CN103376096A - 3D (three-dimensional) laser position indicator - Google Patents
3D (three-dimensional) laser position indicator Download PDFInfo
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- CN103376096A CN103376096A CN2012101277012A CN201210127701A CN103376096A CN 103376096 A CN103376096 A CN 103376096A CN 2012101277012 A CN2012101277012 A CN 2012101277012A CN 201210127701 A CN201210127701 A CN 201210127701A CN 103376096 A CN103376096 A CN 103376096A
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- laser positioning
- positioning instrument
- light
- image sensor
- scanister
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Abstract
A 3D (three-dimensional) laser position indicator is used for positioning an object and comprises a scanning device, a point light source, an image sensor and a controller, wherein the scanning device can rotate relative to the object; the point light source is used for emitting light with a preset pattern, the light is projected to different positions of the object through the scanning device so as to scan the object; the image sensor is used for receiving the light reflected by the object and forming an image; the controller is used for controlling the rotation angle of the scanning device and obtaining the space position of the object according to the image on the image sensor.
Description
Technical field
The present invention relates to a kind of 3D laser positioning instrument.
Background technology
Present laser positioning instrument generally comprises pointolite, camera lens and other dependency structure, because pointolite can only send a light, and camera lens module is to maintain static, so, the laser positioning instrument generally can only carry out the one dimension location to object, and can not carry out two dimension or three-dimensional localization.
Summary of the invention
In view of this, but be necessary to provide a kind of 3D laser positioning instrument of three-dimensional localization.
A kind of 3D laser positioning instrument is used for an object is positioned, and described 3D laser positioning instrument comprises: scanister, and relatively described object is rotatable; Pointolite is used for sending the light with a predetermined pattern, and described light projects through described scanister on the diverse location of described object to scan described object; Image sensor is used for receiving light and the imaging of being reflected by described object; And controller, be used for controlling the rotational angle of described scanister and the locus of learning described object according to the image on the described image sensor.
Compared with prior art, the light that the 3D laser positioning instrument of the embodiment of the invention sends pointolite by rotary scanister projects on the diverse location of object, the light that is reflected by the object imaging on image sensor, the locus that controller draws object according to the image analysing computer on the image sensor, thus can carry out three-dimensional localization to object.
Description of drawings
Fig. 1 is the synoptic diagram of embodiment of the invention 3D laser positioning instrument.
Fig. 2 is the synoptic diagram of scanister among Fig. 1.
The main element symbol description
| 3D laser positioning instrument | 10 |
| Driving circuit | 11 |
| Pointolite | 12 |
| Scanister | 13 |
| |
130 |
| |
131 |
| |
132 |
| Monochromatic filter | 14 |
| Image sensor | 15 |
| Controller | 16 |
Following embodiment further specifies the present invention in connection with above-mentioned accompanying drawing.
Embodiment
See also Fig. 1 and Fig. 2, the 3D laser positioning instrument 10 of the embodiment of the invention comprises driving circuit 11, pointolite 12, scanister 13, monochromatic filter 14, image sensor 15 and controller 16.
Driving circuit 11 is used for drive point light source 12 and sends the light that wavelength is 635 nanometers, 905 nanometers or 1540 nanometers, and pointolite 12 can be light emitting diode (LED, light-emitting diode) or laser diode (LD, laser diode).The light that pointolite 12 sends has predetermined pattern, and predetermined pattern projects on the object 20 and forms hot spot, and for example, the shape of predetermined pattern can be circular, oval, triangle or the various shapes that comprise length and width message such as square.
Scanister 13 comprises silicon substrate 130 and is arranged on camera lens module 131 and four actuators 132 on the silicon substrate 130.Four actuators 132 arrange around camera lens module 131, and actuator 132 links to each other that with camera lens module 131 camera lens module 131 is suspended in silicon substrate 130 on the position between the actuator 132.
The control of the controlled device 16 of the duty of actuator 132, controller 16 o controller signals with the work of control actuator 132 so that actuator 132 can drive camera lens module 131 rotates, for example, relative two actuators 132 drive camera lens modules 131 around
Axle rotation, in addition relative two actuators 132 drive camera lens modules 131 around
Axle rotates, and in other words, two actuators 132 are arranged on
On the axle, two other actuator 132 is arranged on
On the axle.
Thereby projecting on the diverse location of object 20, single the light L1 that the scanister 13 that rotates can make pointolite 12 send to realize that 3D laser positioning instrument 10 scans object 20 in the condition of a light, and when object 20 is in diverse location, can projects equally the condition that also can make 3D laser positioning instrument 10 be implemented in a light on the object 20 object 20 is scanned.
Actuator 132 can be micro-hydraulic motor, miniature step motor or piezoelectric actuator.
After projecting light on the object 20 and being reflected, reflection ray L2 is received by image sensor 15 through monochromatic filter 14, light imaging on image sensor 15, the image that hot spot on the same point on the different parts of object 20 or the object of diverse location 20 forms in image sensor 15 has different shapes and is positioned at the different position of image sensor 15, controller 16 can be analyzed the space message that draws object 20 according to the shape of hot spot on the image sensor 15, for example, utilize Fourier transform to extract the degree of depth message about object 20 in the image.Because the light L1 that projects on it of 20 pairs on object has produced spatial modulation, has changed the shape of L1 predetermined pattern, so, can extract the space message of object 20 corresponding light L1 by Fourier transform.
