CN112066859A - Light spot position detection method and light spot position detection system - Google Patents

Light spot position detection method and light spot position detection system Download PDF

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Publication number
CN112066859A
CN112066859A CN202010956276.2A CN202010956276A CN112066859A CN 112066859 A CN112066859 A CN 112066859A CN 202010956276 A CN202010956276 A CN 202010956276A CN 112066859 A CN112066859 A CN 112066859A
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China
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laser
light spot
ccd sensor
determining
pixel
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Chinese (zh)
Inventor
何志华
邱锐煌
谭伟文
徐普喜
康伟华
谭晓
罗远彦
谢荣松
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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Priority to CN202010956276.2A priority Critical patent/CN112066859A/en
Publication of CN112066859A publication Critical patent/CN112066859A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/02—Testing optical properties

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a light spot position detection method and a light spot position detection system. The detection method of the spot position comprises the following steps: acquiring pixel data, wherein the pixel data is data generated by sensing laser by a CCD sensor; determining the position of a central pixel in a light spot of the laser according to the pixel data; and determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser. The method for detecting the position of the light spot solves the problem of low measurement precision of the laser position in the prior art.

Description

Light spot position detection method and light spot position detection system
Technical Field
The invention relates to the field of laser detection, in particular to a light spot position detection method and a light spot position detection system.
Background
In a building construction site, levelness, verticality and flatness are often required to be detected by means of a sweeping laser emitted by a laser sweeping instrument. The specific method is that one or more laser position measuring devices are placed on the ground or on the equipment to measure the specific position of the sweeping laser on the laser position measuring devices, and then whether the ground or the equipment is horizontal or not is judged.
However, the conventional laser position measuring device has low measurement accuracy, generally ranging from 1mm to 2mm, and most of the conventional laser position measuring devices are designed and manufactured based on common photoelectric sensing materials. In addition, the laser position measuring devices have weak induction on long-distance sweeping laser, and can not measure the laser frequently or have larger measurement error; moreover, they are easily disturbed by ambient light, affecting the measurement position.
Disclosure of Invention
The invention mainly aims to provide a light spot position detection method and a light spot position detection system, so as to solve the problem of low measurement precision of a laser position in the prior art.
In order to achieve the above object, according to an aspect of the present invention, there is provided a method of detecting a spot position, including: acquiring pixel data, wherein the pixel data is data generated by sensing laser by a CCD sensor; determining the position of a central pixel in a light spot of the laser according to the pixel data; and determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser.
Further, determining the position of the center pixel in the spot of the laser light from the pixel data includes: acquiring a serial number corresponding to a central pixel, wherein the serial number is obtained by sequentially sequencing all linearly arranged pixels on the CCD sensor; and determining the position of the central pixel according to the sequence number corresponding to the central pixel.
Further, determining the position of the central pixel according to the sequence number corresponding to the central pixel includes: multiplying the serial number corresponding to the central pixel and the pixel width to obtain a product which is the position of a light spot of the laser on the CCD sensor, and determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser, wherein the method comprises the following steps: and determining the position of a light spot on the CCD sensor by the laser as the position of the central pixel.
Further, acquiring pixel data includes: acquiring an analog signal generated by a CCD sensor, and amplifying the analog signal; and converting the amplified analog signals into digital signals to form pixel data.
Further, acquiring pixel data includes: the method includes the steps of acquiring pixel data generated by sensing laser by at least two CCD sensors installed on a detection target, and determining the position of a light spot of the laser on the CCD sensors according to the position of a central pixel in the light spot of the laser, wherein the pixel data comprises: the method for detecting the positions of the light spots comprises the following steps of determining the positions of the light spots formed by the laser on the CCD sensors according to the positions of the central pixels of the light spots of the laser on the CCD sensors, and after determining the positions of the light spots formed by the laser on the CCD sensors according to the positions of the central pixels of the light spots of the laser, the method for detecting the positions of the light spots further comprises the following steps: determining whether the positions of light spots formed by the laser on any two CCD sensors are the same; if the detection target is the same as the detection target, determining that the detection target is in a horizontal state or a vertical state; and if not, determining that the detection target is in an inclined state.
