CN1511676A - Laser structure light vision sensor - Google Patents
Laser structure light vision sensor Download PDFInfo
- Publication number
- CN1511676A CN1511676A CNA021583412A CN02158341A CN1511676A CN 1511676 A CN1511676 A CN 1511676A CN A021583412 A CNA021583412 A CN A021583412A CN 02158341 A CN02158341 A CN 02158341A CN 1511676 A CN1511676 A CN 1511676A
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- laser
- plane
- video cameras
- laser instrument
- optical axis
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- 230000003287 optical effect Effects 0.000 claims abstract description 17
- 239000004065 semiconductor Substances 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 abstract description 10
- 239000004744 fabric Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 206010066901 Treatment failure Diseases 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
Images
Abstract
The laser structure light vision sensor includes two video cameras to acquire image; and laser to produce laser structure light plane in the angle of 30-60 deg to the plane comprising the optical axes of these two video cameras. The two video cameras have optical filer added and the difference in position and angle makes no mirror reflection simultaneously produced by these two video cameras, avoiding subsequent failed image processing. At all times, the present invention provides two frames of visual image synchronously acquired in different visual angles. By utilizing these two images and the parameters of the laser, three sets of 3D coordinate information of the identical structural light characteristic point relatively to the senor unit may be obtained via subsequent processing.
Description
Technical field
The present invention relates to the vision measurement sensing device among the robot field, particularly laser structure light vision device.
Background technology
Laser structure light vision device utilizes laser beam to form laser plane through cylindrical mirror, projects and produces laser stripe on the workpiece, utilizes the camera acquisition laser stripe to obtain to have the visual pattern of distinct characteristic.Present this sensing device adopts a video camera to carry out image acquisition, and (its typical structure is seen " Wu Lin, Chen Shanben, intelligent solder technology, the 209th ~ 210 page, Beijing: National Defense Industry Press, 2000 years.”)。The weak point of this sensing device is: when structured light is radiated at when removing the aluminium sheet of oxide film or grinding or other metal sheet surface through wire brush, can produce strong reflection, the picture quality that collects is reduced significantly, tend to make the subsequent treatment failure.
Summary of the invention
The object of the present invention is to provide a kind of laser structure light vision device that can overcome above-mentioned deficiency, improve availability.
For achieving the above object, laser structure light vision device comprises:
Video camera is used for image acquisition;
Laser instrument produces the laser structure optical plane,
Described video camera is two, and the plane that the laser structure plane that described laser instrument produces and the optical axis of two video cameras form is 30 ° of-60 ° of angles.
The present invention adopts two ccd video cameras that install filter lens additional to carry out image acquisition, and the difference of position and angle can have been avoided the subsequent treatment failure problem of image so that two ccd video cameras can direct reflection not occur simultaneously.The present invention provides the visual pattern under the different visual angles of two width of cloth synchronous acquisition at any time.Utilize laser parameter and this two width of cloth image, can obtain the three group three-dimensional coordinate informations of same structured light unique point with respect to sensing device through subsequent treatment.
Description of drawings
Fig. 1 is a laser structure light vision device synoptic diagram;
Fig. 2 is the V-type groove workpiece visual pattern that collects;
Fig. 3 is the one-sided sloping workpiece visual pattern that collects.
Embodiment
As shown in Figure 1, video camera 1 is installed on the support 4 after installing filter lens 3 additional, and its optical axis center line 5 is parallel with the bottom surface of support 4; Video camera 7 is installed in support 6 after installing filter lens 8 additional, and its optical axis center line 9 is parallel with the bottom surface of support 6.Support 4 and 6 bottom surface are installed on the support 2, and can adjust direction.The angle of video camera 1 and 7 optical axis center line can be adjusted as required.Laser instrument 11 peaceful protruding cylindrical mirrors 12 are installed on the support 13, and the laser that laser instrument sends is parallel with the bottom surface of support 13.Support 13 is installed on the support 10, and support 10 is installed on the support 2, is in the middle of support 4 and 6.Optical axis center line 5 and 9 14 one-tenth 30 ° ~ 60 ° angles in plane and lasing area that form are 45 in the present embodiment.Simultaneously, the on line of the intersection point of arbitrary plane and optical axis center line 5,9 is not parallel to this plane and lasing area 14 intersects the straight line that forms.Lasing area 14 shines workpiece 16 and forms laser stripe 15.Video camera 1 and 7 is synchronous acquisition striped 15 at any time, thereby the visual pattern under the different visual angles of two width of cloth synchronous acquisition is provided at any time.
In the present embodiment, two video cameras all adopt WATEC505 black and white industrial camera, and laser instrument adopts semiconductor laser, and the master of filter lens sees through optical wavelength 670nm, and the plano-convex cylindrical mirror adopts GCL-11.During experiment, image pick-up card adopts MC-30, and computing machine adopts industrial control computer ADVANTECH-610.Test the structure light vision image of the one-sided sloping workpiece that the structure light vision image of the V-type groove workpiece that Fig. 2 collects at synchronization for video camera 1 and 7, Fig. 3 collect at synchronization for video camera 1 and 7 at typical V-type groove and one-sided sloping workpiece.As seen, the present invention can obtain high-quality laser structure light visual pattern.
Claims (9)
1. laser structure light vision device comprises:
Video camera is used for image acquisition;
Laser instrument produces the laser structure optical plane,
It is characterized in that described video camera is two, the plane that the laser structure plane that described laser instrument produces and the optical axis of two video cameras form is 30 ° of-60 ° of angles.
