CN101050965A - Active mechanism for obtaining laser three dimension depth of field - Google Patents
Active mechanism for obtaining laser three dimension depth of field Download PDFInfo
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- CN101050965A CN101050965A CN 200710099445 CN200710099445A CN101050965A CN 101050965 A CN101050965 A CN 101050965A CN 200710099445 CN200710099445 CN 200710099445 CN 200710099445 A CN200710099445 A CN 200710099445A CN 101050965 A CN101050965 A CN 101050965A
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Abstract
An active mechanism for obtaining 3-D depth of laser consists of 2-D laser rangefinder used as the first optical source, the second and third optical sources, mirror surface rotation unit and base. It is featured as setting three said optical sources separately on three support columns with equilateral triangle layout and erecting mirror surface rotation unit on rotary shaft set at center of gravity G on equilateral triangle.
Description
Technical field
The present invention relates to a kind of three-dimensional depth of field reconfiguration system that is applicable to laser range finder, more particularly say, be meant a kind of driving mechanism that obtains based on the three-dimensional depth of field of two-dimensional laser laser range finder.
Background technology
Three-dimensional depth of view information is the most important information of mobile robot, though people can design and Implement robot depth of field sensor-based system in limited environment, people still do not know how to make robot depth of field sensor-based system to have the peculiar the sort of adaptive ability of the biological vision of being similar to system on the degree of depth and range so far.The human visual system has very strong robustness, can reject redundant information in extremely abundant visual information, extracts in the relevant information of current visual behaviour.
Realize three-dimensional depth of field reconstruct, the Surface Reconstruction from Data Cloud that also needs usually to survey with laser ranging is described performance profile continually varying curved surface mathematical model, and the three-dimensional modeling of ordinary meaning.The three-dimensional modeling major part is all based on vision at present, the original adoption monocular-camera, but because there is not depth data accurately, real world and three-dimensional scenic can not be combined closely, though the shortcoming that nature object nature object has remedied monocular is gathered with multi-lens camera in the back, but the relation between image that forms and the real three-dimensional information is not unique, this method can only be obtained the depth of view information of two dimension half, in addition, the visual information of being obtained by video camera is because calculated amount is being handled also very difficulty greatly in real time.Being used in combination by monocular-camera and scanning laser range finder proposed again afterwards, but laser range finder is a sensing, require it also to resemble and contain many pixels the video camera and be difficult at present realize, therefore thisly be used in combination the accurate cognition that to obtain the physical environment space.
Realize three-dimensional depth of field modeling, reconstruct, under any environment, all be unable to do without range sensing, it provides the three-dimensional depth information of environment, so propose again recent years based on the thought of journey apart from the data three-dimensional modeling.There is scheme to propose to increase one degree of freedom to scanning laser range finder and obtains three-dimensional information by motion, the major defect of these methods is that the frequent acceleration and deceleration of drive motor will impact the light-source system of laser range finder of following its motion, weakened light stability, thereby caused error to range finding.In addition, there are distortion, factor such as overlapping when recovering the three-dimensional depth of field, make the three-dimensional depth of field be difficult to accurate recovery.
Summary of the invention
The purpose of this invention is to provide the driving mechanism that a kind of laser three-D depth of field is obtained, this driving mechanism adopts scanning laser range finder motionless, two level crossing luffing of secondary light source unit, the 3rd light source cell, can form three optical planes that emergence angle is identical, the rotation of turning axle can make three optical planes form three light zones; The level crossing of secondary light source unit, the 3rd light source cell swings and turning axle is slowed down for the rotation relative velocity of second optical plane, the 3rd optical plane or accelerates; The equilateral triangle topological design of scanning laser range finder and secondary light source unit, the 3rd light source cell, the viewing area that has increased driving mechanism.
