Collimation laser beam space pose calibration method

The invention relates to a collimation laser beam space pose calibration method. The adopted laser beam calibration device comprises a camera with a telecentric lens, a target plane and a displacementtable, the camera and the target plane are fixed on the displacement platform; the camera directly faces the target plane, wherein three target balls and four equal-diameter shadow circles are arranged on the target plane, lines of circle centers of the shadow circles are connected to form a square, and the target balls and the four shadow circles are all within the view field range of the cameraand are divided into two parts of calibrating laser beam direction vectors and calibrating laser point space coordinates, and the method comprises the following steps of: 1, calibrating the directionvectors of laser beams; and the second part: calibrating laser point coordinates. 本发明涉及一种准直激光器光束空间位姿标定方法，所采用的激光束标定装置包括带有远心镜头的相机、靶平面和位移台，相机和靶平面固定在位移台上，相机正对靶平面，靶平面上设置有三个靶球以及四个等径阴影圆，阴影圆圆心连线构成正方形，并且靶球和四个阴影圆都在相机的视场范围内，分为标定激光光束方向向量和