Further, acquiring pixel data includes: acquiring pixel data generated in the moving process of the CCD sensor on a detection plane, and determining the position of a light spot of laser on the CCD sensor according to the position of a central pixel in the light spot of the laser, wherein the pixel data comprises: the method for detecting the position of the light spot comprises the following steps of determining the position of the light spot, which is formed by the laser and is irradiated on the CCD sensor at different positions, according to the position of a central pixel in the light spot, of the laser, on the CCD sensor at different positions, and after determining the position of the light spot, which is formed by the laser and is irradiated on the CCD sensor, according to the position of the central pixel in the light spot, the method for detecting the position of the light spot further comprises the: determining whether the positions of light spots on the CCD sensors at different positions hit by the laser are the same; if the flatness of the detection plane is the same, the flatness detection of the detection plane is qualified; if not, the flatness detection of the detection plane is unqualified.
Further, acquiring pixel data includes: acquiring pixel data generated by a CCD sensor mounted on a moving target by sensing laser, and determining the position of a light spot of the laser on the CCD sensor according to the position of a central pixel in the light spot of the laser, wherein the pixel data comprises: the method for detecting the position of the light spot comprises the following steps of determining the position of the light spot of the laser on the CCD sensor according to the position of a central pixel in the light spot of the laser on the CCD sensor, and after determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser, the method for detecting the position of the light spot further comprises the following steps: determining whether the position of a light spot on the CCD sensor hit by laser is a preset light spot position on the CCD sensor; and if the position of a light spot formed by the laser on the CCD sensor is a preset light spot position, stopping moving the moving target.
According to another aspect of the present invention, there is provided a spot position detection system including: the shell is provided with an opening and a mounting cavity; the CCD sensor is arranged in the mounting cavity and opposite to the opening, and the laser passing through the opening enters the CCD sensor and forms a light spot on a photosensitive surface of the CCD sensor; and the detection device is in communication connection with the CCD sensor and is used for executing the detection method of the light spot position.
Further, the CCD sensor is a linear array CCD sensor.
Further, the spot position detection system further includes: and the narrow-band filter is arranged in the mounting cavity and connected with the shell, and the narrow-band filter is positioned between the opening and the CCD sensor so that the laser passing through the opening enters the CCD sensor after passing through the narrow-band filter.
The detection method of the light spot position obtains data generated by the sensing of the laser by the photosensitive surface of the CCD sensor, wherein the data is pixel data, the position of a central pixel in the light spot of the laser is determined according to the pixel data, and the position of the light spot on the CCD sensor, which is irradiated by the laser, is determined according to the position of the central pixel in the light spot of the laser. According to the detection method of the laser spot position, the CCD sensor can accurately receive the laser and generate the pixel data, the position of the central pixel in the laser spot can be accurately obtained according to the pixel data, the position of the laser spot on the CCD sensor is further determined, and the measurement precision of the laser position is high.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a flow chart of a detection method of a spot position according to the present invention;
FIG. 2 shows a control diagram of an embodiment of a spot position detection system according to the invention;
FIG. 3 shows a cross-sectional view of an embodiment of a spot position detection system according to the invention;
FIG. 4 shows a front view of an embodiment of a spot position detection system according to the invention;
fig. 5 shows a schematic view of a detection device for laser light according to the present invention.
Wherein the figures include the following reference numerals:
10. a housing; 11. opening a hole; 12. a mounting cavity; 13. a waterproof joint; 14. an installation part; 15. a label groove; 16. a central scale mark; 17. an indicator light; 20. a CCD sensor; 30. a narrow band filter; 40. a circuit board; 41. a signal driving module; 42. a drive control and data processing module; 43. a communication module; 44. a power driving module;
100. an acquisition unit; 200. a first determination unit; 300. a second determination unit.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background art, the laser position measuring device in the prior art has low measurement accuracy of the laser position, and to solve this problem, according to the embodiments of the present application, a method for detecting the spot position and a system for detecting the spot position are provided.
