CN208383079U - A kind of laser strobe difference three-dimension sensor - Google Patents
A kind of laser strobe difference three-dimension sensor Download PDFInfo
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- CN208383079U CN208383079U CN201821013103.1U CN201821013103U CN208383079U CN 208383079 U CN208383079 U CN 208383079U CN 201821013103 U CN201821013103 U CN 201821013103U CN 208383079 U CN208383079 U CN 208383079U
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- laser
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- image acquisition
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Abstract
The utility model relates to a kind of laser strobe difference three-dimension sensors, the sensor includes laser light source, Image Acquisition and processing unit, light filter element and stroboscopic controller, stroboscopic controller is electrically connected with laser light source, Image Acquisition with processing unit respectively, and light filter element is arranged in Image Acquisition and processing unit front end.Compared with prior art, the utility model can be with certain frequency beat, emit active laser line, and cooperate suitable frequency collection reflected image, after interim storage, difference processing is done to digital picture to realize the purpose for eliminating background, improving optical strip image quality, and then realize in complex background and the biggish indoor and outdoor scene of illumination variation, the purpose for carrying out three-dimensional measurement and reconstruction can be used in the industry and daily use such as outdoor container stacking guidance.
Description
Technical field
The utility model belongs to the three-dimension sensor technical field of view-based access control model, is related to a kind of laser strobe difference three-dimensional biography
Sensor.
Background technique
With the continuous extension of field of industrial measurement and the continuous improvement to measurement accuracy and measuring speed, traditional is connect
Touch measurement can no longer meet the demand of industry.Non-cpntact measurement due to its good accuracy and real-time, at
For the hot spot of fields of measurement.Simultaneously as the rapid development of electronics and optical technology, Photoelectric Detection has become non-contact survey
A kind of main method of amount.Laser triangulation is one kind of photoelectric detecting technology, and since this method has, structure is simple, test is fast
The advantages that degree is fast, processing capability in real time is strong, flexible and convenient to use, the detection such as length, distance and three-dimensional appearance in the industry
In have a wide range of applications.
In laser triangulation, it is radiated in object under test plane by the beam of laser that light source issues, it is last by reflecting
It is imaged on the detector.When the position of body surface changes, corresponding position also occurs on the detector for imaging
It moves, that is, occurs as moving.By that by the detection to picture shifting and can be calculated true as the relational expression between shifting and actual displacement
Ohject displacement.
In traditional three-dimension sensor based on laser triangulation, detector often uses sensitive optical sensor,
Under complicated illumination and background, the reflected optical strip image of laser can be not only detected, can also obtain a large amount of unrelated letters
Breath.These irrelevant informations can interfere the precision and stability finally detected, so this kind of three-dimension sensor generally can only be in illumination
It is used in metastable power house environment, and outdoor environment is very big by restricting, use is quite limited.Typical outdoor is applied such as
When harbour container is automatically grabbed with stacking, if using traditional sensor based on laser triangulation, because it is by strong sunlight
Influence with container color pattern can be bigger, and is difficult to work normally.
Utility model content
The purpose of this utility model be exactly in order to overcome the problems of the above-mentioned prior art and provide a kind of integrated level it is high,
Laser strobe difference three-dimension sensor that is easy to use, can using under complex illumination and complex background condition outdoors.
The purpose of this utility model can be achieved through the following technical solutions:
A kind of laser strobe difference three-dimension sensor, the sensor include laser light source, Image Acquisition and processing unit, light
Line filter element and stroboscopic controller, the stroboscopic controller are electrically connected with laser light source, Image Acquisition and processing unit respectively
It connects, the light filter element is arranged in Image Acquisition and processing unit front end.Stroboscopic controller can be defeated with certain beat
Pulse is controlled out, is sent signal to laser light source, Image Acquisition and processing unit with the pulse of appropriate rhythm, is realized laser striation
Stroboscopic shooting, and realize the purpose of difference wiping out background.
Further, the laser light source is line laser transmitter.Line laser transmitter can emit line-structured light.
Further, the line laser transmitter is high temperature resistant line laser transmitter.High temperature resistant line laser transmitter is most
Height can 70 DEG C at a temperature of work without stopping working or occurring permanent damage, to meet what outdoor round-the-clock used
It is required that.
Further, the Image Acquisition and processing unit are smart camera.Smart camera has Image Acquisition simultaneously
Processing can be analyzed directly in smart camera with the image of image processing function, smart camera acquisition, and after output difference
Optical strip image, be transferred in computer and calculate without image pick-up card.