Certainly, because the light wavelength that pointolite 12 sends is more single, so monochromatic filter 14 can not need yet.
Image sensor 15 can be CCD(charged coupled device) sensor or CMOS(complementary metal oxide semiconductor) sensor.
Monochromatic filter 14 allows the wavelength of the light that the wavelength corresponding point light source 12 of the light that passes through sends, and for example, when pointolite 12 sent light wavelength and is 635 nanometer, monochromatic filter 14 allowed the light of 635 nanometers to pass through, and the light of other wavelength can't pass through.
The light that above-mentioned 3D laser positioning instrument 10 sends pointolite 12 by rotary scanister 13 projects on the diverse location of object 20 so that object 20 is scanned, light imaging on image sensor 15 of being reflected by object 20, the locus that controller 16 draws object 20 according to the image analysing computer on the image sensor 15, thus can carry out three-dimensional localization to object 20.
Be understandable that those skilled in the art also can do other variation etc. and be used in design of the present invention in spirit of the present invention, as long as it does not depart from technique effect of the present invention and all can.The variation that these are done according to spirit of the present invention all should be included within the present invention's scope required for protection.
Claims (9)
1. a 3D laser positioning instrument is used for an object is positioned, and described 3D laser positioning instrument comprises:
Scanister, relatively described object is rotatable;
Pointolite is used for sending the light with a predetermined pattern, and described light projects through described scanister on the diverse location of described object to scan described object;
Image sensor is used for receiving light and the imaging of being reflected by described object; And
Controller is used for controlling the rotational angle of described scanister and the locus of learning described object according to the image on the described image sensor.
2. 3D laser positioning instrument as claimed in claim 1 is characterized in that, described 3D laser positioning instrument further comprises a monochromatic filter, and the light of described object reflection is received by described image sensor through behind the described monochromatic filter.
3. 3D laser positioning instrument as claimed in claim 1 is characterized in that, described scanister comprises camera lens module and be arranged on described camera lens module plural actuator on every side that described actuator drives described camera lens module and rotates.
4. 3D laser positioning instrument as claimed in claim 3 is characterized in that described scanister further comprises a silicon substrate, and described actuator is arranged on the described silicon substrate.
5. 3D laser positioning instrument as claimed in claim 1 is characterized in that, the wavelength of the light that described pointolite sends is 635 nanometers, 905 nanometers or 1540 nanometers.
6. 3D laser positioning instrument as claimed in claim 1 is characterized in that, described pointolite is light emitting diode or laser diode.
7. 3D laser positioning instrument as claimed in claim 1 is characterized in that, described 3D laser positioning instrument further comprises one drive circuit, is used for driving described point light source light-emitting.
8. 3D laser positioning instrument as claimed in claim 3 is characterized in that, described actuator is micro-hydraulic motor, miniature step motor or piezo-electric motor.
9. 3D laser positioning instrument as claimed in claim 1 is characterized in that, described image sensor is CCD sensor or CMOS sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101277012A CN103376096A (en) | 2012-04-27 | 2012-04-27 | 3D (three-dimensional) laser position indicator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101277012A CN103376096A (en) | 2012-04-27 | 2012-04-27 | 3D (three-dimensional) laser position indicator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103376096A true CN103376096A (en) | 2013-10-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN2012101277012A Pending CN103376096A (en) | 2012-04-27 | 2012-04-27 | 3D (three-dimensional) laser position indicator |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106823150A (en) * | 2016-07-18 | 2017-06-13 | 山东省肿瘤防治研究院 | It is a kind of to facilitate breast tumor radiotherapy combined type locating frame device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040107589A1 (en) * | 2002-03-13 | 2004-06-10 | Fumio Ohtomo | Laser sighting device |
| CN101153795A (en) * | 2006-09-26 | 2008-04-02 | 株式会社拓普康 | Laser scanner |
| CN101256232A (en) * | 2007-02-28 | 2008-09-03 | 电装波动株式会社 | Laser radar apparatus for three-dimensional detection of objects |
| CN101852607A (en) * | 2010-05-21 | 2010-10-06 | 崔一 | Rotary laser visual linear array space identification and positioning system |
-
2012
- 2012-04-27 CN CN2012101277012A patent/CN103376096A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040107589A1 (en) * | 2002-03-13 | 2004-06-10 | Fumio Ohtomo | Laser sighting device |
| CN101153795A (en) * | 2006-09-26 | 2008-04-02 | 株式会社拓普康 | Laser scanner |
| CN101256232A (en) * | 2007-02-28 | 2008-09-03 | 电装波动株式会社 | Laser radar apparatus for three-dimensional detection of objects |
| CN101852607A (en) * | 2010-05-21 | 2010-10-06 | 崔一 | Rotary laser visual linear array space identification and positioning system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106823150A (en) * | 2016-07-18 | 2017-06-13 | 山东省肿瘤防治研究院 | It is a kind of to facilitate breast tumor radiotherapy combined type locating frame device |
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Application publication date: 20131030 |