The invention provides a method for detecting a light spot position, which comprises the following steps of:
step S101, pixel data is obtained, and the pixel data is data generated by sensing laser by a CCD sensor;
step S102, determining the position of a central pixel in a laser spot according to pixel data;
and step S103, determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser.
The detection method of the light spot position obtains data generated by the sensing of the laser by the photosensitive surface of the CCD sensor, wherein the data is pixel data, the position of a central pixel in the light spot of the laser is determined according to the pixel data, and the position of the light spot on the CCD sensor, which is irradiated by the laser, is determined according to the position of the central pixel in the light spot of the laser. According to the detection method of the laser spot position, the CCD sensor can accurately receive the laser and generate the pixel data, the position of the central pixel in the laser spot can be accurately obtained according to the pixel data, the position of the laser spot on the CCD sensor is further determined, and the measurement precision of the laser position is high.
Specifically, determining the position of a center pixel in a spot of laser light from pixel data includes: acquiring a serial number corresponding to a central pixel, wherein the serial number is obtained by sequentially sequencing all linearly arranged pixels on the CCD sensor; and determining the position of the central pixel according to the sequence number corresponding to the central pixel. The CCD sensor is a linear array CCD sensor which is provided with a plurality of pixels, the pixels form a photosensitive surface, and the pixels are sequentially arranged along the extending direction of the photosensitive surface. The pixels are numbered in sequence along the extending direction of the photosensitive surface, so that each pixel has a corresponding serial number. Specifically, as shown in fig. 3 and 4, the photosensitive surface extends in the vertical direction, and the plurality of pixels may be numbered sequentially from top to bottom or sequentially from bottom to top.
Specifically, determining the position of the central pixel according to the sequence number corresponding to the central pixel includes: multiplying the serial number corresponding to the central pixel and the pixel width to obtain a product which is the position of a light spot of the laser on the CCD sensor, and determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser, wherein the method comprises the following steps: and determining the position of a light spot on the CCD sensor by the laser as the position of the central pixel. The pixel width is the width of the pixel in the extending direction of the photosensitive surface, and as shown in fig. 3 and 4, the photosensitive surface extends in the vertical direction, and the pixel width is the width of the pixel in the vertical direction. The calculation formula of the position of the light spot is P-N-W; p is the position of the light spot; n is the serial number corresponding to the central pixel; w is the width of the pixel in the direction of extension of the photosensitive surface (i.e., the pixel width).
Specifically, acquiring pixel data includes: acquiring an analog signal generated by a CCD sensor, and amplifying the analog signal; and converting the amplified analog signals into digital signals to form pixel data.
In a first embodiment, acquiring pixel data comprises: pixel data generated by sensing laser light by at least two CCD sensors mounted on a detection target is acquired. Determining the position of a light spot of the laser on the CCD sensor according to the position of a central pixel in the light spot of the laser, wherein the determining comprises the following steps: and determining the position of the light spot of the laser on each CCD sensor according to the position of the central pixel of the light spot of the laser on each CCD sensor. After determining the position of the light spot of the laser on the CCD sensor according to the position of the center pixel in the light spot of the laser, the detection method of the position of the light spot further includes: determining whether the positions of light spots formed by the laser on any two CCD sensors are the same; if the detection target is the same as the detection target, determining that the detection target is in a horizontal state or a vertical state; and if not, determining that the detection target is in an inclined state.
Specifically, in some building construction and home decoration sites, the light spot position detection system may be used to detect levelness and verticality, and the light spot position detection system may be installed on the surface of the object to be detected (the surface of the object to be detected is the above-mentioned detection target). The laser scanning device comprises a laser scanning instrument, wherein horizontal plane laser or vertical plane laser emitted by the laser scanning instrument irradiates each CCD sensor, whether the surface of an object to be detected is in a horizontal plane or a vertical plane is judged according to the position of light spots on each CCD sensor, namely the positions of the light spots of each CCD sensor on the surface of the object to be detected are the same, and the surface of the object to be detected is in the horizontal plane or the vertical plane, otherwise, the surface of the object to be detected is not in the horizontal plane or the vertical plane. Of course, the light spot position detection system may also be installed on a robot (the robot is a detection target) to detect whether the robot itself or the motion of the robot is horizontal.
