CN101050965A - Active mechanism for obtaining laser three dimension depth of field - Google Patents

Active mechanism for obtaining laser three dimension depth of field Download PDF

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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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light source
laser
dimensional
source unit
motor
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CN100529659C (en
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陈伟海
刘敬猛
于守谦
宋蔚阳
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Beihang University
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Abstract

本发明公开了一种激光三维景深获取的主动机构,包括有作为第一光源单元的二维激光测距仪、第二光源单元、第三光源单元、镜面转动单元以及基座;第一光源单元、第二光源单元和第三光源单元分别安装在具有等边三角形布局的三个支柱上,镜面转动单元安装在位于等边三角形重心G处设置的旋转轴上。本发明激光三维景深获取的主动机构采用二维激光测距仪不动,第二光源单元、第三光源单元的两个平面镜俯仰运动,能够形成三个出射角相同的光平面,通过旋转轴的转动,可以使三个光平面形成三个光区域,增大对三维景深信息的采集。采用主动运动机构的模式,改进了现有在二维激光激光测距仪上增加一个自由度来获取三维景深存在的缺陷。

Figure 200710099445

The invention discloses an active mechanism for laser three-dimensional field depth acquisition, which includes a two-dimensional laser range finder as a first light source unit, a second light source unit, a third light source unit, a mirror surface rotation unit and a base; the first light source unit , the second light source unit and the third light source unit are respectively mounted on three pillars having an equilateral triangle layout, and the mirror rotation unit is mounted on a rotation axis located at the center of gravity G of the equilateral triangle. The active mechanism for laser three-dimensional depth of field acquisition in the present invention adopts a two-dimensional laser rangefinder to be stationary, and the two plane mirrors of the second light source unit and the third light source unit are pitched to form three light planes with the same exit angle. Rotation can make three light planes form three light areas, increasing the collection of three-dimensional depth of field information. The mode of the active movement mechanism is used to improve the existing defect of adding a degree of freedom to the two-dimensional laser rangefinder to obtain the three-dimensional depth of field.