The present invention is the driving mechanism that a kind of laser three-D depth of field is obtained, and includes first light source cell, secondary light source unit, the 3rd light source cell, minute surface rotating unit and pedestal.Pedestal is provided with turning axle, A pillar, B pillar and C pillar, and A pillar, B pillar and C pillar distribute according to equilateral triangle, and turning axle is positioned at the center of gravity G of equilateral triangle; The scanning laser range finder of first light source cell is installed on the A pillar of pedestal, and the secondary light source of secondary light source unit, mount pad are fixedly mounted on the B pillar, and the 3rd light source of the 3rd light source cell, mount pad are fixedly mounted on the C pillar.
The advantage of the driving mechanism that the laser three-D depth of field of the present invention is obtained is: (1) adopts the pattern of active movement mechanism, and having improved to have now increases the defective that one degree of freedom is obtained three-dimensional depth of field existence on the two-dimensional laser laser range finder; (2) adopt homemade two light source cells, and rotary six prisms replacement LMS291 two-dimensional laser laser range finder, making three-dimensional laser laser range finder cost saved widely; (3) rotatable six prisms by design have increased the viewing area effectively; (4) overcome by three light zones overlapping that single light source scans impalpable shortcoming when causing data overlapping owing to reasons such as external interference; The wavelength of (5) three lasing light emitters adopts the design that has nothing in common with each other, and this is to be the information of being sent by which light source in order to tell when information is obtained.
Description of drawings
Fig. 1 is the structural representation that the three-dimensional depth of field of the present invention is obtained driving mechanism.
Fig. 2 is base construction figure.
Fig. 3 is a rack assumption diagram.
Fig. 4 is that the light of light on each minute surface of six prisms moves towards synoptic diagram.
Among the figure: 1. six prism 11.A face 12.B face 13.C face 14.D face 15.E face 16.F faces, 17. optical planes, 18. smooth eye point 2. first light sources 21. laser beams 3. the 3rd light source 31. laser beams 32. reverberation 4. secondary light sources 41. laser beams 42. reverberation 5. first level crossings 51. linking arms 52. Rocker arm 5s 3. mount pads 54. second motors 55. the 3rd motor 6. second level crossings 61. linking arms 62. rocking arms 63. mount pads 64. second motors 65. the 3rd motor 7. rotating shafts 8. pedestal 81.A pillar 82.B pillar 83.C pillars
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Referring to Fig. 1, shown in Figure 2, the present invention is the driving mechanism that a kind of laser three-D depth of field is obtained, and includes scanning laser range finder, secondary light source unit, the 3rd light source cell, minute surface rotating unit and pedestal 8 as first light source cell.In the present invention, second level crossing 6 that is used with secondary light source 4 of design, all can realize swinging and luffing with first level crossing 5 that the 3rd light source 3 is used, the relative velocity that first level crossing 5, second level crossing 6 and six prisms 6 are rotated under the drive of turning axle 7 slows down or accelerates, this makes the observation that stadimeter can be careful to the interested depth of field, then inswept fast to the depth of field of not doing interest, can obtain more three-dimensional information to interesting areas.Wherein, the rotating rule of first level crossing 5, rule that second level crossing 6 swings and turning axle 7 all is to adopt the adaptive control rate.By this method, the error that extraneous shake is caused is remedied by driving mechanism, the thought guarantee of this active design realize the reconstruct of the three-dimensional depth of field.The working temperature of the driving mechanism that the laser three-D depth of field of the present invention is obtained is-20 ℃～+ 50 ℃, and the range finding distance that can realize is 1cm～80m.
Scanning laser range finder is the LMS291 scanning laser range finder that the German SICK AG of employing company produces, its light source can scan around Z-axis in the horizontal direction, range of movement 180 degree, movement velocity is the scanning that 13ms finishes 180 degree, this stadimeter has measuring accuracy preferably to 30m with the interior depth of field, and therefore the detection as the two-dimentional depth of field is more satisfactory equipment.In the present invention, the LMS291 scanning laser range finder is installed on the A pillar 81 as first light source cell, 2, the first light source cells 2, and it does not move with respect to pedestal 8.