In a second embodiment, acquiring pixel data comprises: pixel data generated during movement of the CCD sensor on the detection plane is acquired. Determining the position of a light spot of the laser on the CCD sensor according to the position of a central pixel in the light spot of the laser, wherein the determining comprises the following steps: and determining the positions of the light spots on the CCD sensors at different positions hit by the laser according to the positions of the central pixels of the laser in the light spots on the CCD sensors at different positions. After determining the position of the light spot of the laser on the CCD sensor according to the position of the center pixel in the light spot of the laser, the detection method of the position of the light spot further includes: determining whether the positions of light spots on the CCD sensors at different positions hit by the laser are the same; if the flatness of the detection plane is the same, the flatness detection of the detection plane is qualified; if not, the flatness detection of the detection plane is unqualified. Specifically, in some building construction and home decoration sites, the flatness of the detection plane can be detected by using the light spot position detection system.
In a third embodiment, acquiring pixel data comprises: pixel data generated by sensing laser light by a CCD sensor mounted on a moving object is acquired. Determining the position of a light spot of the laser on the CCD sensor according to the position of a central pixel in the light spot of the laser, wherein the determining comprises the following steps: and determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel of the laser in the light spot on the CCD sensor. After determining the position of the light spot of the laser on the CCD sensor according to the position of the center pixel in the light spot of the laser, the detection method of the position of the light spot further includes: determining whether the position of a light spot on the CCD sensor hit by laser is a preset light spot position on the CCD sensor; and if the position of a light spot formed by the laser on the CCD sensor is a preset light spot position, stopping moving the moving target.
Specifically, the system for detecting the position of the light spot may be further installed on a robot arm and a mobile platform of the automatic production line (both the robot arm and the mobile platform of the automatic production line are the above-mentioned moving targets), and is used for planning and designing the stop position of the machine, where the specific method is as follows: firstly, placing a laser swinger near a stop position, and enabling the laser swinger to emit a horizontal or vertical laser plane; then, a program is set in advance, so that the mechanical arm or the mobile platform with the facula position detection system automatically stops when the mechanical arm or the mobile platform moves to a certain detection position.
The present invention also provides a laser detection apparatus, as shown in fig. 5, including: an acquisition unit 100 that acquires pixel data generated by the CCD sensor sensing laser light; a first determination unit 200 that determines the position of a center pixel in a spot of the laser light from the pixel data; the second determining unit 300 determines the position of the spot of the laser light impinging on the CCD sensor based on the position of the center pixel in the spot of the laser light.
In the above laser detection device, the obtaining unit 100 obtains pixel data, the pixel data is data generated by the CCD sensor sensing the laser, the first determining unit 200 determines the position of a central pixel in a laser spot, and the second determining unit 300 determines the position of a laser spot on the CCD sensor according to the position of the central pixel in the laser spot, so that the laser can be accurately received and the measurement accuracy of the laser position can be improved.
In another embodiment, the first determining unit 200 is further configured to: acquiring a serial number corresponding to a central pixel, wherein the serial number is obtained by sequentially sequencing all linearly arranged pixels on the CCD sensor; and determining the position of the central pixel according to the sequence number corresponding to the central pixel.
In another embodiment, the first determining unit 200 is further configured to multiply the serial number corresponding to the central pixel by the pixel width to obtain a product, which is the position of the light spot of the laser on the CCD sensor. The second determination unit 300 is further configured to determine the position of the spot of the laser light impinging on the CCD sensor as the position of the central pixel.
In a specific embodiment, the obtaining unit 100 is further configured to: acquiring an analog signal generated by a CCD sensor, and amplifying the analog signal; and converting the amplified analog signals into digital signals to form pixel data.
