CN206724906U - A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light - Google Patents
A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light Download PDFInfo
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- CN206724906U CN206724906U CN201720507768.7U CN201720507768U CN206724906U CN 206724906 U CN206724906 U CN 206724906U CN 201720507768 U CN201720507768 U CN 201720507768U CN 206724906 U CN206724906 U CN 206724906U
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- dimensional pattern
- structured light
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- 238000009987 spinning Methods 0.000 title claims abstract description 21
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- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 9
- 230000009977 dual effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 210000004209 hair Anatomy 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 238000013500 data storage Methods 0.000 claims description 4
- 238000012876 topography Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
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- 230000005611 electricity Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 4
- 238000000691 measurement method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
For the problem of laser scanning speed in the prior art is slow, precision is not high, the utility model provides a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light, including laser scanning device and the light for being sent to laser scanning device carry out the focus adjustment mechanism of vertical direction regulation；Described laser scanning device includes rotary laser generator and the laser pickoff for receiving reflected light, and described rotary laser generator can send cross line laser and be rotated around itself optical axis, so as to be scanned to surrounding three-dimensional pattern.The utility model is by cross line laser around itself optical axis rotation sweep, determinand is divided into four-quadrant, only need for the cross line source of incidence to be rotated by 90 ° the cloud data for being obtained with scanned object whole surface pattern, realize that the three-dimensional appearance of measured object perceives.
Description
Technical field
The utility model belongs to optical scanner and sensor device field, and in particular to a kind of spinning cross line laser structured light
Surrounding three-dimensional pattern sensing device.
Background technology
The measurement of row distance is entered in traditional laser scanning mapping using time difference method or trigonometry, and over-borrowing helps linear structural laser
Three-dimensional measurement is realized along horizontal or vertical direction scanning, is restricted by scanning accuracy and speed, it is difficult to realizes quick measurement.
Be triangle measurement method principle such as Fig. 1, the light that Laser emission end A is sent be irradiated to after collimated is assembled by
The measured point B of subject surface is surveyed, measured point B reflected lights are after the convergence of receiving terminal lens in the photoelectric sensor at laser pick-off end
（CCD the device such as CMOS）Upper formation hot spot.World coordinate system is parallel with photo coordinate system reference axis, the origin of the two and connects
The focus coaxial line of lens is received, hot spot picpointed coordinate is E on sensor（U, v）, the laser pick-off end focal length of lens is f, laser
Transmitting terminal A and laser pick-off end central point C spacing are P, and it is D to be measured point to measuring system vertical range, and its horizontal plane projects
For D ', the distance of measured point to transmitting terminal and receiving terminal central point is d, and laser beam axis is with x-axis angle on level reference.According to Similar Principle of Triangle and triangle geometry size relationship, point on measured surface can be calculated and arrive measuring system
Distance D and the distance d to pivot.The image plane point coordinates used in calculating, can be single by the sensitivity of sensor
Elemental size and pixel coordinate calculate, and need to consider as the offset of coordinate origin position.
Wherein,；；。
It is traditional laser rotary scanning three-dimension measuring system such as Fig. 2, by measuring on laser rays each point to measuring system
Distance, obtain cloud data on the horizontal or vertical line of measured surface, rotated by system around rotary shaft F, drive laser rays edge
Horizontal sweep, realizes the scanning imagery in angular field of view.The speed so scanned is limited by rotary speed and processing speed
System, it is difficult to quickly mapping is realized, while anglec of rotation resolution ratio influences whether to measure the interval of light, limitation three-dimensional appearance is surveyed
The resolution ratio painted.
It can be seen from Fig. 1 ~ 2, laser scanning is to carry out laser ranging acquisition measured surface using triangle measurement method principle to hang down
Cloud data on straight or horizontal line, but laser rotary scanning measuring system is difficult to quickly survey and draw, at the same resolution ratio compared with
It is low.
Utility model content
For the problem of laser scanning speed in the prior art is slow, precision is not high, the utility model provides a kind of spinning
The surrounding three-dimensional pattern sensing device of cross line laser structured light, its is simple in construction, measuring speed is fast.
A kind of surrounding three-dimensional pattern sensing device of described spinning cross line laser structured light, including laser scanning device
The focus adjustment mechanism of vertical direction regulation is carried out with the light for being sent to laser scanning device；Described laser scanning dress
Put including rotary laser generator and the laser pickoff for receiving reflected light, its technical scheme are：Described rotary laser
Generator can send cross line laser and be rotated around itself optical axis, so as to be scanned to surrounding three-dimensional pattern.