In the present invention, the secondary light source unit is the identical design of structure with the 3rd light source cell.Referring to shown in Figure 3, in the present invention, described secondary light source unit comprises and is useful on the support that supports second level crossing 6, is used for the secondary light source 4 of outgoing laser beam, is used to make secondary light source 4 emitting laser bundles to reflex to second level crossing 6 on six prisms 1; Described support is made up of mount pad 63, rocking arm 62, linking arm 61 and two motors (second motor 64, the 3rd motor 65); Secondary light source 4, mount pad 63 are fixedly mounted on the B pillar 82 and (can be radiated on second level crossing 6 in order to make secondary light source 4 emitting laser bundles, secondary light source 4 is installed in directly over second level crossing 6 during assembling), the 3rd motor 65 is installed on the mount pad 63, the output shaft of the 3rd motor 65 is connected with the bottom of rocking arm 62; top of rocking arm 62 is equipped with second motor 64; output shaft of second motor 64 is connected with linking arm 61 1 ends, and second level crossing 6 is installed on the other end of linking arm 61; Second motor 64 is used to drive linking arm 61 and does luffing, thereby realizes luffing because the luffing of linking arm 61 drives second level crossing 6, and makes the laser beam that is radiated on second level crossing 6 be reflected into reflected light 42 to shine on six prisms 1; Reflected light 42 on six prisms 1 has formed the optical plane with 60～150 degree angles under the luffing back and forth of second level crossing 6.The 3rd motor 65 drives rocking arm 62 and swings, thereby makes the reflected light 42 that reflexes on six prisms 1 keep different with first light source, 2 emitting laser bundles 21 sweep velocity in the horizontal direction.Shown in Fig. 3 A, described the 3rd light source cell includes the support that is used to support first level crossing 5, is used for the 3rd light source 3 of outgoing laser beam, is used to make the 3rd light source 3 emitting laser bundles to reflex to first level crossing 5 on six prisms 1; Described support is made up of mount pad 53, Rocker arm 52, linking arm 51 and two motors (the 4th motor 54, the 5th motor 55); The 3rd light source 3, mount pad 53 are fixedly mounted on the C pillar 83 and (can be radiated on first level crossing 5 in order to make the 3rd light source 3 emitting laser bundles, the 3rd light source 3 is installed in directly over first level crossing 5 during assembling), the 5th motor 55 is installed on the mount pad 53, the output shaft of the 5th motor 55 is connected with the bottom of Rocker arm 52; top of Rocker arm 52 is equipped with the 4th motor 54; output shaft of the 4th motor 54 is connected with linking arm 51 1 ends, and first level crossing 5 is installed on the other end of linking arm 51; The 4th motor 54 is used to drive linking arm 51 and does luffing, thereby realizes luffing because the luffing of linking arm 51 drives first level crossing 5, and makes the laser beam that is radiated on first level crossing 5 be reflected into reflected light 32 to shine on six prisms 1; Reflected light 32 on six prisms 1 has formed the optical plane with 60～150 degree angles under the luffing back and forth of first level crossing 5.The 5th motor 55 drives Rocker arm 52 and swings, thereby make the reflected light 32 that reflexes on six prisms 1 keep different with first light source, 2 emitting laser bundles 21 sweep velocity in the horizontal direction, the reflected light 32 that reflexes to first level crossing 5 on six prisms 1 can keep identical with reflected light 42 sweep velocity in the horizontal direction of second level crossing 6, also can keep different.Five motors are all chosen direct current generator, and output power is 30～120W.
In the present invention, turning axle 7 equates with the distance of light source eye point, first level crossing 5 and second level crossing 6 of scanning laser range finder respectively, and at a distance of 30～70cm, is preferably 50cm.
In the present invention, six prisms 1, first level crossing 5 and second level crossing 6 are chosen the glass material making.
In the present invention, scanning laser range finder 2 emitting laser Shu Bochang are 900nm.Secondary light source 4 and the 3rd light source 3 emitting laser Shu Bochang are 400～900nm.
