CN208026225U - A kind of two visual angle 3D laser sensor of folded form - Google Patents
A kind of two visual angle 3D laser sensor of folded form Download PDFInfo
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- CN208026225U CN208026225U CN201820438163.1U CN201820438163U CN208026225U CN 208026225 U CN208026225 U CN 208026225U CN 201820438163 U CN201820438163 U CN 201820438163U CN 208026225 U CN208026225 U CN 208026225U
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Abstract
The utility model discloses a kind of two visual angle 3D laser sensors of folded form, it includes shell, laser line generator, ccd sensor, fixing bracket, laser reflection eyeglass, imaging mirror piece, laser line generator, ccd sensor, fixing bracket, laser reflection eyeglass, imaging mirror piece are respectively positioned on enclosure, and laser reflection eyeglass is each attached to imaging mirror piece on fixing bracket；Laser line generator and the ccd sensor left end side by side up and down being arranged inside the housing, laser reflection eyeglass are distributed right end inside the housing with imaging mirror piece.The 3D laser sensor, which is based on 1 ccd sensor and 1 laser, to carry out 3D measurements to former and later two orientation of target location respectively, disposably obtain the high-accuracy three-dimensional data in 2 directions, the reflected light path that imaging mirror piece is formed is folded with, imaging optical path is folded into horizontal direction from height, width direction, reduce equipment size, equipment cost is reduced, the stability of equipment is improved.
Description
Technical field
The utility model belongs to field of optical measuring technologies, more particularly to a kind of two visual angle 3D laser sensor of folded form.
Background technology
Three-dimensional laser scanning technique is the new technology occurred in recent years, increasingly causes the concern of research field at home.
It is the principle using laser ranging, by record the three-dimensional coordinate of a large amount of intensive point in object under test surface, reflectivity and
The information such as texture can quickly rebuild out the various graph data such as threedimensional model and line, face, body of measured target.Since three-dimensional swashs
Photo-scanning system densely can largely obtain the data point of target object, therefore relative to traditional spot measurement, and three-dimensional swashs
Optical scanning technology is also referred to as evolving to the revolutionary technological break-through of planar survey from spot measurement.The technology is protected in cultural relics and historic sites
Shield, building, planning, civil engineering, factory's transformation, indoor design, building monitoring, traffic accident treatment, legal argument collection, calamity
There has also been many trials, application and explorations in the fields such as evil assessment, Ship Design, digital city, military analysis.
And 3D laser sensor is then the product of three-dimensional laser scanning technique, 3D laser sensor can be obtained rapidly because of it
The 3 d shape information of body surface has universal application in intelligence manufacture, three-dimensional digital field.General 3D lasers
Sensor belongs to direct light type light path, that is, a laser, the direct projection light path of ccd sensor or a laser, 2 CCD is used to pass
The composed structure of sensor or 2 laser, 1 ccd sensor, such structure can only scan direction face.Based on laser
The principle of triangulation will have certain angle between ccd sensor and laser, therefore when measuring the object of convex-concave, just
There can be certain measurement dead angle, conventional method is that the multiple ccd sensors of combination are scanned, but such method is brought
Be equipment cost costliness, the larger disadvantage of entire installation space.
In the patent application that number of patent application is US2003212506A1, a kind of folding light path is disclosed, which adopts
The light of one laser is reflected on scanning object with speculum, is reflected again through another speculum after object reflects
It returns ccd sensor to have and block using this light path since there are convex-concaves for object, therefore patent proposition is further added by a laser
Device is reflected back ccd sensor after another direction direct irradiation by reflector.The patent is appropriate to reduce equipment
Volume reduces a CCD cost.But still 2 lasers is needed to irradiate from different directions, 2 lasers are respectively necessary for pacifying
Dress and calibration.
