CN206989903U - A kind of laser vision sensor - Google Patents
A kind of laser vision sensor Download PDFInfo
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- CN206989903U CN206989903U CN201720450581.8U CN201720450581U CN206989903U CN 206989903 U CN206989903 U CN 206989903U CN 201720450581 U CN201720450581 U CN 201720450581U CN 206989903 U CN206989903 U CN 206989903U
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- 238000003384 imaging method Methods 0.000 claims description 11
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- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
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Abstract
A kind of laser vision sensor, including mounting bracket are the utility model is related to, one end of mounting bracket is provided with image acquiring sensor, and the other end of mounting bracket is provided with least one generating laser.Laser vision sensor of the present utility model, based on principle of triangulation, workpiece surface is irradiated using multiple laser, strengthens the exposure intensity of hot spot, so as to improve the reliability of visual information, enhance the anti-strong light interference performance of laser vision sensor.
Description
Technical field
It the utility model is related to a kind of laser measuring device for measuring, more particularly to a kind of laser vision sensor.
Background technology
As shown in Figure of description 1, the existing laser vision sensor based on workpiece surface appearance feature is more using sharp
Optical transmitting set projects the mode of a smooth surface, and one of light line is formed in workpiece surface, is then somebody's turn to do again with camera acquisition, analysis
Light line.Its shortcoming is that the energy of laser is relatively scattered, and the intensity of signal is relatively weak, in the case where there is strong ambient light interference
It is difficult to be applicable.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, to found a kind of laser of new structure
Vision sensor.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is to provide a kind of laser video for resisting strong light interference performance strong
Feel sensor.
Laser vision sensor of the present utility model, including mounting bracket, one end of the mounting bracket are provided with IMAQ
Sensor, the other end of mounting bracket are provided with least one generating laser for producing multiple laser beams.
Further, laser vision sensor of the present utility model, the main shaft of the multiple laser beam are generally aligned in the same plane
It is interior and be parallel to each other.
Further, laser vision sensor of the present utility model,：The main shaft of the multiple laser beam is generally aligned in the same plane
It is interior and in diverging set.
Further, laser vision sensor of the present utility model, the main shaft of the multiple laser beam are generally aligned in the same plane
It is interior and in convergence set.
Further, laser vision sensor of the present utility model, the master of the imaging system of described image collection sensor
Optical axis is in 20 degree of angles with plane where laser beam.
Further, laser vision sensor of the present utility model, the master of the imaging system of described image collection sensor
In optical axis and each laser beam main shaft are generally aligned in the same plane, and the primary optical axis of the imaging system of image acquiring sensor and each laser
The main shaft of beam is inclined to set.
Further, laser vision sensor of the present utility model, described image collection sensor is to be gathered with single file
The linear array images collection sensor of unit or the image acquiring sensor with three row collecting units.
Further, laser vision sensor of the present utility model, in addition to the reflective mirror of minute angle vibration can be achieved,
The laser beam is projected on measured workpiece by the reflective mirror.
Further, laser vision sensor of the present utility model, number and the generating laser of the reflective mirror are sent
Laser beam number it is identical, and reflective mirror and laser beam correspond.
Further, laser vision sensor of the present utility model, connecting plate, the laser are provided with the mounting bracket
Transmitter is arranged on the connecting plate, the connecting plate be fixed on can minute angle vibration gyroaxis on.
Further, laser vision sensor of the present utility model, laser beam are the light sent by least one laser
Beam, further by beam splitting and caused multiple light beams.
Further, laser vision sensor of the present utility model, beam splitting are realized using diffraction optical device.
Further, laser vision sensor of the present utility model, laser beam realize beam splitting by spatial light modulator, and
Scan laser beam deflection.
Further, laser vision sensor of the present utility model, the spatial light modulator are liquid crystal spatial light modulation
Device.
Further, laser vision sensor of the present utility model, the LCD space light modulator are reflection type liquid crystal
Spatial light modulator.
Further, laser vision sensor of the present utility model, the LCD space light modulator are transmission liquid crystal
Spatial light modulator.
By such scheme, the utility model at least has advantages below：Laser vision sensor of the present utility model, its
What generating laser was sent is laser beam.If each laser beam is all arranged in approximately the same plane, conventional laser just instead of
Lasing area in vision sensor, it is different only in that by a series of luminous points or light that are aligned on cross section of illuminated with laser light
Spot.Because there is provided multiple generating lasers, its luminous intensity is brighter, therefore resists strong light interference performance stronger.Laser beam in theory
Other arrangement modes can be used according to task, and be not necessarily intended in approximately the same plane, the mathematics being only arranged such that
Model is simple, is easy to solve facula position.In summary, laser vision sensor of the present utility model is former based on triangulation
Reason, workpiece surface is irradiated using multiple laser, strengthens the exposure intensity of hot spot, so as to improve the reliability of visual information, enhancing
Resist strong light interference performance.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below
Describe in detail bright as after.
