CN1126649C - Robot's visual sensor based on small-wave transform optics - Google Patents
Robot's visual sensor based on small-wave transform optics Download PDFInfo
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- CN1126649C CN1126649C CN 01109002 CN01109002A CN1126649C CN 1126649 C CN1126649 C CN 1126649C CN 01109002 CN01109002 CN 01109002 CN 01109002 A CN01109002 A CN 01109002A CN 1126649 C CN1126649 C CN 1126649C
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Abstract
The present invention relates to a robot visual sensor based on small-wave transforming optics, which is characterized in that an imaging object lens, a liquid crystal light valve, a polarized beam splitting prism, a collimating lens, a beam enlarging lens and a semiconductor laser fixed arranged in a vertical cylinder of a shell body from bottom to top, wherein the liquid crystal light valve is on the focal length part of the imaging object lens. Two fourier lenses, a light modulator of an electric addressing space and a CCD photocoupling device are arranged in an inclined cylinder of the shell body from inside to outside, wherein the light modulator of an electric addressing space is arranged on the front focal plane part and the back focal plane part of the two fourier lenses. When the present invention is arranged on a robot, the present invention can identify an object, and realize automatic tracking. The present invention has the advantages of rapid information processing rate, good filtering performance and high repeated accuracy.
Description
The invention belongs to a kind of vision sensor of robot, particularly a kind of based on wavelet transformation Optical Implementation vision sensor of robot.
Wavelet transformation is as a kind of reliable signal processing method, with traditional conversion ratio, have lot of advantages.Filtering performance is good, eliminates unnecessary noise and interference, improves signal to noise ratio, does not have truncated error, the digit data sequence reconstruction features that repeatable accuracy is high and good etc.At present, existing robot vision image processing is based on that computer parallel processing software realizes more, needs expensive work station usually.Along with the increase of calculating and process information amount, computational speed is difficult to realize the requirement of real-time in the actual engineering especially.
The present invention is based on wavelet transformation Optical Implementation vision sensor of robot can be optical information processing system and computer structure altogether, foundation is suitable for the various wavelet basis filter functions storehouse that sensed image is handled, extract the best images feature, and the signal that vision sensor is obtained, directly read in computer, and then the control robot arm is realized automatic tracing moved.
The objective of the invention is to overcome weak point of the prior art and provide a kind of based on wavelet transformation Optical Implementation vision sensor of robot.
Technical solution of the present invention is as follows:
Structure based on wavelet transformation Optical Implementation vision sensor of robot is, the lower port place is installing imaging object lens (1) in the upright tube of housing (7), the focal length place, top of imaging object lens (1) is installing liquid crystal light valve (2), the intersection of the top of liquid crystal light valve (2), the upright tube of housing and oblique tube axis is installed with polarization splitting prism (3), and the top of polarization splitting prism (3) is installing collimation lens (4); Upper port place in housing (7) is installing semiconductor laser (6), is installing extender lens (5) between semiconductor laser (6) and collimation lens (5).Installing fourier lense (8) and fourier lense (10) in the oblique tube of housing (7), its position will guarantee that the light of reading of polarization splitting prism (3) incides in the fourier lense (8), and make the back focal plane of fourier lense (8) and fourier lense (10) front focal plane merge in a place, and electrical addressing spatial light modulator (9) is installed herein.Port in the right-hand oblique tube of fourier lense (10) is installing CCD photoelectric coupled device (11).Imaging object lens (1), liquid crystal light valve (2), polarization splitting prism (3), extender lens (4), collimation lens (5), semiconductor laser (6) are on same axis, and polarization splitting prism (3), fourier lense (8), electrical addressing spatial light modulator (9), fourier lense (10) and CCD photoelectric coupled device (11) are on same axis.Electrical addressing spatial light modulator (9) uses cable to be connected with computer (12) respectively with CCD photoelectric coupled device (11).
The resolution ratio of liquid crystal light valve 2 is 401p/mm, and contrast is 100: 1, and the write time is 40ms.
The polarization splitting prism light spliting angle is the 45-90 degree.
The number of picture elements of electrical addressing spatial light modulator 9 is 800 * 600, and the picture frequency is 200Hz, and picture dot is of a size of 33 * 33, and fill factor, curve factor is 0.27, and contrast is 200: 1.
The model of CCD photoelectric coupled device 11 is DH512-PRO.
