CN113204111A - Laser automatic focusing device and method - Google Patents
Laser automatic focusing device and method Download PDFInfo
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- CN113204111A CN113204111A CN202110393374.4A CN202110393374A CN113204111A CN 113204111 A CN113204111 A CN 113204111A CN 202110393374 A CN202110393374 A CN 202110393374A CN 113204111 A CN113204111 A CN 113204111A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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Abstract
The invention provides a laser automatic focusing device and a method, wherein the laser automatic focusing device comprises: the device comprises a mechanical arm, a controller and a light receiving plate, wherein the light receiving plate comprises a plurality of photosensitive elements which are arranged in a rectangular array; the photosensitive element is used for converting an optical signal into an electric signal to obtain laserout, and the optical signal is sampled by an ADC (analog to digital converter) of the controller to obtain a light intensity value; the mechanical arm is in communication connection with the controller. The laser automatic focusing device does not need to use naked eyes for focusing, so that focus offset caused by errors of the naked eyes is avoided; the opposite of the focal points is compared without multiple dotting, so that the electricity and the materials are saved, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of lasers, in particular to a laser automatic focusing device and a laser automatic focusing method.
Background
In the prior art, focusing of laser is generally performed by observing whether a laser output optical cable clamped by a mechanical arm is vertical or not by eyes, then emitting light briefly, dotting for multiple times, and comparing points which are dotted at different positions and continuously adjusting, so that the most appropriate focus is gradually approached.
Because the observation and the comparison through eyes are artificial errors, the time and the labor are consumed, the materials are consumed by the repeated short light emitting, and the cost is not reduced.
Disclosure of Invention
The invention provides a laser automatic focusing device and a laser automatic focusing method, which are used for solving the problem of low manual focusing efficiency in the prior art.
The invention provides a laser automatic focusing device, comprising: the device comprises a mechanical arm, a controller and a light receiving plate, wherein the light receiving plate comprises a plurality of photosensitive elements which are arranged in a rectangular array; the photosensitive element is used for converting an optical signal into an electric signal to obtain laserout, and the optical signal is sampled by an ADC (analog to digital converter) of the controller to obtain a light intensity value; the mechanical arm is in communication connection with the controller.
According to the laser automatic focusing device provided by the invention, under the condition that the controller is a single chip microcomputer, the laser automatic focusing device further comprises a gate, the gate is provided with a plurality of electric signal channels, and under the control of the controller, a plurality of electric signals sequentially pass through the plurality of electric signal channels by the gate to be sampled by ADCs of the controller one by one.
According to the laser automatic focusing device provided by the invention, the photosensitive element is a photodiode.
According to the laser automatic focusing device provided by the invention, the mechanical arm is a three-dimensional motion mechanical arm.
According to the laser automatic focusing device provided by the invention, under the condition that the number of the photosensitive elements is multiple, the number of the photosensitive elements is odd.
According to the laser automatic focusing device provided by the invention, the light receiving plate is square or round.
The invention also provides a laser automatic focusing method, which comprises the following steps:
acquiring voltage values corresponding to each photosensitive element, thereby obtaining the maximum value in the voltage values;
based on X% M and O, X/N and P to complete horizontal focusing, continuously collecting the voltage value of the No. O row and the No. P column to complete vertical focusing;
wherein X is the number of the photosensitive element corresponding to the maximum value, M is the number of rows in the rectangular array, N is the number of columns in the rectangular array, O and P are the number of rows and columns of the final photosensitive element with the strongest light receiving respectively,% and/are the operation of taking the remainder and dividing respectively.
According to the laser automatic focusing method provided by the invention, the completing horizontal focusing based on X% M and O, X/N and P comprises the following steps:
if X% M > O, controlling the mechanical arm to move towards the X negative half shaft until X% M is equal to O, and if X% M is equal to O, controlling the mechanical arm to move towards the X positive half shaft until X% M is equal to O;
and if X/N is greater than P, controlling the mechanical arm to move towards the Y negative half shaft until X/N is equal to P, and if X/N is less than P, controlling the mechanical arm to move towards the Y positive half shaft until X/N is equal to P.
According to the laser automatic focusing method provided by the invention, the step of continuously acquiring the voltage value of the No. O row and the No. P column to complete vertical focusing comprises the following steps:
when moving to the Z-axis positive half axis, the voltage of the No. O row and the No. P row continuously increases, the movement is continued, and when the voltage of the No. O row and the No. P row decreases, the movement is carried out to the negative half axis; when moving to the Z-axis negative half axis, the voltage of the No. O row and the No. P column continuously increases, and then the movement is continued, and when the voltage of the No. O row and the No. P column decreases, the movement is performed to the positive half axis.
