CN109471120A - Laser triangulation system and method - Google Patents
Laser triangulation system and method Download PDFInfo
- Publication number
- CN109471120A CN109471120A CN201811644071.XA CN201811644071A CN109471120A CN 109471120 A CN109471120 A CN 109471120A CN 201811644071 A CN201811644071 A CN 201811644071A CN 109471120 A CN109471120 A CN 109471120A
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- CN
- China
- Prior art keywords
- laser
- light
- sensitive device
- diaphragm
- wedge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims description 24
- 230000013011 mating Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 description 19
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000004075 alteration Effects 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000007937 lozenge Substances 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012634 optical imaging Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The present invention provides a kind of laser triangulation system and method, and wherein system includes a microprocessor, a laser aid, wedge-shaped a bandpass filter, a receiving lens, a diaphragm, a light-sensitive device；The microprocessor connects the laser aid and the light-sensitive device；The wedge shape bandpass filter, the receiving lens and the light-sensitive device are successively arranged on same straight line；The diaphragm is set on the straight line.A kind of laser triangulation system and method for the invention can reduce by the big bring hot spot distortion phenomenon of incident angle, and make hot spot is in Gaussian Profile on the receiving surface, fundamentally solves the problems, such as measurement accuracy by object Color influences.
Description
Technical field
The present invention relates to optical measurement sensors field more particularly to a kind of laser triangulation system and methods.
Background technique
Based on the distance measuring sensor of laser triangulation principle, have that high resolution, speed be fast, the excellent spy such as non-contact
Property, it has a wide range of applications in high precision photoelectric detection field.
In Laser Triangulation Sensor, hot spot imaging facula on light-sensitive device has certain size, needs by two
The software algorithms such as value method, gray scale centroid method find the center of imaging facula.These methods are all assuming that imaging facula
Energy is in carry out on the basis of Gaussian Profile.
In traditional Laser Triangulation Sensor, the imaging on photosurface that diffuses of different colours object
The corresponding signal strength of spot is different, and correspond to spot size, shape also different for different distance object, cause to calculate obtained by
Spot center change, influence measurement accuracy.This influence is especially tight at the both ends of Laser Triangulation Sensor range
Weight.
In existing technology, the method for correcting influence of the object color to measurement accuracy has following several: adjusting laser
Intensity, when color of object changes, guarantees same position by judging that signal strength constantly adjusts Laser output power
Signal strength does not change；The time of integration is adjusted, by judging that signal strength constantly adjusts the time of integration of light-sensitive device,
When color of object changes, guarantee that the signal strength of same position does not change.
Although these methods can reduce influence of the color of object to measurement accuracy, corrects degree and stability is all difficult
Guarantee.This is because there are aberrations for laser triangulation optical imaging system itself, lead to imaging facula deformation, distortion, and light
The axis that spot deviates imaging system is more, is distorted more serious.Traditional Laser Triangulation Sensor often uses software to mend
The method repaid is modified, and there is no fundamentally correcting system aberrations.
Summary of the invention
In view of the deficiency of the prior art, the present invention provides a kind of laser triangulation system and method, can reduce
By the big bring hot spot distortion phenomenon of incident angle, make hot spot is in Gaussian Profile on the receiving surface, fundamentally solves measurement
The problem of precision is by object Color influences.
To achieve the goals above, the present invention provides a kind of laser triangulation system, including a microprocessor, a laser
Device, wedge-shaped a bandpass filter, a receiving lens, a diaphragm, a light-sensitive device；The microprocessor connects the laser dress
It sets and the light-sensitive device；The wedge shape bandpass filter, the receiving lens and the light-sensitive device are successively arranged in same
On straight line；The diaphragm is set on the straight line.
It preferably, further include an object, the object is located on a laser optical path of the laser aid；It is described to swash
Light optical path is the optical path that the laser aid emits that a laser beam is formed, and the laser beam is reflected to form through the object
One reflected light path, the wedge shape bandpass filter, the receiving lens, the light-sensitive device and the diaphragm are set to described anti-
It penetrates in optical path.
Preferably, the diaphragm is set between the receiving lens and the light-sensitive device.
Preferably, the diaphragm is set between the wedge-shaped bandpass filter and the receiving lens.
A kind of laser triangulation method based on laser triangulation system of the present invention of the invention, including step
It is rapid:
S1: the laser triangulation system is established；
S2: the microprocessor controls the laser aid and emits the laser beam to an object, forms a laser
Optical path and a reflected light path；
S3: the laser aid or the wedge-shaped bandpass filter are adjusted, so that the reflected light path passes through the wedge shape
Bandpass filter, the receiving lens and the diaphragm are simultaneously irradiated on the light-sensitive device；
S4: the microprocessor samples the light-sensitive device, obtains spot intensity signal；
S5: according to the distance between object and the laser aid described in the spot intensity signal measurement.