Referring to shown in Figure 4, the emergence angle α of the optical plane 17 that the light of light eye point 18 outgoing forms to six prisms, 1 each face is 60～150 degree.Light eye point 18 is meant the eye point of scanning laser range finder 2 outgoing laser beams; Perhaps be meant and reflex to the reflected light eye point that forms reflected light 42 on six prisms 6 again after being radiated on second level crossing 6 by secondary light source 4 emitting laser bundles 41; Perhaps be meant and reflex to the reflected light eye point that forms reflected light 32 on six prisms 6 again after being radiated on first level crossing 5 by the 3rd light source 3 emitting laser bundles 31.Three light source emitting laser Shu Douhui go up at six faces (A face 11, B face 12, C face 13, D face 14, E face 15, F face 16) of six prisms 6 and form a plurality of optical planes, and these optical planes have the overlapping region simultaneously.Angle by Based Intelligent Control emergence angle α makes optical plane in effective range.
Actual working state: when first light source, 2 emitting laser bundles 21 are on the A face 11 of six prisms 1, formed first optical plane, secondary light source 4 emitting laser bundles 41 form second optical plane forming after reflection on second level crossing 6 on the C face 12 that reflected light 42 exposes to six prisms 1, the 3rd light source 3 emitting laser bundles 31 form the 3rd optical plane forming after reflection on first level crossing 5 on the E face 16 that reflected light 32 exposes to six prisms 1.Each face on six prisms 1 is respectively by laser beam, reflected light irradiation, because six prisms 1 rotate in turning axle 7 upper edges one direction, make the optical plane that goes out by six prismatic reflections deflect, form a light zone, owing to there is diffuse reflection, the reflected light that turns back to the laser receptacle that is installed in the light source by former circuit of body surface is accepted in the light zone, thereby obtains three-dimensional depth of field data.
The driving mechanism that the laser three-D depth of field of the present invention is obtained adopts scanning laser range finder motionless, two level crossing luffing of secondary light source unit, the 3rd light source cell, can form three optical planes that emergence angle is identical, increase collection three-dimensional depth of view information.
Claims (7)
1, the driving mechanism that obtains of a kind of laser three-D depth of field includes the scanning laser range finder as first light source cell, it is characterized in that: also include secondary light source unit, the 3rd light source cell, minute surface rotating unit and pedestal (8);
Described pedestal (8) is provided with turning axle (7), A pillar (81), B pillar (82) and C pillar (83), and A pillar (81), B pillar (82) and C pillar (83) distribute according to equilateral triangle, and turning axle (7) is positioned at the center of gravity G of equilateral triangle; First motor is installed in the center of gravity G place of pedestal (8), and the output shaft of first motor is connected with turning axle (7) bottom;
Described minute surface rotating unit, six prisms (1) are installed on the turning axle (7);
The scanning laser range finder of described first light source cell (2) is installed on the A pillar (81);
Described secondary light source unit, secondary light source (4), mount pad (63) are fixedly mounted on the B pillar (82), the 3rd motor (65) is installed on the mount pad (63), the output shaft of the 3rd motor (65) is connected with the bottom of rocking arm (62); the top of rocking arm (62) is equipped with second motor (64); the output shaft of second motor (64) is connected with linking arm (61) one ends, and second level crossing (6) is installed on the other end of linking arm (61);
Described the 3rd light source cell, the 3rd light source (3), mount pad (53) are fixedly mounted on the C pillar (83), the 5th motor (55) is installed on the mount pad (53), the output shaft of the 5th motor (55) is connected with the bottom of rocking arm (52); the top of rocking arm (52) is equipped with the 4th motor (54); the output shaft of the 4th motor (54) is connected with linking arm (51) one ends, and first level crossing (5) is installed on the other end of linking arm (51).
2, the driving mechanism that obtains of the laser three-D depth of field according to claim 1 is characterized in that: the emergence angle α that the light of light eye point (18) outgoing is gone up the optical plane (17) that forms to six prisms (1) is 60～150 degree.
3, the driving mechanism that obtains of the laser three-D depth of field according to claim 1, it is characterized in that: scanning laser range finder is the LMS291 scanning laser range finder.