Invention content
To solve the above problems, the primary and foremost purpose of the utility model is to provide a kind of two visual angle 3D laser sensings of folded form
Device, the 3D laser sensor can form 2 different measurement visual angles based on 1 ccd sensor and 1 laser, quite
In 1 laser, the measurement effect of two ccd sensors can carry out 3D measurements to former and later two orientation of target location respectively,
Disposably obtain the high-accuracy three-dimensional data in 2 directions.The light path that a plurality of optical mirror slips are formed uses fold design,
Imaging optical path is folded into horizontal direction from height, width direction, in the case where ensureing scan depth, reduces equipment ruler
It is very little.The utility model effectively reduces equipment cost, while improving the stability of equipment.
Another of the utility model is designed to provide a kind of two visual angle 3D laser sensor of folded form, the 3D lasers
Sensor is easy to operate, highly practical, high certainty of measurement, is easy to be widely popularized.
To achieve the above object, the technical solution of the utility model is as follows：
The utility model provides a kind of two visual angle 3D laser sensor of folded form, which is located at object under test
Lower section comprising have shell, laser line generator, ccd sensor, fixing bracket, laser reflection eyeglass, imaging mirror piece, institute
It states laser line generator, ccd sensor, fixing bracket, laser reflection eyeglass, imaging mirror piece and is respectively positioned on the enclosure, institute
Laser reflection eyeglass is stated to be each attached on the fixing bracket with imaging mirror piece；On the laser line generator and ccd sensor
Under be arranged side by side the left end being arranged in the enclosure, the laser reflection eyeglass is distributed in described outer with imaging mirror piece
Right end inside shell；In the present invention, laser line generator and ccd sensor arrangement side by side up and down, laser line generator emit laser
It after line, is reflected by optical mirror slip, projects object under test surface, form a bright finishing tool；By object under test surface face
The modulation of shape, finishing tool can deform.
The laser line generator projects object under test surface as structured light light source, forms bright line laser finishing tool；Institute
Ccd sensor is stated for being imaged to laser；The laser reflection eyeglass for changing laser light incident light path direction, it is described
Imaging mirror piece is used to form reflected light path, and the reflected light path that the imaging mirror piece is formed is folded with, to will be at
As light path folds into horizontal direction from height, width direction.In the present invention, which is based on 1 CCD biography
Sensor and 1 laser can form 2 different measurement visual angles, be equivalent to 1 laser, the survey of two ccd sensors
Dose-effect fruit can carry out 3D measurements to former and later two orientation of target location respectively, disposably obtain the high-accuracy three-dimensional in 2 directions
Data avoid the interference between multiple lasers between multiple CCD, save into only with CCD and laser
This, improves stability.The reflected light path that the imaging mirror piece is formed is folded with, by imaging optical path from height, width
Direction folds into horizontal direction, in the case where ensureing scan depth, reduces equipment size, effectively reduce equipment at
This, while improving the stability of equipment.
Further, the 3D laser sensor further includes having CCD fixed plates, and the CCD fixed plates are fixed on described outer
Inside shell, the CCD fixed plates are fixedly connected with the ccd sensor, and the CCD fixed plates are arranged in parallel in the CCD
Below sensor.In the present invention, above structure setting makes the 3D laser sensor structure more stablize, easy to use.
Further, the fixing bracket offers the first groove, the second groove, third groove, the 4th groove, the 5th recessed
Slot, first groove slant is opened in the support bracket fastened top, and first groove is located at laser line generator hair
The right end of laser direction is penetrated, the position height of second groove is located at institute than low and described second groove of first groove
The right obliquely downward of the first groove is stated, the third groove is located at the right end of first groove and the second groove, and the third
Groove is opened in the support bracket fastened right end vertically, and the 4th groove slant is opened in the support bracket fastened bottom righthand side,
And the 4th groove is located at below the third groove, the 5th groove slant is opened in the support bracket fastened lower part,
And the 5th groove is located at the left end of the 4th groove.
Further, the laser reflection eyeglass is 2, and to be separately fixed at described first recessed for 2 laser reflection eyeglasses
In slot and the 5th groove, the imaging mirror piece is 3, and 3 imaging mirror pieces are separately fixed at described second
Groove, third groove, in the 4th groove.In the present invention, above structure setting keeps the 3D laser sensor more preferable
Realization formed light path folding type design, by imaging optical path from height, width direction fold into horizontal direction, ensure scan
In the case of the depth of field, equipment size is reduced, and without measurement dead angle, effectively reduce equipment cost, while improving and setting
Standby stability.