In the first embodiment, the acquisition unit 100 is further configured to acquire pixel data generated by sensing laser light by at least two CCD sensors mounted on the detection target. The second determining unit 300 is further configured to determine the position of the light spot on each CCD sensor, which is hit by the laser light, according to the position of the center pixel in the light spot on each CCD sensor. The laser detection device further comprises a third determination unit, wherein the third determination unit is used for determining whether the positions of the light spots formed by the laser on any two CCD sensors are the same after determining the positions of the light spots formed by the laser on the CCD sensors according to the position of the central pixel in the light spots of the laser; if the detection target is the same as the detection target, determining that the detection target is in a horizontal state or a vertical state; and if not, determining that the detection target is in an inclined state.
In the second embodiment, the acquisition unit 100 is also used to acquire pixel data generated during the movement of the CCD sensor on the detection plane. The second determining unit 300 is further configured to determine the positions of the light spots on the CCD sensors at different positions hit by the laser according to the positions of the central pixels in the light spots on the CCD sensors at different positions. The laser detection device further comprises a fourth determination unit, wherein the fourth determination unit is used for determining whether the positions of the light spots, which are formed by the laser and are irradiated on the CCD sensors at different positions, are the same after determining the positions of the light spots, which are formed by the laser and are irradiated on the CCD sensors, according to the position of the central pixel in the light spots of the laser; if the flatness of the detection plane is the same, the flatness detection of the detection plane is qualified; if not, the flatness detection of the detection plane is unqualified.
In the third embodiment, the acquisition unit 100 is also used to acquire pixel data generated by the CCD sensor mounted on the moving object sensing the laser light. The second determining unit 300 is further configured to determine a position of a spot of the laser light impinging on the CCD sensor according to a position of a center pixel of the laser light in the spot of the laser light impinging on the CCD sensor. The laser detection device further comprises a fifth determination unit, wherein the fifth determination unit is used for determining whether the position of the light spot of the laser on the CCD sensor is a preset light spot position on the CCD sensor after determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser; and if the position of a light spot formed by the laser on the CCD sensor is a preset light spot position, stopping moving the moving target.
The present invention also provides a light spot position detection system, as shown in fig. 2 to 4, the light spot position detection system includes: a housing 10, the housing 10 having an opening 11 and a mounting cavity 12; the CCD sensor 20 is arranged in the mounting cavity 12 and opposite to the opening 11, and laser passing through the opening 11 enters the CCD sensor 20 and forms a light spot on a light sensing surface of the CCD sensor 20; and a detection device, which is in communication connection with the CCD sensor 20, and is used for executing the detection method of the light spot position in the above-described embodiment.
The light spot position detection system comprises a shell 10, a CCD sensor 20 and a detection device, wherein the CCD sensor 20 and the detection device are both arranged in an installation cavity 12 of the shell 10, the CCD sensor 20 is used for receiving laser emitted from an opening 11, and the laser forms a light spot on a light sensing surface of the CCD sensor 20; the detection means is connected to the CCD sensor 20 to acquire the position of the light spot on the CCD sensor 20. The CCD sensor 20 of the light spot position detection system has high sensitivity to light, can realize long-distance laser ranging and has high measurement precision; and the spot position obtained by the detection method of the detection device has high precision.
Specifically, the foreign language name of the CCD sensor is Charge Coupled Device; the CCD sensor is generally called a charge coupled device image sensor.
In the present embodiment, the CCD sensor 20 is a line CCD sensor. The linear array CCD sensor has high sensitivity to light, can realize laser ranging of 20 meters in long distance, and has high measurement precision which can reach 0.02 mm.
Specifically, a linear array CCD sensor is used as a photosensitive device, and the length of a photosensitive surface in the extending direction of the photosensitive surface is the measuring range of the light spot position detecting system; the linear array CCD sensors with the photosensitive surfaces of different lengths can obtain different measuring ranges. Where R (the measurement range of the spot position) is L (the length of the photosensitive surface) is M (the number of pixels) W (the width of the pixel in the extending direction of the photosensitive surface).