The present invention due to use above technical scheme, make it have it is following the utility model has the advantages that
The effect of wedge-shaped bandpass filter is the incident angle for reducing imaging beam, especially reduces range both ends light beam
Incident angle, to reduce the aberration of system.By changing the angle of two lozenges, the control to incident angle may be implemented.
The effect of diaphragm is the stray light for blocking light beam periphery, while limiting the angle of incident beam；Image quality can not only be improved,
Make hot spot in Gaussian Profile, can more block external environmental light, improve range of triangle system to the resistance of environment light.It receives
Lens optimize on this basis, further decrease aberration, make imaging facula in Gaussian Profile.Pass through wedge-shaped bandpass filter
The cooperation of piece, diaphragm and receiving lens, so that a kind of laser triangulation system and method for the invention is when carrying out ranging, greatly
It reduces by the big bring hot spot distortion phenomenon of incident angle greatly, making hot spot on the receiving surface is in Gaussian Profile Gaussian Profile, from
Measurement accuracy is fundamentally solved the problems, such as by object Color influences, eliminates the measurement as caused by object color difference
Precision it is unstable.When calculating pixel center, guarantee pixel center not by measured object Color influences.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the laser triangulation system of the embodiment of the present invention；
Fig. 2 is the flow chart of the laser triangulation method of the embodiment of the present invention；
Fig. 3 is the imaging effect figure of conventional optical systems；
Fig. 4 is the imaging effect figure of the laser triangulation system of the embodiment of the present invention；
Fig. 5 is the imaging waveform diagram of conventional optical systems；
Fig. 6 is the imaging waveform diagram of the laser triangulation system of the embodiment of the present invention.
Specific embodiment
Below according to attached drawing Fig. 1 and Fig. 2, presently preferred embodiments of the present invention is provided, and be described in detail, enabled preferably
Understand function of the invention, feature.
Referring to Fig. 1, a kind of laser triangulation system of the embodiment of the present invention, including a microprocessor 1, a laser dress
Set 2, one wedge-shaped bandpass filter 3, a receiving lens 4, a diaphragm 5, a light-sensitive device 6；Microprocessor 1 connects laser aid 2
With light-sensitive device 6；Wedge-shaped bandpass filter 3, receiving lens 4 and light-sensitive device 6 are successively arranged on same straight line；Diaphragm 5 is set
It is placed on straight line.In the present embodiment, using STM32F3 series in other embodiments, its alloytype is can also be used in microprocessor 1
Number microprocessor 1.
Wherein, the effect of wedge-shaped bandpass filter 3 is the incident angle for reducing imaging beam, especially reduction range both ends
The incident angle of light beam, to reduce the aberration of system.By changing the angle of two lozenges, may be implemented to incident angle
Control.
The effect of diaphragm 5 is the stray light for blocking light beam periphery, while limiting the angle of incident beam；It can not only improve
Image quality makes hot spot in Gaussian Profile, can more block external environmental light, improve range of triangle system to the resistance to of environment light
Resistance.
Receiving lens 4 optimize on this basis, further decrease aberration, make imaging facula in Gaussian Profile.
By the cooperation of wedge-shaped bandpass filter 3, diaphragm 5 and receiving lens 4, so that a kind of laser of the embodiment of the present invention
Range of triangle system and method substantially reduces by the big bring hot spot distortion phenomenon of incident angle when carrying out ranging, makes light
Spot is in Gaussian Profile Gaussian Profile on the receiving surface, fundamentally solves the problems, such as measurement accuracy by 7 Color influences of object,
Eliminate the unstable of the measurement accuracy as caused by 7 color difference of object.When calculating pixel center, guarantee pixel
Center is not by measured object Color influences.
It when in use, further include an object 7, object 7 is located on a laser optical path 8 of laser aid 2；Laser optical path
8 emit the optical path that a laser beam is formed for laser aid 2, and laser beam reflects to form a reflected light path 9, wedge through object 7
Shape bandpass filter 3, receiving lens 4, light-sensitive device 6 and diaphragm 5 are set on reflected light path 9.
In the present embodiment, diaphragm 5 is set between receiving lens 4 and light-sensitive device 6.In other embodiments, diaphragm 5
It may be disposed between wedge-shaped bandpass filter 3 and receiving lens 4 or the other positions of reflected light path 9.
Please refer to Fig. 1 and Fig. 2, a kind of laser three based on the present embodiment laser triangulation system of the embodiment of the present invention
Angle distance measuring method, comprising steps of
S1: laser triangulation system is established.
S2: microprocessor 1 controls laser aid 2 and emits laser beam to an object 7, forms a laser optical path 8 and one
Reflected light path 9；Wherein, laser optical path 8 is the optical path that laser beam is formed, and reflected light path 9 is that laser beam is irradiated to object 7
The upper optical path that diffusing reflection occurs and is formed.