According to the laser automatic focusing device and the laser automatic focusing method, the controller obtains the voltage value corresponding to each photosensitive element, so that the maximum value in the voltage values is obtained; if X% M > O, the controller controls the mechanical arm to move towards the X negative half shaft until X% M is equal to O, and if X% M is less than O, the controller controls the mechanical arm to move towards the X positive half shaft until X% M is equal to O; if X/N > P, the controller controls the mechanical arm to move towards the Y negative half shaft until X/N equals P, and if X/N < P, the controller controls the mechanical arm to move towards the Y positive half shaft until X/N equals P. When moving to the Z-axis positive half axis, the voltage of the No. O row and the No. P row continuously increases, the movement is continued, and when the voltage of the No. O row and the No. P row decreases, the movement is carried out to the negative half axis; when moving to the negative half axis of the Z axis, the voltage of the No. O row and the No. P column continuously increases, the movement is continued, when the voltage of the No. O row and the No. P column decreases, the movement is continued to the positive half axis, wherein X is the number of the photosensitive element corresponding to the maximum value, M is the row number in the rectangular array, N is the column number in the rectangular array, O and P are the row number and the column number of the final photosensitive element with the strongest light receiving, respectively,% and/are the operation of taking the remainder and dividing the remainder and the operation of dividing the number respectively. The laser automatic focusing device does not need to use naked eyes for focusing, so that focus offset caused by errors of the naked eyes is avoided; the opposite of the focal points is compared without multiple dotting, so that the electricity and the materials are saved, and the cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural view of a light receiving plate provided in the present invention;
FIG. 2 is a circuit diagram of a photosensitive element provided by the present invention;
fig. 3 is a schematic flow chart of a laser auto-focusing method provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
The laser autofocus device of the present invention will be described with reference to fig. 1 to 2.
As shown in fig. 1, the laser autofocus device according to the embodiment of the present invention includes: the light receiving plate comprises a plurality of photosensitive elements which are arranged in a rectangular array, the photosensitive elements are used for converting optical signals into electric signals to obtain laserout, and the light intensity value is obtained through ADC sampling of the controller.
In an alternative embodiment, the light sensing element may be a photodiode. The size of the photodiode can be selected according to actual requirements, and is not specifically required here.
As shown in fig. 2, the circuit of the photosensitive element includes two operational amplifiers, a first end of a first operational amplifier is connected to an input signal through a first resistor, an input end of the first resistor is grounded through a second resistor, a first end of the first operational amplifier is grounded through a first capacitor, a second end of the first operational amplifier is grounded through a third resistor, a second end of the first operational amplifier is connected to a third end of the first operational amplifier through a sliding rheostat, a fourth end of the first operational amplifier is grounded, and a fifth end of the first operational amplifier is connected to VCC;
the first end of the second operational amplifier is connected with the third end of the first operational amplifier through a fourth resistor, the first end of the second operational amplifier is grounded through a second capacitor, the second end of the second operational amplifier is connected with the third end of the second operational amplifier, the fourth end of the second operational amplifier is grounded, the fifth end of the second operational amplifier is connected with VCC, and the third end of the second operational amplifier is grounded through a third capacitor.
The photodiode is connected to J20, and after being irradiated by laser, current can form a loop through R7, so that corresponding voltage is arranged at two ends of R7, and the laser irradiation with different intensities can form voltages with different intensities at two ends of R7; and the small voltage is amplified by the operational amplifier circuit of U1A and then is output by the follower circuit of U3A.
In an alternative embodiment, the robotic arm is a three-dimensional motion robotic arm. The mechanical arm is used for driving the laser to move along an X axis, a Y axis and a Z axis.
The mechanical arm is in communication connection with the controller.
In the embodiment of the present invention, the controller acquires the voltage value corresponding to each photosensitive element, thereby obtaining the maximum value among the voltage values; if X% M > O, the controller controls the mechanical arm to move towards the X negative half shaft until X% M is equal to O, and if X% M is less than O, the controller controls the mechanical arm to move towards the X positive half shaft until X% M is equal to O; if X/N > P, the controller controls the mechanical arm to move towards the Y negative half shaft until X/N equals P, and if X/N < P, the controller controls the mechanical arm to move towards the Y positive half shaft until X/N equals P. When moving to the Z-axis positive half axis, the voltage of the No. O row and the No. P row continuously increases, the movement is continued, and when the voltage of the No. O row and the No. P row decreases, the movement is carried out to the negative half axis; when moving to the Z-axis negative half axis, the voltage of the No. O row and the No. P column continuously increases, and then the movement is continued, and when the voltage of the No. O row and the No. P column decreases, the movement is performed to the positive half axis. Wherein X is the number of the photosensitive element corresponding to the maximum value, M is the number of rows in the rectangular array, N is the number of columns in the rectangular array, O and P are the number of rows and columns of the final photosensitive element with the strongest light receiving respectively,% and/are the operation of taking the remainder and dividing respectively.