In this embodiment, as shown in fig. 3, the light spot position detecting system further includes a narrow band filter 30, the narrow band filter 30 is disposed in the installation cavity 12 and connected to the housing 10, and the narrow band filter 30 is located between the opening 11 and the CCD sensor 20, so that the laser passing through the opening 11 enters the CCD sensor 20 after passing through the narrow band filter 30. The narrow band filter 30 is located in the same wave band as the laser, and the narrow band filter 30 corresponding to the laser wave band is used, so that other light rays except the laser wave band can be filtered out, and the interference of the ambient light can be avoided or reduced to a greater extent.
Specifically, the projection of the narrowband filter 30 in the axial direction of the opening 11 may overlap the projection of the opening 11 in the axial direction thereof. This allows all laser light passing through the aperture 11 to be filtered by the narrow band filter 30.
As shown in fig. 3, the narrow band filter 30 is disposed parallel to the CCD sensor 20, and the interval between the narrow band filter 30 and the CCD sensor 20 is 0.5mm to 1 mm. This arrangement prevents the laser light from being refracted before entering the CCD sensor 20 and affecting the measurement accuracy.
In order to fix the narrowband filter 30, the narrowband filter 30 is attached to the inside of the housing 10.
As shown in fig. 3 and 4, a waterproof connector 13 is disposed on the housing 10, and the cable in the housing 10 passes through the waterproof connector 13 and then extends out of the housing 10. Specifically, the waterproof joint 13 is provided on the top of the housing 10. Such an arrangement may be used to wrap the device with external communication lines and power lines through a waterproof connector 13, providing waterproofing.
As shown in fig. 3, the light spot position detecting system further includes a mounting portion 14, the mounting portion 14 is disposed on the housing 10, and the light spot position detecting system is mounted on the fixed base through the mounting portion 14. Specifically, the mounting portion 14 is a threaded hole, and the mounting portion 14 is provided at the bottom of the housing 10.
In the present embodiment, the housing 10 is a waterproof case.
In this embodiment, a central scale mark 16 is provided on the outer side of the housing 10, and the central scale mark 16 is used for marking the middle position of the photosensitive surface in the extending direction thereof.
In the present embodiment, an indicator lamp 17 is provided on the outside of the housing 10 to indicate the operating state of the spot position detecting system. Such an arrangement makes it possible to know whether the spot position detection system is in an operating state or in a non-operating state.
In this embodiment, a label groove 15 is provided on the outer side of the housing 10, and a label marked with information of the laser spot position detection system is attached in the label groove 15.
As shown in fig. 2, the detection device includes a driving control and data processing module 42, the detection device further includes a signal driving module 41, the signal driving module 41 includes a converter and a signal amplifier, the CCD sensor 20 and the driving control and data processing module 42 are respectively in communication connection with the converter, the converter is configured to convert a control signal generated by the driving control and data processing module 42 into a signal that can be received by the CCD sensor 20; the CCD sensor 20 and the driving control and data processing module 42 are respectively connected in communication with a signal amplifier for amplifying the analog signal generated by the CCD sensor 20 into an analog signal that can be received by the driving control and data processing module 42. The drive control and data processing block 42 converts the analog signals to digital signals.
Optionally, the driving control and data processing module 42 is a single chip or an FPGA (Field Programmable Gate Array).
Optionally, the converter is a level conversion chip SN74AC, and the level conversion chip SN74AC is configured to perform level conversion on the control signal generated by the driving control and data processing module 42; the signal amplifier is an operational amplifier chip TL082IDR for amplifying the analog signal generated by the CCD sensor 20. It can be seen that the signal driving module 41 has two functions: the first is responsible for converting the control signal of the driving control and data processing module 42 into a signal in a voltage range required by the CCD sensor 20; secondly, the driving capability of the analog signal output by the CCD sensor 20 is increased, so that the driving control and data processing module 42 can correctly collect the analog signal.