S3: adjustment laser aid 2 or wedge-shaped bandpass filter 3, so that reflected light path 9 passes through wedge-shaped bandpass filter 3, connects
It receives lens 4 and diaphragm 5 and is irradiated on light-sensitive device 6.
In this step, incident angle is adjusted to suitable position after reflected light path 9 passes through wedge-shaped bandpass filter 3；Reflected light
Road 9 is further by receiving lens 4 and diaphragm 5, and the light of stray light and wide-angle is blocked, and remaining light beam is imaged on photosensitive
On device 6.
S4: microprocessor 1 samples light-sensitive device 6, obtains spot intensity signal；
S5: according to the distance between spot intensity signal measurement object and laser aid 2.
In addition, the imaging effect figure of conventional optical systems sees Fig. 3, the laser triangulation system of the embodiment of the present invention
Imaging effect figure see Fig. 4；Comparison diagram 3 and Fig. 4 as it can be seen that the laser triangulation system of the embodiment of the present invention imaging phase
Imaging compared with conventional optical systems has eliminated stray light.
The imaging waveform diagrams of conventional optical systems referring to Fig. 5, the laser triangulation system of the embodiment of the present invention at
As waveform diagram referring to Fig. 6, comparison diagram 5 and Fig. 6 be not as it can be seen that traditional optical system, light spot energy is Gaussian Profile, target
7 color change of object, the shape of hot spot can also change, and cause pixel center to change, influence measurement accuracy.And it is of the invention
The waveform of the laser triangulation system of embodiment more meets Gaussian Profile, pixel center substantially not by object Color influences,
Illustrate that the measurement accuracy of system is not influenced substantially by color of object.In contrast, it is surveyed using the laser triangulation of the embodiment of the present invention
It will fundamentally solve the problems, such as that measurement accuracy is influenced by color of object away from system.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (5)
1. a kind of laser triangulation system, which is characterized in that including a microprocessor, a laser aid, a wedge-shaped band logical filter
Mating plate, a receiving lens, a diaphragm, a light-sensitive device；The microprocessor connects the laser aid and the light-sensitive device；
The wedge shape bandpass filter, the receiving lens and the light-sensitive device are successively arranged on same straight line；The diaphragm is set
It is placed on the straight line.
2. laser triangulation system according to claim 1, which is characterized in that further include an object, the target
Level is on a laser optical path of the laser aid；The laser optical path is that the laser aid one laser beam of transmitting is formed
Optical path, the laser beam reflects to form a reflected light path through the object, the wedge shape bandpass filter, the reception
Lens, the light-sensitive device and the diaphragm are set on the reflected light path.
3. laser triangulation system according to claim 1 or 2, which is characterized in that the diaphragm is set to described connect
It receives between lens and the light-sensitive device.
4. laser triangulation system according to claim 1 or 2, which is characterized in that the diaphragm is set to the wedge
Between shape bandpass filter and the receiving lens.
5. a kind of laser triangulation method based on laser triangulation system described in claim 1, comprising steps of
S1: the laser triangulation system is established；
S2: the microprocessor controls the laser aid and emits the laser beam to an object, forms a laser optical path
With a reflected light path；
S3: adjusting the laser aid or the wedge-shaped bandpass filter, so that the reflected light path passes through the wedge-shaped band logical
Optical filter, the receiving lens and the diaphragm are simultaneously irradiated on the light-sensitive device；
S4: the microprocessor samples the light-sensitive device, obtains spot intensity signal；
S5: according to the distance between object and the laser aid described in the spot intensity signal measurement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644071.XA CN109471120A (en) | 2018-12-29 | 2018-12-29 | Laser triangulation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644071.XA CN109471120A (en) | 2018-12-29 | 2018-12-29 | Laser triangulation system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109471120A true CN109471120A (en) | 2019-03-15 |
Family
ID=65678325
Family Applications (1)
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|---|---|---|---|
| CN201811644071.XA Pending CN109471120A (en) | 2018-12-29 | 2018-12-29 | Laser triangulation system and method |
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| CN (1) | CN109471120A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542403A (en) * | 2019-09-19 | 2019-12-06 | 上海兰宝传感科技股份有限公司 | MEMS (micro-electromechanical systems) measuring sensor and triangular area measuring method |
| CN116068568A (en) * | 2023-04-07 | 2023-05-05 | 天津宜科自动化股份有限公司 | Data processing system for obtaining object distance |
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| US20050206872A1 (en) * | 2004-03-17 | 2005-09-22 | Asia Optical Co., Inc. | Optical system for laser range finder |
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| CN116068568A (en) * | 2023-04-07 | 2023-05-05 | 天津宜科自动化股份有限公司 | Data processing system for obtaining object distance |
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