2. device as claimed in claim 1 is characterized in that arbitrary plane is not parallel to this plane and the crossing straight line that forms of lasing area in the on line of the intersection point of optical axis center line.
3. device as claimed in claim 1 is characterized in that the angle of the optical axis center line of two video cameras can be adjusted.
4. device as claimed in claim 1 is characterized in that the optical axis center line of described video camera is parallel with the bottom surface of the support that video camera is installed.
5. device as claimed in claim 1 is characterized in that the laser that described laser instrument sends is parallel with the bottom surface of the support that laser instrument is installed.
6. device as claimed in claim 1 is characterized in that described laser instrument adopts semiconductor laser, and it is 670nm that the master of filter lens sees through optical wavelength.
7. device as claimed in claim 1 is characterized in that the laser structure plane that described laser instrument produces and the plane of the optical axis formation of two video cameras are 45.
8. by the described device of claim 1, it is characterized in that described camera lens installs filter lens additional.
9. by the described device of claim 1, it is characterized in that described laser instrument also comprises the plano-convex cylindrical mirror.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021583412A CN1511676A (en) | 2002-12-27 | 2002-12-27 | Laser structure light vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021583412A CN1511676A (en) | 2002-12-27 | 2002-12-27 | Laser structure light vision sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1511676A true CN1511676A (en) | 2004-07-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA021583412A Pending CN1511676A (en) | 2002-12-27 | 2002-12-27 | Laser structure light vision sensor |
Country Status (1)
| Country | Link |
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| CN (1) | CN1511676A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1782659B (en) * | 2004-12-02 | 2010-04-14 | 中国科学院自动化研究所 | Welding seam tracking sight sensor based on laser structure light |
| CN1955635B (en) * | 2005-10-24 | 2010-11-03 | 通用电气公司 | Method and apparatus for inspecting an object |
| CN101934418A (en) * | 2010-07-26 | 2011-01-05 | 清华大学 | Welding seam tracking and detecting equipment |
| CN101205662B (en) * | 2007-11-26 | 2011-04-20 | 天津工业大学 | Robot sewing system for three-dimensional composite material perform |
| CN102554694A (en) * | 2010-12-29 | 2012-07-11 | 大连科德数控有限公司 | Visualization debugging device for gantry machine tool |
| CN102699534A (en) * | 2012-06-26 | 2012-10-03 | 哈尔滨工业大学 | Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate |
| CN102788573A (en) * | 2012-08-07 | 2012-11-21 | 深圳供电局有限公司 | Acquisition device for line-structure photo-fixation projection image |
| CN106109015A (en) * | 2016-08-18 | 2016-11-16 | 秦春晖 | A kind of wear-type medical system and operational approach thereof |
| CN107063087A (en) * | 2017-03-13 | 2017-08-18 | 浙江优迈德智能装备有限公司 | It is a kind of based on hand-held teaching machine paint central point information measuring method |
| CN109916328A (en) * | 2017-12-13 | 2019-06-21 | 山东大学 | A kind of the V-shaped groove scaling board and method of double CCD laser measurements |
-
2002
- 2002-12-27 CN CNA021583412A patent/CN1511676A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1782659B (en) * | 2004-12-02 | 2010-04-14 | 中国科学院自动化研究所 | Welding seam tracking sight sensor based on laser structure light |
| CN1955635B (en) * | 2005-10-24 | 2010-11-03 | 通用电气公司 | Method and apparatus for inspecting an object |
| CN101205662B (en) * | 2007-11-26 | 2011-04-20 | 天津工业大学 | Robot sewing system for three-dimensional composite material perform |
| CN101934418A (en) * | 2010-07-26 | 2011-01-05 | 清华大学 | Welding seam tracking and detecting equipment |
| CN101934418B (en) * | 2010-07-26 | 2012-11-14 | 清华大学 | Welding seam tracking and detecting equipment |
| CN102554694A (en) * | 2010-12-29 | 2012-07-11 | 大连科德数控有限公司 | Visualization debugging device for gantry machine tool |
| CN102554694B (en) * | 2010-12-29 | 2015-01-21 | 大连科德数控有限公司 | Visualization debugging device for gantry machine tool |
| CN102699534B (en) * | 2012-06-26 | 2014-10-15 | 哈尔滨工业大学 | Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate |
| CN102699534A (en) * | 2012-06-26 | 2012-10-03 | 哈尔滨工业大学 | Scanning type laser vision sensing-based narrow-gap deep-groove automatic laser multilayer welding method for thick plate |
| CN102788573B (en) * | 2012-08-07 | 2014-07-30 | 深圳供电局有限公司 | Acquisition device for line-structure photo-fixation projection image |
| CN102788573A (en) * | 2012-08-07 | 2012-11-21 | 深圳供电局有限公司 | Acquisition device for line-structure photo-fixation projection image |
| CN106109015A (en) * | 2016-08-18 | 2016-11-16 | 秦春晖 | A kind of wear-type medical system and operational approach thereof |
| CN107063087A (en) * | 2017-03-13 | 2017-08-18 | 浙江优迈德智能装备有限公司 | It is a kind of based on hand-held teaching machine paint central point information measuring method |
| CN107063087B (en) * | 2017-03-13 | 2019-04-30 | 浙江优迈德智能装备有限公司 | It is a kind of based on hand-held teaching machine paint central point information measurement method |
| CN109916328A (en) * | 2017-12-13 | 2019-06-21 | 山东大学 | A kind of the V-shaped groove scaling board and method of double CCD laser measurements |
| CN109916328B (en) * | 2017-12-13 | 2020-10-02 | 山东大学 | V-shaped groove calibration plate and method for double-CCD laser measurement |
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