According to the laser automatic focusing device provided by the embodiment of the invention, the focusing by naked eyes is not needed, so that the focus offset caused by errors of the naked eyes is avoided; the opposite of the focal points is compared without multiple dotting, so that the electricity and the materials are saved, and the cost is reduced.
On the basis of the embodiment, under the condition that the controller is a single chip microcomputer, the controller further comprises a gate, the gate is provided with a plurality of electric signal channels, and under the control of the controller, the gate enables a plurality of electric signals to sequentially pass through the plurality of electric signal channels so as to be sampled by the ADCs of the controller one by one.
When the 9 x 9 matrix is adopted, 81 analog quantity signals are generated, and are all sampled by the ADC of the controller, but because the number is too large, the ADC channel of the controller is limited, and a time-sharing sampling method is adopted. One side of the gate is connected with N paths (such as 9 paths) of electric signals generated by optical signals, the controller controls the gate to sequentially put the N paths of electric signals for sampling, and controls the gate to put the other path of electric signals for sampling after sampling is finished, and the N paths of electric signals are already sampled until the sampling is finished. Similarly, if M such gates are used, all the electrical signals can be completely sampled, and 81 ADC channels will not be occupied.
For example, 9 and 10-channel gates are used to connect the 81 electrical signals, each gate is connected to 9 electrical signal channels, and the other side is directly connected to the ADC channel of the controller. After 9 sampling periods, the ADC of the controller can sample 81 data.
It should be noted that, because there are many photodiodes in the light receiving panel, the ADC channel of a general single chip cannot satisfy such multiple channels, so that a gate may be connected in the middle to switch the analog gating of different channels, the control of the gate is controlled by the single chip, after each switching, a delay is stabilized, and the analog of the current channel is sampled and recorded until the analog of all channels is collected.
In the case where the photosensitive element is plural, the number of the photosensitive elements is odd.
For example, in order to automatically compare the position of a photosensitive element with the strongest light receiving at the beginning of focusing, the photosensitive elements form a 9 × 9 matrix region, that is, only one photosensitive element with the strongest light receiving at the moment needs to be arranged; in the case of an even number of photosensitive elements, a plurality of photosensitive elements having the strongest light reception need to be provided.
In alternative embodiments, the light receiving plate may be square or circular.
As shown in fig. 3, the method of the laser auto-focusing device according to the embodiment of the present invention includes:
before step 100, the position of the photosensitive element with the strongest light receiving is automatically compared.
wherein X is the number of the photosensitive element corresponding to the maximum value, M is the number of rows in the rectangular array, N is the number of columns in the rectangular array, O and P are the number of rows and columns of the final photosensitive element with the strongest light receiving respectively,% and/are the operation of taking the remainder and dividing respectively.
If X% M > O, controlling the mechanical arm to move towards the X negative half shaft until X% M is equal to O, and if X% M is equal to O, controlling the mechanical arm to move towards the X positive half shaft until X% M is equal to O;
and if X/N is greater than P, controlling the mechanical arm to move towards the Y negative half shaft until X/N is equal to P, and if X/N is less than P, controlling the mechanical arm to move towards the Y positive half shaft until X/N is equal to P.
When the mechanical arm moves to the Z-axis positive half shaft, the voltage of the No. O row and the No. P row continuously increases, the mechanical arm continues to move, and when the voltage of the No. O row and the No. P row decreases, the mechanical arm moves to the negative half shaft; when the robot arm moves to the negative half axis of the Z axis, the voltage of the No. O row and the No. P column continuously increases, and the robot arm continues to move, and when the voltage of the No. O row and the No. P column decreases, the robot arm moves to the positive half axis.
In the following, the photosensitive elements are described as being arranged in 9 × 9, in which case the number of the photosensitive elements is 81.
Sampling and recording the analog quantity of the current channel until the analog quantity of all channels is acquired, obtaining Sensor _ Value [81], and circularly updating the data of the Sensor _ Value [81] by sampling the analog quantity for the next time.
After focusing is started, horizontal focusing is firstly performed, data is sampled to fill in the Sensor _ Value [81], the maximum Value of the Sensor _ Value [ X ] is compared, then the X% 9 row X/9 column is a point with the strongest illumination, wherein% and/or respectively are the operation of complementation and division.
