CN111830667B - Lens focusing device - Google Patents
Lens focusing device Download PDFInfo
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- CN111830667B CN111830667B CN202010751958.XA CN202010751958A CN111830667B CN 111830667 B CN111830667 B CN 111830667B CN 202010751958 A CN202010751958 A CN 202010751958A CN 111830667 B CN111830667 B CN 111830667B
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- back plate
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/30—Systems for automatic generation of focusing signals using parallactic triangle with a base line
- G02B7/32—Systems for automatic generation of focusing signals using parallactic triangle with a base line using active means, e.g. light emitter
Abstract
The application provides a lens focusing device, and relates to the technical field of monitoring. The lens focusing device comprises a base, a laser triangular stereo sensor main body and a focusing auxiliary mechanism. The laser triangular stereo sensor main body comprises an installation frame, a line laser, an image sensor and a lens, wherein the line laser, the image sensor and the lens are all installed on the installation frame, and the installation frame is movably installed on the base. The focusing auxiliary mechanism is arranged on the base, and the laser triangular stereo sensor body moves relative to the base to enable the plane where the surface laser emitted by the line laser is located to be coincided with the reference plane, so that the reference plane is coincided with the focal plane of the lens. The lens focusing device has the advantages that the lens focusing is realized by moving the laser triangular stereo sensor main body to enable the focal plane of the lens on the laser triangular stereo sensor main body to coincide with the reference plane, the focusing amplitude of the lens is reduced, and the lens focusing device can adapt to different testing distances by setting different moving amounts of the laser triangular stereo sensor main body on the base.
Description
Technical Field
The application relates to the technical field of monitoring, in particular to a lens focusing device.
Background
At present, the focusing process of the lens of the laser triangular stereo sensor is complex, the focusing time is long, and great difficulty is brought to the focusing of an imaging system.
Disclosure of Invention
The embodiment of the application provides a lens focusing device to solve the problem that an existing triangular stereo sensor is difficult to measure and focus.
The embodiment of the application provides a lens focusing device, which comprises a base, a laser triangular stereo sensor main body and a focusing auxiliary mechanism. The laser triangular stereo sensor main body comprises an installation frame, a line laser, an image sensor and a lens, wherein the line laser, the image sensor and the lens are all installed on the installation frame, and the installation frame is movably installed on the base. The focusing auxiliary mechanism is arranged on the base, and the laser triangular stereo sensor body moves relative to the base to enable the plane of the surface laser emitted by the line laser to coincide with the reference plane on the focusing auxiliary mechanism, so that the reference plane coincides with the focal plane of the lens.
According to the technical scheme, the lens focusing device has the advantages that the lens focusing device can be adapted to different test distances by moving the laser triangular stereo sensor body and taking the reference surface on the focusing auxiliary mechanism as a reference to realize coincidence of the focal plane and the reference surface of the lens on the laser triangular stereo sensor body, so that the focusing of the lens is realized.
In addition, the lens focusing device of the embodiment of the application also has the following additional technical features:
in some embodiments of the present application, the base includes a primary slide rail, a secondary slide rail, and a bottom plate; the first-stage slide rail is fixed on the bottom plate, the second-stage slide rail is movably arranged on the first-stage slide rail, and the mounting frame is movably arranged on the second-stage slide rail; the mounting rack moves relative to the secondary slide rail to enable the laser triangular stereo sensor main body to be close to or far away from the focusing auxiliary mechanism, so that the focal plane of the lens moves relative to the reference surface; the secondary slide rail moves relative to the primary slide rail to enable the plane where the surface laser emitted by the line laser is located to be close to or far away from the reference surface.
Among the above-mentioned technical scheme, the focal plane of camera lens can move so that the focal plane is located the different positions on the reference surface relative to the reference surface when the mounting bracket moves relative to the second grade slide rail for can make different positions be located the center of camera lens on the reference surface, make different positions can clearly image on image sensor on the reference surface, the mounting bracket moves on the second grade slide rail promptly and can make the three-dimensional sensor main part of laser triangle measure and the measurement of different distances to the different positions on the reference surface.
In some embodiments of the present application, the focusing auxiliary mechanism includes a supporting back plate and a laser leveling back plate disposed on the bottom plate, and the reference surface is an upper surface of the supporting back plate; the laser leveling back plate is detachably connected to the supporting back plate, the laser leveling back plate is arranged on a surface laser emitting path of the line laser, and the secondary slide rail moves relative to the primary slide rail to enable surface laser to be projected onto the laser leveling back plate; the lens can enable the laser projected onto the laser leveling plate to be imaged on the image sensor.