As shown in fig. 2, the light spot position detecting system further includes a communication module 43, the communication module 43 is in communication connection with the driving control and data processing module 42, and the communication module 43 is configured to transmit the position of the light spot, which is calculated by the driving control and data processing module 42 and is irradiated on the CCD sensor, of the laser to an upper computer or a robot device.
Optionally, the communication module 43 is an RS485 protocol chip.
As shown in fig. 2, the light spot position detecting system further includes a power driving module 44, and the power driving module 44 is connected to both the detecting device and the CCD sensor 20 to supply power to the detecting device and the CCD sensor 20. Specifically, the power driving module 44 is responsible for converting 12V or 24V dc voltage to 3.3V and 5V for the detection system and the CCD sensor 20, respectively.
Specifically, power drive module 44 includes a DC/DC voltage converter and an LDO linear regulator.
In specific implementation, the control signal of the driving control and data processing module 42 controls the exposure of the CCD sensor 20 through the signal driving module 41; the analog signal generated by the CCD sensor 20 enters the driving control and data processing module 42 through the signal driving module 41, the driving control and data processing module 42 converts the analog signal into a digital signal and determines the position of the light spot, and then transmits the position information of the light spot to the communication module 43; the communication module 43 transmits the position information of the light spot to an upper computer or robot equipment in an RS485 protocol form.
Specifically, the driving control and data processing module 42 is a core unit of the whole device, and is responsible for collecting the analog signal output by the CCD sensor 20 and converting the analog signal into a digital signal through an internal AD analog-to-digital conversion unit; the data processing module of the driving control and data processing module 42 sequentially compares and calculates the acquired pixel data of the CCD sensor 20 to obtain all pixels corresponding to the light spot, and calculates the position of the central pixel (set as the nth pixel) among the pixels, so as to obtain the position information of the light spot: the driving control and data processing module 42 calculates the position of the light spot according to the above formula P ═ N × W. Specifically, since P is in mm and W is in um, the formula P ═ N × W is unified in units, resulting in the formula P ═ N × W/1000; finally, the position of the spot is obtained by this formula.
It should be noted that the pixel width of the linear array CCD sensor (the pixel width of the linear array CCD sensor, i.e. the width of each pixel in the extending direction of the photosensitive surface) cannot be too large, generally about 10um, and the measurement accuracy is affected if the value is too large, and the theoretical measurement accuracy of the light spot position detection system is the pixel width of the linear array CCD sensor. In practical use, the width of a light spot formed by laser on a photosensitive surface is generally 0.5mm to 1mm, namely a plurality of pixels for sensing the laser light spots are provided, and the position of the light spot can be obtained by calculating a central pixel through algorithm processing.
In the present embodiment, the driving control and data processing module 42, the signal driving module 41, the CCD sensor 20, the communication module 43 and the power driving module 44 constitute a circuit board 40; wherein, the CCD sensor 20 is welded and fixed.
Specifically, the circuit board 40 is disposed in the mounting cavity 12 and is fixedly connected with the housing through screws; the data line and the power line of the circuit board 40 are connected through the waterproof connector 13.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the detection method of the light spot position obtains data generated by the sensing of the laser by the photosensitive surface of the CCD sensor, wherein the data is pixel data, the position of a central pixel in the light spot of the laser is determined according to the pixel data, and the position of the light spot on the CCD sensor, which is irradiated by the laser, is determined according to the position of the central pixel in the light spot of the laser. According to the detection method of the laser spot position, the CCD sensor can accurately receive the laser and generate the pixel data, the position of the central pixel in the laser spot can be accurately obtained according to the pixel data, the position of the laser spot on the CCD sensor is further determined, and the measurement precision of the laser position is high.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A method for detecting a position of a light spot, comprising:
acquiring pixel data, wherein the pixel data is data generated by sensing laser by a CCD sensor;
determining the position of a central pixel in a light spot of the laser according to the pixel data;
and determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser.