Brief description of the drawings
Fig. 1 is the structural representation of existing laser vision sensor；
Fig. 2 is the structural representation of the laser vision sensor of embodiment one；
Fig. 3 is the structural representation of another laser vision sensor of embodiment one；
Fig. 4 is the structural representation of another laser vision sensor of embodiment one；
Fig. 5 is the structural representation of the laser vision sensor of embodiment two；
Fig. 6 is that (mounting bracket, image acquiring sensor do not show for the structural representation of the laser vision sensor of embodiment three
Go out)；
Fig. 7 is Fig. 6 three-dimensional structure diagram；
Fig. 8 is the structural representation of the laser vision sensor of example IV.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
Embodiment one：
As shown in Fig. 2 the laser vision sensor of the present embodiment, what its generating laser 1 was sent is laser beam.It is if each
Individual laser beam is all arranged in approximately the same plane, just instead of the lasing area in conventional laser vision sensor, and its difference only exists
In by a series of luminous points or hot spot that are aligned on cross section of illuminated with laser light, rather than the light of continuous shape of cross section
Line.Certainly laser beam can use other arrangement modes according to task in theory, and be not necessarily intended in approximately the same plane,
The mathematical modeling being only arranged such that is simple, is easy to solve facula position.These generating lasers 1 and image acquiring sensor 2
Coordinate, form laser vision system, obtain with the position for putting the profile of workpiece 4 to describe and depth information.
These laser beams can be arranged abreast, can also divergently be arranged in sector as Fig. 3, to reduce laser
The volume of transmitter array.Can also be intensive to improve the laser spot of detection zone as Fig. 4 in the arrangement of fan-shaped convergence ground
Degree.
Especially, if making plane where laser beam be more convenient to calculate the vertical direction of workpiece perpendicular to workpiece surface
Depth information.Similarly, if making the primary optical axis of the imaging system of image acquiring sensor to be obtained perpendicular to workpiece surface
Obtain the simplification on model necessarily.But arrange anyway, it must typically make the key light of the imaging system of image acquiring sensor
Axle and plane where laser beam are at an angle, to utilize principle of triangulation.According to experiment and theoretical research, the angle
About it is preferred at 20 ° or so.
Embodiment two：
Distinguishingly, the primary optical axis of the imaging system of image acquiring sensor and co-planar where laser beam can also be made,
But the primary optical axis of imaging system and each bar laser beam are inclined, and hot spot caused by laser beam irradiation workpiece can be
It is imaged on the photosurface of image acquiring sensor, as shown in Figure 5.The characteristics of sensor of this spline structure is：All hot spots exist
It is imaged on straight line, therefore image acquiring sensor can use linear array device (only 1 row photosensitive array), information processing speed
Degree is fast.
If the physical location of laser beam, direction and design point have larger error, hot spot imaging will fall on line
Outside the photosensitive unit of battle array image acquiring sensor.Can also being used for this, there are some a small number of row photosensitive units (such as to have 3 rows
Photosensitive array) image acquiring sensor, facilitate use.At this moment it can use and detect photosensitive unit corresponding to this several row
To intensity signal weighted average the methods of anticipate, follow-up processing unit is then by the output of the image acquiring sensor
Treated as a linear array images collection sensor.
Especially, by control circuit, or machinery such as blocks at the measure, laser beam is regularly lighted or is ceased and goes out, even
Their alternately light on and off successively can be made, that is, synchronization only has a laser beam and lighted.Due to the position of each laser beam
Put with direction, it is known that solution of these rules for facula position, derivation algorithm can be simplified, improve information processing rate.
In the case of using face battle array image acquiring sensor, the position constraint condition of hot spot is also additionally provided, has been favorably improved solution
Calculate precision.
Embodiment three：
Reflective mirror 3 can be increased in the way of projection laser beam, realize and fold light path, reduce overall dimensions.
Especially, use can make the reflective mirror of minute angle vibration, the deflection of laser beam when gathering image information
Angle is also monitored, so that it may so that laser beam can scan between each hot spot, reaches hot spot and the complete of detection section is covered
Lid.As shown in Figure 6, Figure 7, the reflective mirror 3 that one side does minute angle vibration is employed, it is corresponding between the side-to-side vibrations limit
Hot spot can with whole line segments of inswept two neighboring hot spot, as long as that is, the scanning displacement of hot spot be more than two neighboring hot spot
Between ultimate range.The quantity of laser beam thus can be reduced and can equally obtain intensive test point hot spot.
The situation of above-mentioned adapted single vibration reflective mirror is more suited to the situation of laser beam parallel arrangement.If each
Laser beam configuration one makees the reflective mirror of minute angle vibration, then for the laser beam array of other forms configuration, such as schemes
3rd, situation shown in Fig. 4, all standing to detecting section can also be realized well.