Figure 200710099445

Description

The driving mechanism that a kind of laser three-D depth of field is obtained
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、一种激光三维景深获取的主动机构,包括有作为第一光源单元的二维激光测距仪,其特征在于:还包括有第二光源单元、第三光源单元、镜面转动单元以及基座(8);1. An active mechanism for laser three-dimensional depth of field acquisition, including a two-dimensional laser range finder as the first light source unit, characterized in that: it also includes a second light source unit, a third light source unit, a mirror rotation unit and a base (8); 所述基座(8)上设有旋转轴(7)、A支柱(81)、B支柱(82)和C支柱(83),A支柱(81)、B支柱(82)和C支柱(83)按照等边三角形分布,旋转轴(7)位于等边三角形的重心G;第一电机安装在基座(8)的重心G处,且第一电机的输出轴与旋转轴(7)底端连接;Described base (8) is provided with rotating shaft (7), A pillar (81), B pillar (82) and C pillar (83), A pillar (81), B pillar (82) and C pillar (83) ) is distributed according to an equilateral triangle, the rotating shaft (7) is located at the center of gravity G of the equilateral triangle; the first motor is installed at the center of gravity G of the base (8), and the output shaft of the first motor is connected to the bottom end of the rotating shaft (7) connect; 所述镜面转动单元,六棱镜(1)安装在旋转轴(7)上;The mirror rotation unit, the hexaprism (1) is installed on the rotation shaft (7); 所述第一光源单元的二维激光测距仪(2)安装在A支柱(81)上;The two-dimensional laser range finder (2) of the first light source unit is installed on the A pillar (81); 所述第二光源单元,第二光源(4)、安装座(63)固定安装在B支柱(82)上,第三电机(65)安装在安装座(63)上,第三电机(65)的输出轴与摇臂(62)的底端连接,摇臂(62)的顶端安装有第二电机(64),第二电机(64)的输出轴与连接臂(61)一端连接,连接臂(61)的另一端上安装有第二平面镜(6);The second light source unit, the second light source (4), and the mounting base (63) are fixedly installed on the B pillar (82), the third motor (65) is installed on the mounting base (63), and the third motor (65) The output shaft of the rocker arm (62) is connected with the bottom end of the rocker arm (62), and the top of the rocker arm (62) is equipped with a second motor (64), and the output shaft of the second motor (64) is connected with one end of the connecting arm (61), and the connecting arm The other end of (61) is equipped with second plane mirror (6); 所述第三光源单元,第三光源(3)、安装座(53)固定安装在C支柱(83)上,第五电机(55)安装在安装座(53)上,第五电机(55)的输出轴与摇臂(52)的底端连接,摇臂(52)的顶端安装有第四电机(54),第四电机(54)的输出轴与连接臂(51)一端连接,连接臂(51)的另一端上安装有第一平面镜(5)。The third light source unit, the third light source (3), and the mounting base (53) are fixedly installed on the C pillar (83), the fifth motor (55) is installed on the mounting base (53), and the fifth motor (55) The output shaft of the rocker arm (52) is connected with the bottom end of the rocker arm (52), and the top of the rocker arm (52) is equipped with a fourth motor (54), and the output shaft of the fourth motor (54) is connected with one end of the connecting arm (51), and the connecting arm A first plane mirror (5) is installed on the other end of (51). 2、根据权利要求1所述的激光三维景深获取的主动机构,其特征在于:光出射点(18)出射的光到六棱镜(1)上形成的光平面(17)的出射角α为60~150度。2. The active mechanism for laser three-dimensional depth of field acquisition according to claim 1, characterized in that: the exit angle α of the light emitted from the light exit point (18) to the light plane (17) formed on the hexagonal prism (1) is 60° ~150 degrees. 3、根据权利要求1所述的激光三维景深获取的主动机构,其特征在于:二维激光测距仪是LMS291二维激光测距仪。3. The active mechanism for laser three-dimensional depth-of-field acquisition according to claim 1, wherein the two-dimensional laser range finder is an LMS291 two-dimensional laser range finder. 4、根据权利要求1所述的激光三维景深获取的主动机构,其特征在于:旋转轴(7)分别与二维激光测距仪的光源出射点、第一平面镜(5)和第二平面镜(6)的距离相等,且相距30~70cm。4. The active mechanism for laser three-dimensional depth of field acquisition according to claim 1, characterized in that: the rotating shaft (7) is connected to the light source exit point of the two-dimensional laser range finder, the first plane mirror (5) and the second plane mirror ( 6) The distance between them is equal, and they are 30-70cm apart. 5、根据权利要求1所述的激光三维景深获取的主动机构,其特征在于:二维激光测距仪(2)出射的激光束波长为900nm。5. The active mechanism for laser three-dimensional depth of field acquisition according to claim 1, characterized in that the wavelength of the laser beam emitted by the two-dimensional laser rangefinder (2) is 900nm. 6、根据权利要求1所述的激光三维景深获取的主动机构,其特征在于:第二光源(4)和第三光源(3)出射的激光束波长为400~900nm。6. The active mechanism for laser three-dimensional depth-of-field acquisition according to claim 1, characterized in that the laser beams emitted by the second light source (4) and the third light source (3) have a wavelength of 400-900 nm. 7、根据权利要求1所述的激光三维景深获取的主动机构,其特征在于:六棱镜(1)选取玻璃材质制作,第一平面镜(5)选取玻璃材质制作,第二平面镜(6)选取玻璃材质制作。7. The active mechanism for laser three-dimensional depth of field acquisition according to claim 1, characterized in that: the six prism (1) is made of glass material, the first plane mirror (5) is made of glass material, and the second plane mirror (6) is made of glass Material production.
CNB200710099445XA 2007-05-21 2007-05-21 Active mechanism for obtaining laser three dimension depth of field Expired - Fee Related CN100529659C (en)

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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
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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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