In the technical scheme, the secondary slide rail moves relative to the primary slide rail to enable the surface laser to be projected onto the laser leveling plate, and the lens enables the laser projected onto the laser leveling back plate to be imaged on the image sensor, so that invisible laser is visualized, a visual reference can be provided for focusing of the lens, and focusing is facilitated.
In some embodiments of the present application, the support back plate is rotatably disposed on the bottom plate, and the rotation of the support back plate relative to the bottom plate enables the plane of the surface laser to be parallel to the reference plane.
Among the above-mentioned technical scheme, support the backplate and rotate and connect on the bottom plate, rotate through the relative bottom plate of support backplate and can make face laser place plane be on a parallel with the reference surface to compensate the installation error that exists between line laser instrument and the mounting bracket, so that focus more accurately.
In some embodiments of the present application, the focusing auxiliary mechanism includes a laser leveling post detachably disposed on the supporting back plate, and the supporting back plate rotates relative to the base to enable the surface laser to project onto the laser leveling post.
Among the above-mentioned technical scheme, support the relative bottom plate of backplate and rotate and to make the face laser throw to the leveling stand on for invisible face laser is visual, can focus for the camera lens and provide visual reference, is convenient for focus.
In some embodiments of the present application, the focusing assist mechanism includes three laser leveling uprights arranged in a triangular pattern; the supporting back plate rotates relative to the base, so that the distance from the projection position of the surface laser projected to the three laser leveling upright posts to the supporting back plate is the same.
In the technical scheme, a plane is determined by three points, the distance between the projection position of the surface laser projected on the three laser leveling upright columns which are arranged in a triangular mode and the upper surface of the supporting back plate is the same, the plane where the surface laser is located is parallel to the upper surface of the supporting back plate, the three laser leveling upright columns are arranged in a triangular mode and provide visual reference in the process that the plane where the surface laser is located is adjusted to be parallel to the reference surface, and the plane where the surface laser is located and the reference surface are adjusted to be parallel to each other before the surface laser is enabled to be coincident to the reference surface.
In some embodiments of the present application, a scale is provided on each laser leveling post.
In the technical scheme, each laser leveling upright post is provided with a graduated scale, so that the projection height of the surface laser on each laser leveling upright post can be conveniently determined, and the projection height position of the surface laser on each laser leveling upright post can be compared.
In some embodiments of the present application, the laser triangulation stereo sensor body further comprises a lock for locking or unlocking the line laser and the mount; when the locking piece unlocks the mounting frame and the line laser, the line laser can rotate around the axis of the line laser relative to the mounting frame, so that laser lines projected to the laser leveling back plate by surface lasers of the line laser are parallel to a horizontal reference line of the lens.
Among the above-mentioned technical scheme, because the angle that the plane of face laser place that line laser ware emergent is not necessarily can guarantee in the installation, consequently the locking piece with line laser ware and mounting bracket unblock back, can rotate around self axis relatively the mounting bracket to the angle of adjustment face laser place plane, until the laser line that the face laser throws on the laser leveling backplate is parallel with the horizontal reference line of camera lens, help the camera lens to focus and provide the reference for other operations that the camera lens was focused.
In some embodiments of the present application, the focusing auxiliary mechanism further includes a resolution test card, the resolution test card is placed on the support back plate, and the laser triangulation stereo sensor body moves relative to the base so that the resolution test card can image on the image sensor.
In the technical scheme, the resolution test card is arranged to adjust the resolution of the lens conveniently after focusing is finished, so that imaging on the image sensor is clearer, and the measurement quality is higher.
In some embodiments of the present application, the lens focusing apparatus further includes a light source for providing light to the resolution test card, and the light source is disposed on the base.
In the technical scheme, the resolution test card can be identified by the lens all the time due to the arrangement of the light source, so that the situation that the imaging still cannot be clearly carried out even if the lens is adjusted to the corresponding resolution image sensor due to the fact that no light source irradiates is avoided.
In some embodiments of the present application, the support backing is a glass sheet; the light source is located on the back side of the support backplane.
Among the above-mentioned technical scheme, support the backplate for the glass board, the light source is located the dorsal part that supports the backplate and shines to the resolution ratio test card through the glass board on, not only can provide stable, the illumination that is not sheltered from for the resolution ratio test card, can also reduce whole camera lens focusing device's structure with the light source setting in the dorsal part that supports the backplate.