Operation principle based on wavelet transformation Optical Implementation vision sensor of robot is as follows: external object passes through imaging lens (1) imaging on liquid crystal light valve (2) (LCLV-Liquid Crystal Light Valve), promptly on the optically addressed spatial light modulator.Semiconductor laser (6) sends the laser beam that wavelength is 635 nanometers, becomes directional light through extender lens (5) and collimation lens (4) and impinges upon on the polarization splitting prism (3).Polarization splitting prism (3) is refracted to the directional light polarization on the liquid crystal light valve (2).The light of reading of liquid crystal light valve (2) returns along former road, incides on first fourier lense (8) by polarization splitting prism (3) again.Realize filtering according to optics 4f system principle, be about to electrical addressing spatial light modulator (9) and be placed on the back focal plane of fourier lense (8),, here finish and read optical spectrum with image and multiply each other by the filter function frequency spectrum of computer control input.Because electrical addressing spatial light modulator (9) is on the front focal plane of fourier lense (10), fourier lense (10) is converted to spatial domain with the light function from frequency domain, and the image light function through wavelet transformation shines directly on the CCD photoelectric coupled device (11) at last.CCD photoelectric coupled device (11) communicates with computer (12), like this, convert the processing of coherent light to by incoherent light, utilize the electrical addressing spatial light modulator (9) of 4f system filter principle and computer (12) control, realize wavelet transform process, its signal is received by CCD photoelectric coupled device (11), and reads in computer (12).
The present invention compared with prior art has following advantage:
(1) utilizes optical Information Processing high speed, parallel and jumbo feature based on wavelet transformation Optical Implementation vision sensor of robot, improve information processing rate.
(2) it is good to have a filtering performance based on wavelet transformation Optical Implementation vision sensor of robot, eliminates unnecessary noise and interference, improves signal to noise ratio, does not have truncated error, the digit data sequence reconstruction features that repeatable accuracy is high and good etc.
(3) be the high-tech product of optical, mechanical and electronic integration based on wavelet transformation Optical Implementation vision sensor of robot, it also is the product that optics combines with computer.Functions such as computer finishes that signal writes, calculates, stores, programming and control are directly controlled the robot arm motion.Be installed in the robot based on wavelet transformation Optical Implementation vision sensor of robot, can discern, and realize from motion tracking to target.
The drawing of accompanying drawing is described as follows:
Fig. 1 is a structural representation of the present invention.
Below in conjunction with accompanying drawing the embodiment of the invention is described in further detail:
Based on the structure of wavelet transformation Optical Implementation vision sensor of robot as shown in Figure 1: the lower port place is installing imaging object lens (1) by screw thread in the upright tube of "T"-shaped housing (7), and the focal length place, top of imaging object lens (1) is installing liquid crystal light valve (2) with holding screw.The intersection of the top of liquid crystal light valve (2), the upright tube of "T"-shaped housing and oblique tube axis is installed with polarization splitting prism (3), the top of polarization splitting prism (3) is installing collimation lens (4) by screw thread, semiconductor laser (6) in upper port place clamping in housing (7), is installing an extender lens (5) by screw thread between semiconductor laser (6) and collimation lens (5).Installing fourier lense (8) and fourier lense (10) with holding screw in the oblique tube of "T"-shaped housing (7), its position will guarantee that the light of reading of polarization splitting prism (3) incides in the fourier lense (8), and make the back focal plane of fourier lense (8) and fourier lense (10) front focal plane merge in a place, and at the focal plane meet electrical addressing spatial light modulator (9) is installed, the port in the right-hand oblique tube of fourier lense (10) is installing CCD photoelectric coupled device (11) by screw thread.Imaging object lens (1), liquid crystal light valve (2), polarization splitting prism (3), extender lens (4), collimation lens (5), semiconductor laser (6) are on same axis.Polarization splitting prism (3), fourier lense (8), electrical addressing spatial light modulator (9), fourier lense (10) and CCD photoelectric coupled device (11) are on same axis.Electrical addressing spatial light modulator (9) uses cable to be connected with computer (12) respectively with CCD photoelectric coupled device (11).
The resolution ratio of liquid crystal light valve (2) is 401p/mm, and contrast is 100: 1, and the write time is 40ms.
Polarization splitting prism (3) light spliting angle is 78 degree.