Only X% 9 and 5 need to be compared, if X% 9 is greater than 5, the focal length of the laser needs to be moved to the negative half axis of X, and the mechanical arm is controlled to move to the negative half axis of X until X% 9 is equal to 5;
if X% 9 is less than 5, the focal length of the laser needs to move to the positive half axis of X, and the mechanical arm is controlled to move to the positive half axis of X until X% 9 is 5;
and comparing the sizes of the X/9 and the 5 in the same way, and controlling the mechanical arm to move towards the corresponding Y axis until the X/9 is equal to 5, wherein the horizontal focusing is finished.
When vertical focusing is executed, continuously sampling the voltage Value of the 5 th row and the 5 th column of the light receiving plate, namely, Sensor _ Value [41], controlling the mechanical arm to move along the Z axis, and if the Value of the Sensor _ Value [41] is continuously increased, continuously moving along the same direction;
if the Value of the Sensor _ Value [41] is reduced, the mechanical arm is controlled to move in the opposite direction, the position of the maximum Value of the Sensor _ Value [41] in the vertical axial direction is found, at the moment, the automatic focusing is completed, and at the moment, the position of the mechanical arm away from the workpiece is the best focusing point.
According to the laser automatic focusing method, the focusing by naked eyes is not needed, so that the focus offset caused by errors of the naked eyes is avoided; the opposite of the focal points is compared without multiple dotting, so that the electricity and the materials are saved, and the cost is reduced.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A laser autofocus device, comprising: the device comprises a mechanical arm, a controller and a light receiving plate, wherein the light receiving plate comprises a plurality of photosensitive elements which are arranged in a rectangular array; the photosensitive element is used for converting an optical signal into an electric signal to obtain laserout, and the optical signal is sampled by an ADC (analog to digital converter) of the controller to obtain a light intensity value; the mechanical arm is in communication connection with the controller.
2. The laser automatic focusing device according to claim 1, further comprising a gate in case that the controller is a single chip microcomputer, the gate having a plurality of electrical signal channels, under the control of the controller, the gate passing a plurality of electrical signals through the plurality of electrical signal channels in sequence to be sampled one by the ADCs of the controller.
3. The laser autofocus device of claim 1, wherein the light sensing element is a photodiode.
4. The laser autofocus device of claim 1, wherein the robotic arm is a three-dimensional motion robotic arm.
5. The laser autofocus device of claim 1, wherein if there are a plurality of the photosensitive elements, the number of the photosensitive elements is an odd number.
6. The laser autofocus device of claim 1, wherein the light receiving plate is square or circular.
7. A method of laser autofocus device according to any of claims 1 to 6, comprising:
acquiring voltage values corresponding to each photosensitive element, thereby obtaining the maximum value in the voltage values;
based on X% M and O, X/N and P to complete horizontal focusing, continuously collecting the voltage value of the No. O row and the No. P column to complete vertical focusing;
wherein X is the number of the photosensitive element corresponding to the maximum value, M is the number of rows in the rectangular array, N is the number of columns in the rectangular array, O and P are the number of rows and columns of the final photosensitive element with the strongest light receiving respectively,% and/are the operation of taking the remainder and dividing respectively.
8. The laser autofocus method of claim 7, wherein the performing horizontal focusing based on X% M and O, X/N, and P comprises:
if X% M > O, controlling the mechanical arm to move towards the X negative half shaft until X% M is equal to O, and if X% M is equal to O, controlling the mechanical arm to move towards the X positive half shaft until X% M is equal to O;
and if X/N is greater than P, controlling the mechanical arm to move towards the Y negative half shaft until X/N is equal to P, and if X/N is less than P, controlling the mechanical arm to move towards the Y positive half shaft until X/N is equal to P.
9. The laser automatic focusing method of claim 7, wherein the continuously collecting the voltage value of the row O and the column P to complete the vertical focusing comprises:
when moving to the Z-axis positive half axis, the voltage of the No. O row and the No. P row continuously increases, the movement is continued, and when the voltage of the No. O row and the No. P row decreases, the movement is carried out to the negative half axis; when moving to the Z-axis negative half axis, the voltage of the No. O row and the No. P column continuously increases, and then the movement is continued, and when the voltage of the No. O row and the No. P column decreases, the movement is performed to the positive half axis.
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| CN202110393374.4A CN113204111A (en) | 2021-04-13 | 2021-04-13 | Laser automatic focusing device and method |
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| CN202110393374.4A CN113204111A (en) | 2021-04-13 | 2021-04-13 | Laser automatic focusing device and method |
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2021
- 2021-04-13 CN CN202110393374.4A patent/CN113204111A/en active Pending
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| CN1966197A (en) * | 2005-11-18 | 2007-05-23 | 鸿富锦精密工业（深圳）有限公司 | Laser processing system and method |
| CN101592787A (en) * | 2008-05-28 | 2009-12-02 | 北京中视中科光电技术有限公司 | A kind of apparatus and method that are used for the light path adjusting |
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Application publication date: 20210803 |