In some embodiments of the present application, the lens is a shift lens.
In the technical scheme, the tilt-shift lens enables the object space focal plane to coincide with the laser plane by changing the included angle between the image sensor and the lens plane, so that the measurable range of the laser triangular stereo sensor can be greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is an assembled schematic view of a lens focusing device according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a resolution test card;
fig. 3 shows the lens focusing device used on the floor tile paving robot.
Icon: 100-lens focusing means; 10-a base; 11-a primary slide rail; 12-a secondary slide rail; 13-a base plate; 14-a rotating platform; 141-card slot; 20-laser triangular stereo sensor main body; 21-a mounting frame; 211-mounting holes; a 22-line laser; 221-surface laser; 23-an image sensor; 24-a lens; 25-a control circuit board; 30-a focus assist mechanism; 31-a support backing plate; 311-reference plane; 32-laser leveling the back plate; 33-laser leveling the upright post; 34-resolution test card; 341-axis of symmetry; 342-resolution bar; 35-a light source; 200-robot tooling; 300-a floor tile to be pasted; 400-ground; a-vertical direction; b-horizontal direction; c-the axis of rotation of the rotating platform.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application.
Examples
As shown in fig. 1, an embodiment of the present application provides a lens focusing apparatus 100, where the lens focusing apparatus 100 includes a base 10, a laser triangulation stereo sensor body 20, and a focusing auxiliary mechanism 30. The laser triangular stereo sensor main body 20 comprises an installation frame 21, a line laser 22, an image sensor 23 and a lens 24, wherein the line laser 22, the image sensor 23 and the lens 24 are all installed on the installation frame 21, and the installation frame 21 is movably installed on the base 10. The focusing auxiliary mechanism 30 is provided on the base 10, and the laser triangular stereo sensor body 20 can move relative to the base 10 to make the plane of the surface laser 221 emitted by the line laser 22 coincide with the reference plane 311 on the focusing auxiliary mechanism 30, so that the reference plane 311 coincides with the focal plane of the lens 24. The lens focusing device 100 can adapt to different test distances and has good universality by moving the laser triangular stereo sensor body 20 and taking the reference surface 311 on the focusing auxiliary mechanism 30 as a reference to realize that the focal plane of the lens 24 on the laser triangular stereo sensor body 20 is superposed with the reference surface 311 to realize the focusing of the lens 24, the operation is simple, the focusing amplitude and focusing times of the lens 24 can be reduced, and different moving amounts of the laser triangular stereo sensor body 20 on the base 10 are set.
The line laser 22 is a laser that emits the surface laser beam 221 after being optically shaped and can project a laser beam on an object in the emission direction. Therefore, the line laser 22 may include a plurality of line laser units, and the line laser emitted from each line laser unit is located on the same plane to form the surface laser 221. Of course, a surface laser may be used instead of the line laser.
In the present embodiment, the lens 24 is a shift lens. The image sensor 23 is a two-dimensional image sensor 23, and the tilt-shift lens is a lens which enables an object focal plane to coincide with a laser plane by changing an included angle between the image sensor 23 and the lens plane, so that the measurable range of the laser triangular stereo sensor main body 20 can be greatly improved. In other embodiments, the lens 24 may be other common lenses as needed.
In the present embodiment, the base 10 includes a primary slide rail 11, a secondary slide rail 12, and a bottom plate 13; the primary slide rail 11 is fixed on the bottom plate 13, the secondary slide rail 12 is movably arranged on the primary slide rail 11, and the mounting frame 21 is movably arranged on the secondary slide rail 12; the mounting frame 21 can move relative to the secondary slide rail 12 to enable the laser triangular stereo sensor main body 20 to approach or separate from the focusing auxiliary mechanism 30, so that the focal plane of the lens 24 moves relative to the reference plane 311; the secondary slide rail 12 moves relative to the primary slide rail 11 to enable the plane of the surface laser 221 emitted by the line laser 22 to be close to or far away from the reference surface 311. The focus assist mechanism 30 is mounted on the base plate 13.
