Increasing the Reliability of Data Collection of Laser Line Triangulation Sensor by Proper Placement of the Sensor

In this paper, we investigated the effect of the incidence angle of a laser ray on the reflected laser intensity. A dataset on this dependence is presented for materials usually used in the industry, such as transparent and non-transparent plastics and aluminum alloys with different surface roughness. The measurements have been performed with a laser line triangulation sensor and a UR10e robot. The presented results are proposing where to place the sensor relative to the scanned object, thus increasing the reliability of the sensor data collection.