2. The method for detecting the position of the light spot according to claim 1, wherein determining the position of the central pixel in the light spot of the laser light based on the pixel data comprises:
acquiring a serial number corresponding to the central pixel, wherein the serial number is obtained by sequentially sequencing all linearly arranged pixels on the CCD sensor;
and determining the position of the central pixel according to the sequence number corresponding to the central pixel.
3. The method for detecting the position of the light spot according to claim 2, wherein determining the position of the central pixel according to the sequence number corresponding to the central pixel comprises:
multiplying the serial number corresponding to the central pixel by the pixel width to obtain the product which is the position of the light spot of the laser on the CCD sensor,
determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser, wherein the determining comprises the following steps:
and determining the position of a light spot of the laser on the CCD sensor as the position of the central pixel.
4. The method for detecting the position of a light spot according to claim 1, wherein the acquiring of pixel data comprises:
acquiring an analog signal generated by the CCD sensor, and amplifying the analog signal;
and converting the amplified analog signal into a digital signal to form the pixel data.
5. The method of detecting a position of a spot according to claim 1,
acquiring pixel data, comprising:
acquiring pixel data generated by at least two CCD sensors mounted on a detection target by sensing laser, and determining the position of a light spot of the laser on the CCD sensors according to the position of a central pixel in the light spot of the laser, wherein the pixel data comprises:
determining the position of the light spot of the laser on each CCD sensor according to the position of the central pixel in the light spot of the laser on each CCD sensor,
after determining the position of the light spot of the laser on the CCD sensor according to the position of the center pixel in the light spot of the laser, the detection method of the position of the light spot further includes:
determining whether the positions of light spots formed by the laser on any two CCD sensors are the same; if the detection target is the same as the detection target, determining that the detection target is in a horizontal state or a vertical state; and if not, determining that the detection target is in an inclined state.
6. The method of detecting a position of a spot according to claim 1,
acquiring pixel data, comprising:
acquiring pixel data generated during movement of the CCD sensor on a detection plane,
determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser, wherein the determining comprises the following steps:
determining the positions of the light spots on the CCD sensors, which are hit by the laser, according to the positions of the central pixels of the laser in the light spots on the CCD sensors at different positions,
after determining the position of the light spot of the laser on the CCD sensor according to the position of the center pixel in the light spot of the laser, the detection method of the position of the light spot further includes:
determining whether the positions of light spots on the CCD sensors, which are shot by the laser at different positions, are the same; if the flatness of the detection plane is the same as the flatness of the detection plane, the flatness of the detection plane is detected to be qualified; if not, the flatness detection of the detection plane is unqualified.
7. The method of detecting a position of a spot according to claim 1,
acquiring pixel data, comprising:
acquiring pixel data generated by the CCD sensor mounted on a moving object sensing laser light,
determining the position of the light spot of the laser on the CCD sensor according to the position of the central pixel in the light spot of the laser, wherein the determining comprises the following steps:
determining the position of a light spot on the CCD sensor by the laser according to the position of a central pixel in the light spot on the CCD sensor by the laser,
after determining the position of the light spot of the laser on the CCD sensor according to the position of the center pixel in the light spot of the laser, the detection method of the position of the light spot further includes:
determining whether the position of a light spot on the CCD sensor hit by the laser is a preset light spot position on the CCD sensor; and if the position of the light spot of the laser on the CCD sensor is the preset light spot position, stopping moving the moving target.
8. A spot position detection system, comprising:
a housing having an aperture and a mounting cavity;
the CCD sensor is arranged in the mounting cavity and opposite to the opening, and laser passing through the opening enters the CCD sensor and forms a light spot on a light sensing surface of the CCD sensor;
a detection device, communicatively connected to the CCD sensor, for performing the method of detecting the position of the light spot according to any one of claims 1 to 7.
9. The system according to claim 8, wherein the CCD sensor is a line CCD sensor.
10. The light spot position detection system according to claim 8, characterized by further comprising:
the narrow-band filter is arranged in the installation cavity and connected with the shell, and the narrow-band filter is positioned between the opening and the CCD sensor so that laser passing through the opening enters the CCD sensor after passing through the narrow-band filter.
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