In this embodiment, the first-level slide rail 11 extends vertically a, the second-level slide rail 12 can move along vertical a relative to the first-level slide rail 11, the second-level slide rail 12 moves vertically relative to the first-level slide rail 11 so that the laser triangular stereo sensor main body 20 arranged on the second-level slide rail 12 moves along vertical a, and thus the plane where the surface laser 221 emitted by the line laser 22 is located is close to or away from the reference surface on vertical a, and when the second-level slide rail 12 moves to the position where the surface laser 221 is located and the reference surface 311 are coplanar, the coincidence of the position where the surface laser 221 is located and the reference surface 311 is achieved. The secondary slide rail 12 extends along the horizontal direction B, and the mounting frame 21 can move along the horizontal direction B relative to the secondary slide rail 12. The primary slide rail 11 is arranged on the upper surface of the bottom plate 13. The stroke setting of one-level slide rail 11 and second grade slide rail 12 is different for laser triangle stereo sensor can be suitable for different measuring range and measuring environment.
In this embodiment, the focusing auxiliary mechanism 30 includes a supporting back plate 31 and a laser leveling back plate 32 disposed on the bottom plate 13, and the reference surface 311 is an upper surface of the supporting back plate 31; the laser leveling back plate 32 is detachably connected to the supporting back plate 31, the laser leveling back plate 32 is arranged on an emergent path of the surface laser 221 of the line laser 22, and the secondary slide rail 12 moves relative to the primary slide rail 11 to enable the surface laser 221 to be projected onto the laser leveling back plate 32; the lens 24 is capable of imaging the laser light projected onto the laser leveling back plate 32 onto the image sensor 23.
The surface laser 221 emitted by the line laser 22 is an invisible laser plane, when the secondary slide rail 12 moves along the vertical direction a relative to the primary slide rail 11, the laser triangular stereo sensor main body 20 arranged on the secondary slide rail 12 can be driven to move along the vertical direction a, so that the line laser 22 moves along the vertical direction a until the surface laser 221 emitted by the line laser 22 can be projected on the laser leveling back plate 32, when the surface laser 221 is projected on the laser leveling back plate 32, a visible laser line extending along the emitting direction of the laser 221 on the vertical plane appears on the laser leveling back plate 32, so that the invisible laser is visible, the visible laser line can be imaged on the image sensor 23 through the coarse adjusting lens 24, a visual reference can be provided for focusing of the lens 24, and focusing is facilitated.
In the present embodiment, the laser triangulation stereo sensor body 20 further includes a locking member for locking or unlocking the line laser 22 and the mount 21. The lens 24 has a horizontal reference line and a vertical reference line, when the locking piece unlocks the mounting frame 21 and the line laser 22, the line laser 22 can rotate around the axis relative to the mounting frame 21 so that the laser line projected by the surface laser 221 of the line laser 22 onto the laser leveling back plate 32 is parallel to the horizontal reference line of the lens 24. The locking member may be in the form of a screw, bolt, snap, etc., and in this embodiment, the locking member is a tightening screw.
Since the line laser 22 does not necessarily guarantee the angle of the plane where the surface laser 221 emitted by the line laser 22 is located with respect to the reference plane 311 during the installation process, the angle of the laser line formed by the surface laser 221 projected onto the laser leveling back plate 32 with respect to the horizontal reference line of the lens 24 cannot be guaranteed, when the laser line formed by the surface laser 221 projected onto the laser leveling back plate 32 is imaged on the image sensor 23 by the coarse adjustment lens 24, the locking member is enabled to unlock the line laser 22 and the mounting frame 21, the line laser 22 can rotate around its own axis with respect to the mounting frame 21 to adjust the angle of the plane where the surface laser 221 is located until the laser line projected onto the laser leveling back plate 32 by the surface laser 221 is parallel to the horizontal reference line of the lens 24, which facilitates the focusing of the lens 24 and provides a reference for other operations of focusing of the lens 24.
In the present embodiment, the mounting frame 21 is provided with the mounting hole 211 for mounting the line laser 22, and the line laser 22 is disposed in the mounting hole 211, and ideally, the axis of the line laser 22 and the axis of the mounting hole 211 should be parallel, but due to an assembly error, there may be a case where the axis of the line laser 22 and the axis of the mounting hole 211 are not parallel. Therefore, in this embodiment, the rotating platform 14 is disposed on the bottom plate 13, the rotating platform 14 can rotate relative to the bottom plate 13 around an axis of the emitting direction of the laser 221 perpendicular to the horizontal plane, the axis is the rotating axis C of the rotating platform, the slot 141 is disposed on the rotating platform 14, an edge of the supporting back plate 31 is held in the slot 141, the rotating platform 14 rotates relative to the bottom plate 13 to rotate the supporting back plate 31 relative to the bottom plate 13, and the supporting back plate 31 rotates relative to the bottom plate 13 to make the plane of the laser 221 parallel to the reference plane 311. The supporting back plate 31 is rotatably connected to the bottom plate 13, and the plane of the surface laser 221 can be parallel to the reference plane 311 by rotating the supporting back plate 31 relative to the bottom plate 13, so as to compensate for the installation error between the line laser 22 and the mounting frame 21, and to make the focusing more accurate.
