | 0.068 458 | P5 | 393.999 | 389.259 | 388.712 | 385.766 | 0.057 438 | P6 | 211.102 | 210.300 | 215.015 | 211.250 | 0.066 570 |
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Table 0. Center extraction error with sunflower-shaped scanning method
| Raster rectangular scanning method | Epicycloid-shaped scanning method | Sunflower-shaped scanning method |
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t/s | 2.5 | 0.612 | 0.36 | Pa | 0.14% | 0.96% | 0.89% | Average center extraction error/mm | 0.091 883 | 0.227 935 | 0.055 710 |
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Table 0. Comparison of different scanning methods