Further, described rotary laser generator is made up of rotating mechanism and laser generating mechanism, wherein, it is described
Rotating mechanism includes control board, electric rotating machine and ring flange；Described control board electrically connects and controls electric rotating machine
Positive/negative turn；The output shaft of electric rotating machine is connected with ring flange；
Wherein, laser generating mechanism includes cross laser line generator and laser mounting cylinder；Described cross line laser
Generator is coaxially fixed in laser mounting cylinder, and the cylinder bottom of laser mounting cylinder is bolted ring flange.
Further, the wire casing for being fixedly connected with line is provided with described laser mounting cylinder.
Further, described focus adjustment mechanism includes L-shaped fixed support plate, adjustment motor and firm banking；Wherein,
Horizontal panel in L-shaped fixed support plate is detachably fixed with laser scanning device to be connected；Vertical-horizontal in L-shaped fixed support plate
The side panel in face is fixedly attached to the output end of adjustment motor by rosette；Motor electrical connection control board is adjusted, and
Two lugs are provided with the adjustment motor housing；Described lug is fixedly connected with firm banking.
Further, through hole II that through hole I is set with laser scanning device bottom is provided with described horizontal panel
Match somebody with somebody, and be fastened by bolts structure connection；Through hole III is set on described lug；The edge of horizontal panel in firm banking
Connecting plate is vertically installed with, through hole IV is provided with connecting plate and is matched with through hole III, is fastened by bolts structure connection.
Further, described control board includes DSP Processor module and is connected use with DSP Processor module respectively
Communication module in communication, the SD storage cards for data storage, for power supply power supply peripheral hardware, for driving electric rotating machine
Electric rotating machine drive module, the adjustment for driving the laser of cross laser line generator to drive, for driving adjustment motor
Motor drive module and dual port RAM module；Wherein, described dual port RAM module connection FPGA image capture modules, FPGA figures
The data obtained as acquisition module collection laser pickoff.
Preferably, described laser pickoff is high speed acquisition digital type image sensor.
Further, for the multiple described spins for the surrounding three-dimensional topography scan device for establishing 360 degree of measurement visual angles
Turn the equiangularly spaced ring-type of cross hairs laser scanning device to set, and each spinning cross hairs laser scanning device is electrically connected
Connect/be wirelessly connected to the view data for being sent received from rotary cross line laser structured light device and carry out the master of image mosaic
Processing module.
The beneficial effects of the utility model are：The utility model using cross line laser as measurement light source, using CCD or
The electro-optical imaging sensors such as CMOS part realizes laser ranging work(as laser signal reception device using triangle measurement method principle
Can, it is distance of each point to LASER Light Source by each point calculating coordinate on laser rays, is revolved by cross line laser around itself optical axis
Turn scanning, determinand is divided into four-quadrant, it is only necessary to which the cross line source of incidence is rotated by 90 ° to be obtained with scanned object whole
The cloud data of individual surface topography, realize that the three-dimensional appearance of measured object perceives.The equipment have it is simple in construction, using flexibly, into
The features such as this is low, speed is fast, available for robot, unmanned plane, the environment sensing of automatic driving vehicle and measurement.
Brief description of the drawings
Fig. 1 is laser distance measuring principle schematic diagram.
Fig. 2 is conventional laser scanners principle schematic.
Fig. 3 is the utility model structure diagram.
Fig. 4 is rotary laser generator principle schematic.
Fig. 5 is rotary laser generator architecture schematic diagram.
Fig. 6 is multiple the utility model connection diagrams.
Fig. 7 is that control board forms structural representation.
Wherein, 1. rotary laser generator；2. laser pickoff；3. focus adjustment mechanism；4. main processing block.
101. rotating mechanism；101A. control board；101B. electric rotating machine；101C. ring flange；102. laser
Generating mechanism；102A. cross laser line generators；102B. laser mounting cylinders；102C. wire casing；301. L-shaped fixed supports
Plate；301A. horizontal panel；301B. side panel；302. adjustment motors；302A. rosette；302B. lug；303.
Firm banking.
Embodiment
The utility model is further detailed below in conjunction with the accompanying drawings.
Such as Fig. 3, a kind of surrounding three-dimensional pattern sensing device of described spinning cross line laser structured light, including laser are swept
Imaging apparatus and the light for being sent to laser scanning device carry out the focus adjustment mechanism 3 of vertical direction regulation；Described swashs
Light scanning apparatus includes rotary laser generator 1 and the laser pickoff 2 for receiving reflected light, its technical scheme：It is described
Rotary laser generator 1 can send cross line laser and be rotated around itself optical axis, so as to being swept to surrounding three-dimensional pattern
Retouch.