In this embodiment, the focusing auxiliary mechanism 30 further includes a laser leveling upright column 33, the laser leveling upright column 33 is detachably disposed on the supporting back plate 31, and the supporting back plate 31 rotates relative to the base 10 to enable the surface laser 221 to project onto the laser leveling upright column 33. The focusing auxiliary mechanism 30 comprises three laser leveling upright posts 33, wherein the three laser leveling upright posts 33 are arranged in a triangular manner; the rotation of the supporting back plate 31 relative to the base 10 enables the projection position of the surface laser 221 onto the three laser leveling columns 33 to be the same distance from the supporting back plate 31.
The supporting back plate 31 rotates relative to the bottom plate 13, so that the surface laser 221 is projected onto the laser leveling upright post 33, the invisible surface laser 221 is visualized, a visual reference can be provided for focusing of the lens 24, and focusing is facilitated. Three points determine a plane, the projection positions of the surface laser 221 projected on the three laser leveling columns 33 arranged in a triangular manner are the same in distance from the upper surface of the support back plate 31, which means that the plane where the surface laser 221 is located is parallel to the upper surface of the support back plate 31, and the three laser leveling columns 33 are arranged in a triangular manner to provide visual reference in the process of adjusting the plane where the surface laser 221 is located to be parallel to the reference plane 311, so that the plane where the surface laser 221 is located and the reference plane 311 are adjusted to be parallel before the surface laser 221 is overlapped with the reference plane 311. And when the distances from the projection positions of the surface laser 221 on the three laser leveling columns 33 to the upper surface of the supporting back plate 31 are the same by rotating the supporting back plate 31, the defect that the axes of the line laser 22 and the axes of the mounting holes 211 are not parallel due to assembly errors or manufacturing errors and the like is also corrected, and the visual axis deviation is reduced or avoided.
When the projection positions of the surface laser 221 on the three laser leveling columns 33 are all at the boundary of each laser leveling column 33 and the supporting back plate 31, the plane of the surface laser 221 is coincident with the upper surface (i.e., the reference plane 311) of the supporting back plate 31.
In some embodiments, the number of the laser leveling columns 33 may be other numbers, for example, two laser leveling columns 33 are provided, and two laser leveling columns 33 and the laser leveling back plate 32 are arranged in a triangular manner, which can also realize the function of three laser leveling columns 33.
In this embodiment, each laser leveling column 33 is provided with a scale, which is convenient for determining the projection height of the surface laser 221 on the laser leveling column 33 and comparing the projection height position of the surface laser 221 on each laser leveling column 33. The connection position of each laser leveling upright 33 and the upper surface of the support back plate 31 is the starting point or the end point of the scale on the corresponding laser leveling upright 33.
In the embodiment, the focusing auxiliary mechanism 30 further includes a resolution test card 34, the resolution test card 34 is placed on the support back plate 31, actually on the reference surface 311, and the laser triangular stereo sensor body 20 moves relative to the base 10 to enable the resolution test card 34 to image on the image sensor 23. The sharpness with which the resolution test card 34 is imaged on the image sensor 23 can be adjusted by focusing the lens 24 itself. The resolution test card 34 is provided to facilitate adjustment of the resolution of the lens 24 after focusing is completed to make imaging on the image sensor 23 clearer and to make measurement quality higher. As shown in fig. 2, the resolution test card 34 is designed to be axisymmetric, in this embodiment, when the resolution test card 34 is placed on the supporting back plate 31, the symmetry axis of the resolution test card 34 extends along the extending direction of the secondary slide rail 12, two sides of the symmetry axis 341 of the resolution test card 34 are provided with a plurality of checkerboards, each checkerboard is provided with a plurality of resolution bars 342 with different sizes, and the resolution pattern refers to the USAF1951 resolution test card 34. The resolution bars 342 with different sizes are distributed in each grid, and along the extending direction of the symmetry axis 341, the number of the resolution bars in each grid is smaller at the position closer to the lens 24 and the size of the resolution bars is larger at the position closer to the lens 24 (the direction indicated by the arrow in the figure is the direction gradually closer to the lens 24), so as to adapt to the phenomenon that the optical resolutions of different areas in the field of view are not consistent in the shift axis imaging. The decreasing degree of the resolution bar 342 can be specifically designed according to the tilt angle of the tilt axis, the included angle between the optical axis of the lens 24 and the plane of the object to be measured, the pixel size of the two-dimensional image sensor 23, the focal length of the lens 24, the field of view of the lens 24 and other parameters designed by the tilt axis imaging system. The size of each row of resolution bars increases from near to far with respect to lens 24 to adapt the characteristic of lens 24(Modulation Transfer Function) that decreases from the center region to the edge, and the degree of increase can also be designed according to the specific MTF curve of lens 24. The checkerboard with resolution bars is distributed symmetrically left and right with the symmetry axis 341 of the resolution test card 34 to ensure that the left and right ends of the lens 24 can be imaged clearly at the same time.