4, the driving mechanism that obtains of the laser three-D depth of field according to claim 1, it is characterized in that: turning axle (7) equates with the distance of light source eye point, first level crossing (5) and second level crossing (6) of scanning laser range finder respectively, and at a distance of 30～70cm.
5, the driving mechanism that obtains of the laser three-D depth of field according to claim 1, it is characterized in that: scanning laser range finder (2) emitting laser Shu Bochang is 900nm.
6, the driving mechanism that obtains of the laser three-D depth of field according to claim 1, it is characterized in that: secondary light source (4) and the 3rd light source (3) emitting laser Shu Bochang are 400～900nm.
7, the driving mechanism that obtains of the laser three-D depth of field according to claim 1 is characterized in that: six prisms (1) are chosen glass material and are made, and first level crossing (5) is chosen glass material and made, and second level crossing (6) is chosen glass material and made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710099445XA CN100529659C (en) | 2007-05-21 | 2007-05-21 | Active mechanism for obtaining laser three dimension depth of field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200710099445XA CN100529659C (en) | 2007-05-21 | 2007-05-21 | Active mechanism for obtaining laser three dimension depth of field |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101050965A true CN101050965A (en) | 2007-10-10 |
| CN100529659C CN100529659C (en) | 2009-08-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB200710099445XA Expired - Fee Related CN100529659C (en) | 2007-05-21 | 2007-05-21 | Active mechanism for obtaining laser three dimension depth of field |
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| CN (1) | CN100529659C (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783880A (en) * | 2016-03-22 | 2016-07-20 | 天津大学 | Single-camera laser-assisted cabin docking device and assisted docking method |
| CN107202553A (en) * | 2017-06-27 | 2017-09-26 | 中国航空工业集团公司北京长城航空测控技术研究所 | Full visual angle scanning measurement system and its target measuring method |
| CN107218890A (en) * | 2017-06-27 | 2017-09-29 | 中国航空工业集团公司北京长城航空测控技术研究所 | A kind of scanning survey working instrument |
| CN111273439A (en) * | 2020-01-22 | 2020-06-12 | 光沦科技(杭州)有限公司 | Full scene three-dimensional optical scanning system and optimization method |
| CN112296962A (en) * | 2019-08-02 | 2021-02-02 | 中集安瑞环科技股份有限公司 | Tank assembly table |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3655260A (en) * | 1970-07-24 | 1972-04-11 | Goodyear Aerospace Corp | Simulator having an infinite-depth-of-field optical pickup |
-
2007
- 2007-05-21 CN CNB200710099445XA patent/CN100529659C/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783880A (en) * | 2016-03-22 | 2016-07-20 | 天津大学 | Single-camera laser-assisted cabin docking device and assisted docking method |
| CN105783880B (en) * | 2016-03-22 | 2018-05-22 | 天津大学 | A kind of monocular laser assisted bay section docking calculation |
| CN107202553A (en) * | 2017-06-27 | 2017-09-26 | 中国航空工业集团公司北京长城航空测控技术研究所 | Full visual angle scanning measurement system and its target measuring method |
| CN107218890A (en) * | 2017-06-27 | 2017-09-29 | 中国航空工业集团公司北京长城航空测控技术研究所 | A kind of scanning survey working instrument |
| CN107202553B (en) * | 2017-06-27 | 2019-12-03 | 中国航空工业集团公司北京长城航空测控技术研究所 | Full view scanning measurement system and its target measurement method |
| CN112296962A (en) * | 2019-08-02 | 2021-02-02 | 中集安瑞环科技股份有限公司 | Tank assembly table |
| CN112296962B (en) * | 2019-08-02 | 2024-01-23 | 中集安瑞环科技股份有限公司 | Tank assembly table |
| CN111273439A (en) * | 2020-01-22 | 2020-06-12 | 光沦科技(杭州)有限公司 | Full scene three-dimensional optical scanning system and optimization method |
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| Publication number | Publication date |
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| CN100529659C (en) | 2009-08-19 |
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