Example IV：
If all laser beams are uniformly fixed on a gyroaxis, and the gyroaxis in itself shake by minute angle
It is dynamic, as shown in figure 8, then the above-mentioned all standing to detecting section can be achieved in the laser beam of various arrangement modes.
It the above is only preferred embodiment of the present utility model, be not limited to the utility model, it is noted that for
For those skilled in the art, on the premise of the utility model technical principle is not departed from, if can also make
Dry improvement and modification, these improvement and modification also should be regarded as the scope of protection of the utility model.
Claims (14)
1. a kind of laser vision sensor, including mounting bracket, it is characterised in that：One end of the mounting bracket is provided with IMAQ
Sensor, the other end of mounting bracket is provided with least one generating laser for producing multiple laser beams, in addition to can be achieved micro-
The reflective mirror of low-angle vibration, the laser beam are projected on measured workpiece by the reflective mirror, the number of the reflective mirror
It is identical with the number for the laser beam that generating laser is sent, and reflective mirror corresponds with laser beam.
2. laser vision sensor according to claim 1, it is characterised in that：The main shaft of the multiple laser beam is positioned at same
In one plane and it is parallel to each other.
3. laser vision sensor according to claim 1, it is characterised in that：The main shaft of the multiple laser beam is positioned at same
Set in one plane and in diverging.
4. laser vision sensor according to claim 1, it is characterised in that：The main shaft of the multiple laser beam is positioned at same
Set in one plane and in convergence.
5. according to the laser vision sensor any one of claim 2-4, it is characterised in that：Described image collection sensing
The primary optical axis of the imaging system of device is in 20 degree of angles with plane where laser beam.
6. laser vision sensor according to claim 1, it is characterised in that：Described image gathers the imaging system of sensor
In the primary optical axis of system and each laser beam main shaft are generally aligned in the same plane, and the primary optical axis of the imaging system of image acquiring sensor with
The main shaft of each laser beam is inclined to set.
7. laser vision sensor according to claim 6, it is characterised in that：Described image collection sensor is with list
The linear array images collection sensor of row collecting unit or the image acquiring sensor with three row collecting units.
8. laser vision sensor according to claim 1, it is characterised in that：Connecting plate is provided with the mounting bracket,
The generating laser is arranged on the connecting plate, the connecting plate be fixed on can minute angle vibration gyroaxis on.
9. laser vision sensor according to claim 1, it is characterised in that：Laser beam is sent out by least one laser
The light beam gone out, further by beam splitting and caused multiple light beams.
10. laser vision sensor according to claim 9, it is characterised in that：Beam splitting is real using diffraction optical device
Existing.
11. laser vision sensor according to claim 1, it is characterised in that：Laser beam is real by spatial light modulator
Existing beam splitting, and scan laser beam deflection.
12. laser vision sensor according to claim 11, it is characterised in that：The spatial light modulator is that liquid crystal is empty
Between optical modulator.
13. laser vision sensor according to claim 12, it is characterised in that：The LCD space light modulator is anti-
Penetrate formula LCD space light modulator.
14. laser vision sensor according to claim 13, it is characterised in that：The LCD space light modulator is
Penetrate formula LCD space light modulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720450581.8U CN206989903U (en) | 2017-04-26 | 2017-04-26 | A kind of laser vision sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720450581.8U CN206989903U (en) | 2017-04-26 | 2017-04-26 | A kind of laser vision sensor |
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| Publication Number | Publication Date |
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| CN206989903U true CN206989903U (en) | 2018-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720450581.8U Expired - Fee Related CN206989903U (en) | 2017-04-26 | 2017-04-26 | A kind of laser vision sensor |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106949854A (en) * | 2017-04-26 | 2017-07-14 | 苏州睿牛机器人技术有限公司 | A kind of laser vision sensor and its detection method |
| CN112179292A (en) * | 2020-11-20 | 2021-01-05 | 苏州睿牛机器人技术有限公司 | Projector-based line structured light vision sensor calibration method |
-
2017
- 2017-04-26 CN CN201720450581.8U patent/CN206989903U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106949854A (en) * | 2017-04-26 | 2017-07-14 | 苏州睿牛机器人技术有限公司 | A kind of laser vision sensor and its detection method |
| CN112179292A (en) * | 2020-11-20 | 2021-01-05 | 苏州睿牛机器人技术有限公司 | Projector-based line structured light vision sensor calibration method |
| CN112179292B (en) * | 2020-11-20 | 2022-07-08 | 苏州睿牛机器人技术有限公司 | Projector-based line structured light vision sensor calibration method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lv Weixin Inventor after: Guo Zhenjie Inventor after: Song Runda Inventor after: Zhang Xiangfeng Inventor after: Wang Lei Inventor before: Zhang Xiangfeng |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 |