In some environments with poor lighting conditions, the resolution test card 34 still cannot clearly image on the image sensor 23 due to lighting regardless of whether the lens 24 is adjusted to a proper resolution. Therefore, in the present embodiment, the lens focusing apparatus 100 further includes a light source 35 for providing light to the resolution test card 34, and the light source 35 is disposed on the base 10. The arrangement of the light source 35 enables the resolution test card 34 to be identified by the lens 24 all the time, thereby avoiding the situation that clear imaging cannot be performed even if the lens 24 is adjusted to the image sensor 23 with the corresponding resolution due to no illumination of the light source 35. In the present embodiment, the light source 35 is a monochromatic area array light source 35. In other embodiments, the light source 35 may be other types of light sources 35 depending on the environmental characteristics and the characteristics of the support back plate 31.
In the present embodiment, the support back plate 31 is a glass plate; the light source 35 is located on the back side of the support back plate 31. The light source 35 is located on the back side of the support back plate 31 and irradiates the resolution test card 34 through the glass plate, so that not only can stable and unshielded illumination be provided for the resolution test card 34, but also the structure of the whole lens focusing device 100 can be reduced by arranging the light source 35 on the back side of the support back plate 31. The difference between the dominant wavelength of the light source 35 and the wavelength of the laser used is not more than 10 nm.
After the plane of the surface laser 221 coincides with the reference plane 311, the mounting frame 21 moves horizontally relative to the secondary slide rail 12, so that the focal plane of the lens 24 moves relative to the reference plane 311 to be located at different positions on the reference plane 311, so that different positions on the reference plane 311 are located at the center of the lens 24, so that different positions on the reference plane 311 can be clearly imaged on the image sensor 23, that is, the mounting frame 21 moves on the secondary slide rail 12, so that the laser triangulation sensor body 20 can measure different positions and different distances on the reference plane 311.
In this embodiment, the laser triangulation stereo sensor body 20 further includes a control circuit board 25, the control circuit board 25 is mounted on the mounting frame 21 and electrically connected to the image sensor 23 and the lens 24, and the control circuit board 25 is used for controlling the on/off of the line laser 22 and the acquisition of image information by the image sensor 23.
It should be noted that, the vertical direction a and the horizontal direction B referred to in this embodiment are relative, and when the arrangement direction of the entire lens focusing device 100 is changed, the definitions of the vertical direction a and the horizontal direction B are changed, for example, when the entire lens focusing device 100 in fig. 1 is rotated clockwise or counterclockwise by 90 °, the vertical direction a of the rotated lens focusing device 100 is the horizontal direction B of the lens focusing device 100 before rotation, and the horizontal direction B of the rotated lens focusing device 100 is the vertical direction a of the lens focusing device 100 before rotation.
The embodiment of the present application further provides a focusing method for the lens 24, where the focusing method for the lens 24 includes the following operation steps:
step 1: the laser triangular stereo sensor main body 20 is mounted on the secondary slide rail 12.
Step 2: the laser leveling back plate 32 is installed on the glass supporting back plate 31, the line laser 22 is lightened, the second-stage sliding rail 12 is adjusted to vertically move relative to the first-stage sliding rail 11A, and the surface laser 221 is projected on the laser leveling back plate 32.
And step 3: the image sensor 23 is turned on and the coarse lens 24 images the laser line projected by the surface laser 221 onto the laser leveling back plate 32 onto the image sensor 23.