Further, such as Fig. 4, described rotary laser generator 1 is by 102 groups of rotating mechanism 101 and laser generating mechanism
Into, wherein, described rotating mechanism 101 includes control board 101A, electric rotating machine 101B and ring flange 101C；Described control
Circuit board 101A processed is electrically connected and is controlled positive/negative turn of electric rotating machine 101B；Electric rotating machine 101B output shaft is connected with ring flange
101C；
Wherein, laser generating mechanism 102 includes cross laser line generator 102A and laser mounting cylinder 102B；Described
Cross laser line generator 102A is coaxially fixed in laser mounting cylinder 102B, and laser mounting cylinder 102B cylinder bottom passes through spiral shell
Bolt mounting flange 101C.
Further, the wire casing 102C for being fixedly connected with line is provided with described laser mounting cylinder 102B.
Further, as Fig. 5, described focus adjustment mechanism 3 include L-shaped fixed support plate 301, adjustment motor 302 and
Firm banking 303；Wherein, the horizontal panel 301A in L-shaped fixed support plate 301 is detachably fixed company with laser scanning device
Connect；The side panel 301B of vertical level is fixedly attached to adjustment motor by rosette 302A in L-shaped fixed support plate 301
302 output end；Adjust motor 302 and electrically connect control board 101A, and be provided with two on the shell of adjustment motor 302 and connect
Ear 302B；Described lug 302B is fixedly connected with firm banking 303.
Preferably, the through hole II that through hole I is set with laser scanning device bottom is provided with described horizontal panel 301A
Matching, and it is fastened by bolts structure connection；Through hole III is set on described lug 302B；Horizontal plane in firm banking 303
Plate 303A edge is vertically installed with connecting plate 303B, and through hole IV is provided with connecting plate 303B and is matched with through hole III, passes through spiral shell
Bolt fastening structure connects.
Further, such as Fig. 7, described control board 101A include DSP Processor module and respectively with DSP Processor
Module be connected to communication communication module, the SD storage cards for data storage, the power supply peripheral hardware for power supply, for driving
The electric rotating machine drive module of electric rotating machine, for driving the laser of cross laser line generator to drive, for drive adjust
The adjustment motor drive module and dual port RAM module of motor 302；Wherein, described dual port RAM module connection FPGA IMAQs
Module, the data that FPGA image capture modules collection laser pickoff 2 obtains.
Preferably, described laser pickoff 2 is high speed acquisition digital type image sensor.
It should be clear that：Control board 101A is included at DSP Processor module and FPGA image capture modules two
Manage core, FPGA image capture modules be used for high speed acquisition digital type image sensor configuration setting, control communication module with
And the transmission process of collection view data, image acquisition data are cached using dual port RAM module.DSP Processor module be used for from
Dual port RAM module obtains the view data of caching, enters the resolving of row distance.Also the laser with laser output control drives simultaneously
Dynamic, electric rotating machine drive module control laser rotation, the adjustment motor of cross groove laser beam position of intersecting point adjustment control drive
Dynamic model block, the SD storage cards of data storage store the functions such as control.
Further, such as Fig. 6, for establish 360 degree of measurement visual angles surrounding three-dimensional topography scan device it is multiple described
The equiangularly spaced ring-type of spinning cross hairs laser scanning device set, and by each spinning cross hairs laser scanning device
Electrically connect/be wirelessly connected to the view data for being sent received from rotary cross line laser structured light device and carry out image spelling
The main processing block 4 connect.
Tested surface is divided into 4 quadrants by the utility model using cross hairs laser wire harness, using cross line laser around light
Axle carries out spinning scanning, it is only necessary to which laser generating mechanism 102 is rotated by 90 °, it is possible to measured object face cloud data is obtained, it is real
Now it is tested the quick measurement of three-dimensional appearance in angular field of view.The utility model device can also connect by the communication of processing system
Mouthful, multiple measuring apparatus form various visual angles scanning system, by image mosaic technology, obtain 360 degree of surrounding three-dimensional topographical informations.
The foregoing is only the preferred embodiment of utility model and oneself, it is all in this reality not to limit the utility model
With all any modification, equivalent and improvement made within new spirit and principle etc., should be included in of the present utility model
Within protection domain.
Claims (8)
1. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light, including laser scanning device and for pair
The light that laser scanning device is sent carries out the focus adjustment mechanism of vertical direction regulation（3）；Described laser scanning device bag
Include rotary laser generator（1）With the laser pickoff for receiving reflected light（2）, it is characterized in that：Described rotary laser hair
Raw device（1）Cross line laser can be sent and rotated around itself optical axis, so as to be scanned to surrounding three-dimensional pattern.
2. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 1, it is special
Sign is：Described rotary laser generator（1）By rotating mechanism（101）With laser generating mechanism（102）Composition, wherein, it is described
Rotating mechanism（101）Including control board（101A）, electric rotating machine（101B）And ring flange（101C）；Described control electricity
Road plate（101A）Electrically connect and control electric rotating machine（101B）Positive/negative turn；Electric rotating machine（101B）Output shaft be connected with flange
Disk（101C）；
Wherein, laser generating mechanism（102）Including cross laser line generator（102A）With laser mounting cylinder（102B）；It is described
Cross laser line generator（102A）Coaxially it is fixed on laser mounting cylinder（102B）It is interior, laser mounting cylinder（102B）Cylinder
Bottom is bolted ring flange（101C）.
3. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 2, it is special
Sign is：Described laser mounting cylinder（102B）On be provided with neck for being fixedly connected with line（102C）.
4. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 1, it is special
Sign is：Described focus adjustment mechanism（3）Including L-shaped fixed support plate（301）, adjustment motor（302）And firm banking
（303）；Wherein, L-shaped fixed support plate（301）In horizontal panel（301A）It is detachably fixed and is connected with laser scanning device；L
Shape fixed support plate（301）The side panel of middle vertical level（301B）Pass through rosette（302A）It is fixedly attached to adjustment electricity
Machine（302）Output end；Adjust motor（302）Electrically connect control board（101A）, and the adjustment motor（302）Set on shell
It is equipped with two lugs（302B）；Described lug（302B）With firm banking（303）It is fixedly connected.
5. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 4, it is special
Sign is：Described horizontal panel（301A）On be provided with through hole I and matched with the through hole II that laser scanning device bottom is set, and lead to
Cross bolt fastening structure connection；Described lug（302B）Upper setting through hole III；Firm banking（303）In horizontal panel
（303A）Edge be vertically installed with connecting plate（303B）, connecting plate（303B）On be provided with through hole IV and matched with through hole III, lead to
Cross bolt fastening structure connection.
6. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 2, it is special
Sign is：Described control board（101A）It is connected to communicate with DSP Processor module including DSP Processor module and respectively
Communication module, the SD storage cards for data storage, the power supply peripheral hardware for power supply, for driving electric rotating machine（101B）'s
Electric rotating machine drive module, for driving the laser of cross laser line generator to drive, for drive adjust motor（302）'s
Adjust motor drive module and dual port RAM module；Wherein, described dual port RAM module connection FPGA image capture modules, should
FPGA image capture modules gather laser pickoff（2）The data of acquisition.
7. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 1, it is special
Sign is：Described laser pickoff（2）For high speed acquisition digital type image sensor（1019）.
8. a kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light according to claim 1, it is special
Sign is：For the multiple described spinning cross line lasers for the surrounding three-dimensional topography scan device for establishing 360 degree of measurement visual angles
The equiangularly spaced ring-type of scanning means is set, and each spinning cross hairs laser scanning device is electrically connected into/wireless connection
To the view data for being used to send received from rotary cross line laser structured light device and carry out the main processing block of image mosaic
（4）.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720507768.7U CN206724906U (en) | 2017-05-09 | 2017-05-09 | A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720507768.7U CN206724906U (en) | 2017-05-09 | 2017-05-09 | A kind of surrounding three-dimensional pattern sensing device of spinning cross line laser structured light |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110906855A (en) * | 2019-12-04 | 2020-03-24 | 苏州精濑光电有限公司 | Probe rotating pressing mechanism |
| CN111998837A (en) * | 2020-07-27 | 2020-11-27 | 广州铭拓光电科技有限公司 | Multipurpose laser collimator |
| CN113405521A (en) * | 2021-05-27 | 2021-09-17 | 上海思岚科技有限公司 | Laser scanning range finder with variable line outgoing direction |
| CN113534183A (en) * | 2021-07-01 | 2021-10-22 | 浙江大学 | Underwater three-dimensional scanning device based on cross line scanning |
-
2017
- 2017-05-09 CN CN201720507768.7U patent/CN206724906U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110906855A (en) * | 2019-12-04 | 2020-03-24 | 苏州精濑光电有限公司 | Probe rotating pressing mechanism |
| CN111998837A (en) * | 2020-07-27 | 2020-11-27 | 广州铭拓光电科技有限公司 | Multipurpose laser collimator |
| CN111998837B (en) * | 2020-07-27 | 2022-05-17 | 广州铭拓光电科技有限公司 | Multipurpose laser collimator |
| CN113405521A (en) * | 2021-05-27 | 2021-09-17 | 上海思岚科技有限公司 | Laser scanning range finder with variable line outgoing direction |
| CN113405521B (en) * | 2021-05-27 | 2024-04-30 | 上海思岚科技有限公司 | Laser scanning range finder with changeable wire outlet direction |
| CN113534183A (en) * | 2021-07-01 | 2021-10-22 | 浙江大学 | Underwater three-dimensional scanning device based on cross line scanning |
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Granted publication date: 20171208 |