Semiconductor laser (6) power is 10mW.
The number of picture elements of electrical addressing spatial light modulator (9) is 800 * 600, and the picture frequency is 200Hz, and picture dot is of a size of 33 * 33, and fill factor, curve factor is 0.27, and contrast is 200: 1.
The model of CCD photoelectric coupled device (11) is DH512-PRO.
During use, to be installed in sending out on the orchid of end effector of robot based on the optical wavelet transform vision sensor of robot, and be connected with robot controller with system that computer constitutes, communicate with one another, arm with the control robot is made the real-time pursuit movement according to the path of vision sensor identification, and the distance between vision sensor and testee is 1 meter.
At front end based on wavelet transformation Optical Implementation vision sensor of robot, make the interface that zoom lens is installed in advance, after connecting zoom lens, of the present inventionly can obtain remote image, and the monitoring thing in the environment is monitored based on wavelet transformation Optical Implementation vision sensor.
Claims (2)
1, a kind of based on wavelet transformation Optical Implementation vision sensor of robot, it is characterized in that: the lower port place is installing imaging object lens (1) in the upright tube of housing (7), the focal length place, top of imaging object lens (1) is installing liquid crystal light valve (2), the top of liquid crystal light valve (2), the intersection of upright tube of housing and oblique tube axis is installed with polarization splitting prism (3), the top of polarization splitting prism (3) is installing collimation lens (4), upper port place in housing (7) is installing semiconductor laser (6), between semiconductor laser (6) and collimation lens (5), installing an extender lens (5), installing fourier lense (8) and fourier lense (10) in the oblique tube of housing (7), its position will guarantee that the light of reading of polarization splitting prism (3) incides in the fourier lense (8), and make the back focal plane of fourier lense (8) and fourier lense (10) front focal plane merge in a place, and electrical addressing spatial light modulator (9) is installed herein, port in the right-hand oblique tube of fourier lense (10) is installing CCD photoelectric coupled device (11), imaging object lens (1), liquid crystal light valve (2), polarization splitting prism (3), extender lens (4), collimation lens (5), semiconductor laser (6) is on same axis, polarization splitting prism (3), fourier lense (8), electrical addressing spatial light modulator (9), fourier lense (10) and CCD photoelectric coupled device (11) are on same axis, and electrical addressing spatial light modulator (9) uses cable to be connected with computer (12) respectively with CCD photoelectric coupled device (11).
2, according to the said vision sensor of robot of claim 1, it is characterized in that: the resolution ratio of liquid crystal light valve (2) is 401p/mm, and contrast is 100: 1, and the write time is 40ms; The light spliting angle of polarization splitting prism (3) is the 45-90 degree; The power of semiconductor laser (6) is 5-15mW; The number of picture elements of electrical addressing spatial light modulator (9) is 800 * 600, and the picture frequency is 200Hz, and picture dot is of a size of 33 * 33, and fill factor, curve factor is 0.27, and contrast is 200: 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01109002 CN1126649C (en) | 2001-02-27 | 2001-02-27 | Robot's visual sensor based on small-wave transform optics |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 01109002 CN1126649C (en) | 2001-02-27 | 2001-02-27 | Robot's visual sensor based on small-wave transform optics |
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| CN1304822A CN1304822A (en) | 2001-07-25 |
| CN1126649C true CN1126649C (en) | 2003-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 01109002 Expired - Fee Related CN1126649C (en) | 2001-02-27 | 2001-02-27 | Robot's visual sensor based on small-wave transform optics |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5895305B2 (en) | 2011-12-06 | 2016-03-30 | シーシーエス株式会社 | Inspection illumination device and inspection illumination method |
| CN103019258A (en) * | 2012-11-28 | 2013-04-03 | 中国人民解放军装甲兵工程学院 | Multi-target tracking indicating technology based on optical phased array and reverse optics |
| CN104748721B (en) * | 2015-03-22 | 2018-05-08 | 上海砺晟光电技术有限公司 | A kind of monocular vision sensor with coaxial distance measurement function |
| CN106371272B (en) * | 2015-07-20 | 2019-04-23 | 深圳光峰科技股份有限公司 | The control system of light combination and projector |
| CN105044052A (en) * | 2015-09-07 | 2015-11-11 | 中国科学院近代物理研究所 | Laser spectrum analysis method and device for elements in liquid |
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