Further, the laser line generator launches a line laser, is reflected through the laser reflection eyeglass in the first groove
Afterwards, it is reflected into the surface of object under test again to the laser reflection eyeglass of the 5th groove, lateral light path is become one in this way
The light path of broken line.In the present embodiment, such design keeps light path of the laser mirror under equal volume longer, is conducive to shape
At the laser emitting surface of bigger, under aplanatism, then laser mirror volume smaller.
Further, the laser of laser line generator transmitting forms bright finishing tool in object under test, is then reflected in the
Imaging inside the imaging mirror piece of two grooves, then the reflection of the imaging mirror piece through third groove, finally enter ccd sensor
In be imaged.In the present invention, above-mentioned imaging optical path is the preceding visual angle light path of the 3D laser sensor；Imaging optical path is
The light path of one transverse direction is transformed into the light path of a broken line, it is ensured that the image forming job distance and scan depth of system, contracting
Short equipment volume.
Further, the laser of laser line generator transmitting forms bright finishing tool in object under test, is then reflected in the
Imaging inside the imaging mirror piece of four grooves, the imaging mirror piece reflection through the 4th groove, finally enters in ccd sensor
It is imaged.In the present invention, above-mentioned imaging optical path is the back angle light path of the 3D laser sensor；Imaging optical path be by
The light path of one transverse direction has been transformed into the light path of a broken line, it is ensured that the image forming job distance and scan depth of system shorten
Equipment volume.
Further, the ccd sensor is area array CCD, and the laser of the laser line generator transmitting passes through determinand body surface
After the reflection of face, laser image is formed into ccd sensor after laser reflection eyeglass and imaging mirror piece further reflect.
In the present invention, the reflected light path that the imaging mirror piece is formed is folded with, and laser light knife is enable to distinguish in the past, after
Both direction enters the imaging surface of ccd sensor, realizes a ccd sensor and is observed from both direction；Based on laser
Triangulation principle analyzes the Light knife image of deformation, can recover the high-precision surface shape information of object.
The beneficial effects of the utility model are：Compared with the prior art, in the utility model, the 3D laser sensings
Device can form 2 different measurement visual angles based on 1 ccd sensor and 1 laser, be equivalent to 1 laser, two
The measurement effect of ccd sensor can carry out 3D measurements to former and later two orientation of target location respectively, disposably obtain 2 sides
To high-accuracy three-dimensional data avoided between multiple CCD between multiple lasers only with CCD and laser
Interference, save cost, improve stability.The reflected light path that the imaging mirror piece is formed is folded with, and will be imaged
Light path folds into horizontal direction from height, width direction, in the case where ensureing scan depth, reduces equipment size, effectively
Reduce equipment cost, while improving the stability of equipment.
Description of the drawings
Fig. 1 is a kind of 1 schematic diagram of embodiment of two visual angle 3D laser sensor of folded form of the utility model.
Fig. 2 is a kind of 2 schematic diagram of embodiment of two visual angle 3D laser sensor of folded form of the utility model.
Fig. 3 is a kind of embodiment schematic diagram of the shell of two visual angle 3D laser sensor of folded form of the utility model.
Fig. 4 is the light path that a kind of laser line generator of two visual angle 3D laser sensor of folded form of the utility model launches laser
Line map.
Fig. 5 is a kind of preceding visual angle index path of two visual angle 3D laser sensor of folded form of the utility model.
Fig. 6 is a kind of back angle index path of two visual angle 3D laser sensor of folded form of the utility model.