And 4, step 4: the locking piece is enabled to unlock the mounting frame 21 and the line laser 22, the line laser 22 is rotated, the laser line projected by the surface laser 221 on the laser leveling back plate 32 is enabled to be parallel to the horizontal reference line of the lens 24, the line laser 22 is locked on the mounting frame 21 through the locking piece, and the laser leveling back plate 32 is detached.
And 5: three laser leveling columns 33 are installed, so that the glass support back plate 31 rotates relative to the bottom plate 13, the inclination angle of the glass support back plate 31 is changed, and the surface laser 221 is projected at the same height of the three leveling columns. Because the assembly error of the line laser 22 can cause the plane of the surface laser 221 to be not parallel to the axis of the mounting hole 211 (i.e. generate a visual axis deviation), the visual axis deviation of the line laser 22 can be compensated by ensuring that the surface laser 221 is projected to the same height of the three leveling columns, so that the plane of the surface laser 221 emitted by each set of assembled laser triangular stereo sensor main body 20 is coincident with the focal plane of the shift imaging system;
step 6: enabling the secondary slide rail 12 to vertically move relative to the primary slide rail 11A, adjusting the projection position of the surface laser 221 on each laser leveling upright column 33 to the joint of the laser leveling upright column 33 and the glass support back plate 31, and detaching the laser leveling upright columns 33;
and 7: placing the special resolution test card 34 on the glass support back plate 31, turning on the light source 35, adjusting the laser triangular stereo sensor main body 20 to horizontally move relative to the secondary slide rail 12, and moving the laser triangular stereo sensor main body 20 to an ideal working distance by taking the central resolution strip area of the special resolution test card 34 at the image center as a standard;
and 8: the telescopic amount of the lens 24 is adjusted to make each resolution strip on the special resolution test card 34 image clearly as much as possible (preferentially ensuring the central position of the image), and the focusing is completed.
In the actual engineering, the floor tile is paved by the floor tile paving robot, and before paving by the robot tool 200, the ground 400 needs to be detected to determine that the paving condition is met. As the robot tool is compact in structure and limited in distance with the ground 400, the camera cannot be directly installed right to the ground, and the position of the ground 400 is detected, as shown in FIG. 3, a tilt-shift lens camera needs to be installed on the side edge of the robot tool to realize inclined shooting, so that the detection requirement of large-view-field clear imaging is met. In practical application, the focusing auxiliary mechanism 30 is placed on the floor 400, the tilt lens is focused according to the method in the embodiment of the present application, the tilt lens (or the laser triangular stereo sensor body 20) is designed according to the structural parameters of the robot during installation, the adjusted slide rails (i.e. the first-stage slide rail 11 and the second-stage slide rail 12, and the first-stage slide rail 11 and the second-stage slide rail 12 with different ranges are replaced as necessary) are adapted to complete the focusing operation of the tilt lens, and if the tilt lens (or the laser triangular stereo sensor body 20) observes the composite floor tile 400 laying requirement of the floor 400, the robot tool 200 grabs the floor tile 300 to be laid and lays the floor 400.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A lens focusing apparatus, comprising:
a base;
the laser triangular stereo sensor comprises a laser triangular stereo sensor main body, wherein the laser triangular stereo sensor main body comprises an installation rack, a line laser, an image sensor and a lens, the line laser, the image sensor and the lens are all arranged on the installation rack, and the installation rack is movably arranged on the base; and
the focusing auxiliary mechanism is arranged on the base, and the laser triangular stereo sensor body moves relative to the base to enable the plane of the surface laser emitted by the line laser to coincide with a reference plane on the focusing auxiliary mechanism, so that the reference plane coincides with the focal plane of the lens;
the base comprises a primary slide rail, a secondary slide rail and a bottom plate;
the primary slide rail is fixed on the bottom plate, the secondary slide rail is movably arranged on the primary slide rail, and the mounting frame is movably arranged on the secondary slide rail;
the mounting rack moves relative to the secondary slide rail to enable the laser triangular stereo sensor body to be close to or far away from the focusing auxiliary mechanism, so that the focal plane of the lens moves relative to the reference surface;
the secondary slide rail moves relative to the primary slide rail to enable the plane where the surface laser emitted by the line laser is located to be close to or far away from the reference surface;
the focusing auxiliary mechanism comprises a supporting back plate and a laser leveling back plate which are arranged on the bottom plate, and the reference surface is the upper surface of the supporting back plate;
the laser leveling back plate is detachably connected to the supporting back plate, the laser leveling back plate is arranged on a surface laser emitting path of the line laser, and the secondary slide rail moves relative to the primary slide rail to enable surface laser to be projected onto the laser leveling back plate;
the lens is capable of imaging the laser projected onto the laser leveling backplate on the image sensor.