Fig. 7 is a kind of total reflected light path figure of two visual angle 3D laser sensor of folded form of the utility model.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Referring to shown in Fig. 1-6, the utility model provides a kind of two visual angle 3D laser sensor of folded form, the 3D laser sensings
Device is located at the lower section of object under test 1 comprising has shell 2, laser line generator 3, ccd sensor 4, fixing bracket 5, laser mirror
Piece 6, imaging mirror piece 7, laser line generator 3, ccd sensor 4, fixing bracket 5, laser reflection eyeglass 6, imaging mirror piece 7
It is respectively positioned on inside shell 2, laser reflection eyeglass 6 is each attached to imaging mirror piece 7 on fixing bracket 5；Laser line generator 3 with
The left end side by side up and down being arranged in inside shell 2 of ccd sensor 4, laser reflection eyeglass 6 are distributed with imaging mirror piece 7
Right end inside shell 2；In the present invention, 4 arrangement side by side up and down of laser line generator 3 and ccd sensor, laser line generator 3
It after emitting laser rays, is reflected by optical mirror slip, projects 1 surface of object under test, form a bright finishing tool；By determinand
The modulation of 1 surface face shape of body, finishing tool can deform.
Laser line generator 3 is used as structured light light source, projects 1 surface of object under test, forms bright line laser finishing tool；CCD
Sensor 4 is for being imaged laser；Laser reflection eyeglass 6 is for changing the direction of laser light incident light path, imaging mirror
Piece 7 is used to form reflected light path, and the reflected light path that imaging mirror piece 7 is formed is folded with, to by imaging optical path from height,
Width direction folds into horizontal direction.In the present invention, which is based on 1 ccd sensor 4 and 1 is swashed
Light device can form 2 different measurement visual angles, be equivalent to 1 laser, the measurement effect of two ccd sensors 4, can be with
3D measurements are carried out to former and later two orientation of target location respectively, the high-accuracy three-dimensional data in 2 directions are disposably obtained, only with one
A CCD and laser, avoids the interference between multiple lasers between multiple CCD, saves cost, improves steady
It is qualitative.The reflected light path that imaging mirror piece 7 is formed is folded with, and imaging optical path is folded into level from height, width direction
Direction reduces equipment size in the case where ensureing scan depth, effectively reduces equipment cost, while improving and setting
Standby stability.
In the present embodiment, 3D laser sensor further includes having CCD fixed plates 8, and CCD fixed plates 8 are fixed in shell 2
Portion, CCD fixed plates 8 are fixedly connected with ccd sensor 4, and CCD fixed plates 8 are arranged in parallel in 4 lower section of ccd sensor.In this reality
In novel, above structure setting makes the 3D laser sensor structure more stablize, easy to use.
In the present embodiment, fixing bracket 5 offers the first groove 51, the second groove 52, third groove 53, the 4th groove
54, the 5th groove 55, the first groove 51 tilts the top for being opened in fixing bracket 5, and the first groove 51 is located at the hair of laser line generator 3
The right end of laser direction is penetrated, the position height of the second groove 52 is located at the first groove than low and the second groove 52 of the first groove 51
51 right obliquely downward, third groove 53 is located at the right end of the first groove 51 and the second groove 52, and third groove 53 opens up vertically
In the right end of fixing bracket 5, the 4th groove 54 tilts the bottom righthand side for being opened in fixing bracket 5, and the 4th groove 54 is located at third
53 lower section of groove, the 5th groove 55 tilts the lower part for being opened in fixing bracket 5, and the 5th groove 55 is located at a left side for the 4th groove 54
End.
In the present embodiment, laser reflection eyeglass 6 is 2, and 2 laser reflection eyeglasses 6 are separately fixed at the first groove
51 and the 5th in groove 55, and imaging mirror piece 7 is 3, and 3 imaging mirror pieces 7 are separately fixed at the second groove 52, the
In three grooves 53, the 4th groove 54.In the present invention, above structure setting keeps the 3D laser sensor preferably real
Imaging optical path is folded into horizontal direction from height, width direction, is ensureing scan depth by the light path folding type design now formed
In the case of, equipment size is reduced, and without measurement dead angle, effectively reduce equipment cost, while improving equipment
Stability.
In the present embodiment, laser line generator 3 launches a line laser 31, through the laser reflection eyeglass in the first groove 51
After 6 reflections, it is reflected into the surface of object under test 1 again to the laser reflection eyeglass 6 of the 5th groove 55, in this way by lateral light path
Become the light path of a broken line.In the present embodiment, such design keeps light path of the laser mirror under equal volume longer,
The laser emitting surface for advantageously forming bigger, under aplanatism, then laser mirror volume smaller.
In the present embodiment, the laser that laser line generator 3 emits forms bright finishing tool in object under test 1, is then reflected in
The 7 the inside imaging of imaging mirror piece of second groove 52, then the imaging mirror piece 7 through third groove 53 reflect, and finally enter
It is imaged in ccd sensor 4.In the present invention, above-mentioned imaging optical path is the preceding visual angle light path of the 3D laser sensor
32；Imaging optical path is the light path that the light path of a transverse direction has been transformed into a broken line, it is ensured that the image forming job distance of system
And scan depth, shorten equipment volume.
In the present embodiment, the laser that laser line generator 3 emits forms bright finishing tool in object under test 1, is then reflected in
The 7 the inside imaging of imaging mirror piece of 4th groove 54, the imaging mirror piece 7 through the 4th groove 54 reflect, and finally enter CCD
It is imaged in sensor 4.In the present invention, above-mentioned imaging optical path is the back angle light path 33 of the 3D laser sensor；
Imaging optical path is the light path that the light path of a transverse direction has been transformed into a broken line, it is ensured that the image forming job distance of system and is swept
The depth of field is retouched, equipment volume is shortened.
In the present embodiment, ccd sensor 4 is area array CCD, and the laser that laser line generator 3 emits passes through 1 surface of object under test
After reflection, the formation laser figure of ccd sensor 4 is entered after laser reflection eyeglass 6 and imaging mirror piece 7 further reflect
Picture.In the present invention, the reflected light path that imaging mirror piece 7 is formed is folded with, and laser light knife is enable to distinguish in the past, after
Both direction enters the imaging surface of ccd sensor 4, realizes a ccd sensor 4 and is observed from both direction；Based on sharp
Light triangulation principle, analyzes the Light knife image of deformation, can recover the high-precision surface shape information of object.
The beneficial effects of the utility model are：Compared with the prior art, in the utility model, the 3D laser sensings
Device can form 2 different measurement visual angles based on 1 ccd sensor 4 and 1 laser, be equivalent to 1 laser, and two
The measurement effect of a ccd sensor 4 can carry out 3D measurements to former and later two orientation of target location respectively, disposable to obtain 2
The high-accuracy three-dimensional data in direction only uses CCD and laser, avoid between multiple CCD with multiple lasers it
Between interference, save cost, improve stability.The reflected light path that imaging mirror piece 7 is formed is folded with, by imaging
Road folds into horizontal direction from height, width direction, in the case where ensureing scan depth, reduces equipment size, effectively
Equipment cost is reduced, while improving the stability of equipment.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
All any modification, equivalent and improvement etc., should be included in the guarantor of the utility model made by within novel spirit and principle
Within the scope of shield.
Claims (8)
1. a kind of two visual angle 3D laser sensor of folded form, the 3D laser sensor are located at the lower section of object under test, feature exists
In including shell, laser line generator, ccd sensor, fixing bracket, laser reflection eyeglass, imaging mirror piece, the line laser
Device, ccd sensor, fixing bracket, laser reflection eyeglass, imaging mirror piece are respectively positioned on the enclosure, and the laser is anti-
Eyeglass is penetrated to be each attached on the fixing bracket with imaging mirror piece；The laser line generator and ccd sensor row side by side up and down
The left end in the enclosure is arranged in row, and the laser reflection eyeglass is distributed in the enclosure with imaging mirror piece
Right end；
The laser line generator projects object under test surface as structured light light source, forms bright line laser finishing tool；It is described
Ccd sensor is for being imaged laser；The laser reflection eyeglass for changing laser light incident light path direction, it is described at
As reflecting optics are used to form reflected light path, the reflected light path that the imaging mirror piece is formed is folded with, to be imaged
Light path folds into horizontal direction from height, width direction.