2. The lens focusing device as claimed in claim 1, wherein the supporting backplate is rotatably disposed on the base plate, and the supporting backplate can rotate relative to the base plate to make the plane of the surface laser parallel to the reference plane.
3. The lens focusing device of claim 2, wherein the focusing auxiliary mechanism comprises a laser leveling post detachably disposed on the supporting back plate, and the supporting back plate rotates relative to the base to project surface laser onto the laser leveling post.
4. The lens focusing device of claim 3, wherein the focusing auxiliary mechanism comprises three laser leveling columns, and the three laser leveling columns are arranged in a triangular manner;
the supporting back plate rotates relative to the base, so that the distance from the projection position of the surface laser projected onto the three laser leveling upright columns to the supporting back plate is the same.
5. The lens focusing device of claim 4, wherein a scale is provided on each laser leveling post.
6. The lens focusing device of claim 1, wherein the laser triangulation stereo sensor body further comprises a locking member for locking or unlocking the line laser and the mounting bracket;
when the locking piece will the mounting bracket with line laser unblock, line laser can be relative the mounting bracket rotates around self axis so that line laser's surface laser throws to laser line on the laser leveling backplate with the level reference line of camera lens is parallel.
7. The lens focusing device as claimed in claim 1, wherein the focusing auxiliary mechanism further comprises a resolution test card, the resolution test card is placed on the support back plate, and the laser triangulation sensor body moves relative to the base to enable the resolution test card to image on the image sensor.
8. The lens focusing apparatus of claim 7, further comprising a light source for providing light to the resolution test card, wherein the light source is disposed on the base.
9. The lens focusing device of claim 8, wherein the supporting back plate is a glass plate;
the light source is located on the back side of the support backplate.
10. The lens focusing device of claim 1, wherein the lens is a shift lens.
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| CN202010751958.XA CN111830667B (en) | 2020-07-30 | 2020-07-30 | Lens focusing device |
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| CN202010751958.XA CN111830667B (en) | 2020-07-30 | 2020-07-30 | Lens focusing device |
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| WO2011120058A1 (en) * | 2010-03-26 | 2011-09-29 | Johannes Jacobus Coetzer | A calibration device |
| CN102091974B (en) * | 2010-11-11 | 2012-11-28 | 西安交通大学苏州研究院 | Installing and adjusting method for high-speed lathe machining property on-machine measuring device |
| CN105258710B (en) * | 2015-09-12 | 2017-12-29 | 长春理工大学 | A kind of high-precision principal point for camera scaling method |
| CN105554395B (en) * | 2016-01-28 | 2018-11-30 | 北京玖瑞科技有限公司 | Adjustment detection device for line-scan digital camera and linear light sources |
| CN107202557B (en) * | 2017-04-21 | 2019-08-20 | 歌尔股份有限公司 | To the system and method marked measuring device, calibrate camera lens and graph card relative position |
| CN107421462A (en) * | 2017-05-10 | 2017-12-01 | 南京理工大学 | Object three-dimensional contour outline measuring system based on line laser structured light |
| CN107481289B (en) * | 2017-07-13 | 2020-07-03 | 西安应用光学研究所 | Precise target system and method for far-field calibration of large-field-of-view camera |
| CN108195344A (en) * | 2017-11-28 | 2018-06-22 | 广东雷洋智能科技股份有限公司 | Laser triangulation method |
| CN107907051A (en) * | 2017-12-29 | 2018-04-13 | 上海兰宝传感科技股份有限公司 | The adjustable Laser Triangulation Measurement System Based of range and method |
| CN109186491A (en) * | 2018-09-30 | 2019-01-11 | 南京航空航天大学 | Parallel multi-thread laser measurement system and measurement method based on homography matrix |
| CN109727290B (en) * | 2018-12-26 | 2022-09-06 | 南京理工大学 | Zoom camera dynamic calibration method based on monocular vision triangulation distance measurement method |
| CN110298891A (en) * | 2019-06-25 | 2019-10-01 | 北京智行者科技有限公司 | The method and device that Camera extrinsic precision is assessed automatically |
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