2. two visual angle 3D laser sensor of folded form according to claim 1, it is characterised in that the 3D laser sensor
Further include having CCD fixed plates, the CCD fixed plates are fixed on the enclosure, and the CCD fixed plates are sensed with the CCD
Device is fixedly connected, and the CCD fixed plates are arranged in parallel in below the ccd sensor.
3. two visual angle 3D laser sensor of folded form according to claim 1, it is characterised in that the fixing bracket opens up
There are the first groove, the second groove, third groove, the 4th groove, the 5th groove, first groove slant to be opened in the fixation
The top of holder, and first groove is located at the right end of laser line generator transmitting laser direction, the position of second groove
Set the right obliquely downward that height is located at first groove than low and described second groove of first groove, the third groove
Positioned at the right end of first groove and the second groove, and the third groove is opened in the support bracket fastened right end vertically,
4th groove slant is opened in the support bracket fastened bottom righthand side, and the 4th groove is located under the third groove
Side, the 5th groove slant is opened in the support bracket fastened lower part, and the 5th groove is located at the 4th groove
Left end.
4. two visual angle 3D laser sensor of folded form according to claim 3, it is characterised in that the laser reflection eyeglass
It it is 2, and 2 laser reflection eyeglasses are separately fixed in first groove and the 5th groove, the imaging mirror piece is 3
It is a, and 3 imaging mirror pieces are separately fixed at second groove, third groove, in the 4th groove.
5. two visual angle 3D laser sensor of folded form according to claim 4, it is characterised in that the laser line generator transmitting
Go out a line laser, after the laser reflection eyeglass reflection in the first groove, the laser reflection eyeglass to the 5th groove is anti-again
It is mapped to the surface of object under test, lateral light path is become to the light path of a broken line in this way.
6. two visual angle 3D laser sensor of folded form according to claim 5, it is characterised in that the laser line generator transmitting
Laser bright finishing tool is formed in object under test, be then reflected in imaging inside the imaging mirror piece of the second groove, then pass through
The imaging mirror piece of third groove reflects, and finally enters in ccd sensor and is imaged.
7. two visual angle 3D laser sensor of folded form according to claim 5, it is characterised in that the laser line generator transmitting
Laser bright finishing tool is formed in object under test, imaging inside the imaging mirror piece of the 4th groove is then reflected in, through the
The imaging mirror piece of four grooves reflects, and finally enters in ccd sensor and is imaged.
8. two visual angle 3D laser sensor of folded form according to claim 1, it is characterised in that the ccd sensor is face
Battle array CCD after the laser that the laser line generator emits is by object under test surface reflection, is reflected by laser reflection eyeglass and imaging
Eyeglass enters ccd sensor after further reflecting and forms laser image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820438163.1U CN208026225U (en) | 2018-03-29 | 2018-03-29 | A kind of two visual angle 3D laser sensor of folded form |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820438163.1U CN208026225U (en) | 2018-03-29 | 2018-03-29 | A kind of two visual angle 3D laser sensor of folded form |
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| Publication Number | Publication Date |
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| CN208026225U true CN208026225U (en) | 2018-10-30 |
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| CN201820438163.1U Active CN208026225U (en) | 2018-03-29 | 2018-03-29 | A kind of two visual angle 3D laser sensor of folded form |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107132651A (en) * | 2016-02-26 | 2017-09-05 | 苏州速迈医疗设备有限公司 | 3D image-forming modules |
| CN115289979A (en) * | 2022-08-18 | 2022-11-04 | 天津大学 | Miniature laser displacement sensor based on structured light vision |
-
2018
- 2018-03-29 CN CN201820438163.1U patent/CN208026225U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107132651A (en) * | 2016-02-26 | 2017-09-05 | 苏州速迈医疗设备有限公司 | 3D image-forming modules |
| CN115289979A (en) * | 2022-08-18 | 2022-11-04 | 天津大学 | Miniature laser displacement sensor based on structured light vision |
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