Further, the light filter element includes the optical filter that smart camera front end is arranged in.
Further, the light filter element further includes the camera lens that smart camera front end is arranged in.Camera lens and optical filtering
Device is mounted on smart camera front end, can utmostly filter other light source interference such as non-laser light source, reduce the difficulty of processing.
There is the two-way pulse control signal for meeting certain frequency in the utility model, inside stroboscopic controller, alternately triggers
Line laser transmitter transmitting laser and smart camera are taken pictures, so as to collect two backgrounds in succession in a short period of time
The picture that identical but laser striation is alternately present, can eliminate background influence after smart camera difference processing.In smart camera
Embedding a variety of Processing Algorithms can automatically derive the striation picture without background interference after difference, and the difference inputted according to extraneous demand,
It calculates striation length or finds the position of striation jump, to be applied to different container stacking and crawl demand.
The utility model when correcting for container stacking and guiding crawl, adopt by the image of laser light source and smart camera
Collection can obtain weld profile information by calibration, by handling image, and then quantitatively calculate on a direction, in sensor
The heart with respect to the container lateral marginal position to be stacked or be grabbed, and detection stability can not subject container color size with
And the influence of ambient lighting.
Compared with prior art, the utility model has the following characteristics that
1) the utility model can emit active laser line, and cooperate suitable frequency collection with certain frequency beat
Reflected image after interim storage, does difference processing to digital picture to realize the mesh for eliminating background, improving optical strip image quality
, and then realize in complex background and the biggish indoor and outdoor scene of illumination variation, the purpose of three-dimensional measurement and reconstruction is carried out, it can
For in the industry and daily use such as outdoor container stacking guidance；
2) stroboscopic controller is added, can collect that two backgrounds are identical but laser striation is handed in succession in a short period of time
For the picture of appearance, to eliminate background and illumination bring adverse effect after smart camera difference processing；
3) it selects and is integrated with the smart camera of Image Acquisition and image processing function, without external computer or industrial personal computer etc.
Processor keeps sensing device exquisiteness portable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the working state schematic representation of laser strobe difference three-dimension sensor in embodiment 2；
Fig. 3 is the control pulse diagram of stroboscopic controller in embodiment 2, wherein 3a is that laser light source controls pulse, and 3b is intelligence
It can camera control pulse；
Fig. 4 is that the laser image (4a) of laser strobe difference three-dimension sensor and ordinary lines laser three-D pass in embodiment 2
Laser image (4b) comparison diagram of sensor；
Description of symbols in figure:
1-Image Acquisition and processing unit, 2-light filter elements, 3-laser light sources, 4-stroboscopic controllers, 5-dragons
Gantry crane.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.The present embodiment is with the utility model
Implemented premised on technical solution, the detailed implementation method and specific operation process are given, but the guarantor of the utility model
Shield range is not limited to the following embodiments.
Embodiment 1:
A kind of laser strobe difference three-dimension sensor as shown in Figure 1, including laser light source 3, Image Acquisition and processing list
Member 1, light filter element 2 and stroboscopic controller 4, stroboscopic controller 4 respectively with laser light source 3, Image Acquisition and processing unit 1
Electrical connection, light filter element 2 are arranged in Image Acquisition and 1 front end of processing unit.
Wherein, laser light source 3 is line laser transmitter, which is high temperature resistant line laser transmitter.
Image Acquisition and processing unit 1 are smart camera.
Light filter element 2 includes the optical filter that smart camera front end is arranged in and the mirror that smart camera front end is arranged in
Head.
Embodiment 2:
Laser strobe difference three-dimension sensor in embodiment 1 is used for the crawl of harbour automatic cabinet and stacking is drawn
In leading.As shown in Fig. 2, four angular positions in gantry crane 5 are respectively arranged a laser strobe difference three-dimension sensor, in Fig. 2
Section state diagram is shown.In stacking, the sensor in left side detection suspender is either with or without too on the right side, and the sensor on right side
Suspender is detected either with or without too by left side.Fig. 3 is the control pulse diagram of stroboscopic controller.
The course of work of sensor are as follows: calibration sensor is when stacking is hit exactly, collected striation length；Actual use
When, the light that laser light source 3 issues through lens forming plane light curtain, and forms a contour line on measured object, and CCD collects quilt
The reflected light of object is surveyed, the image of formation is compared by processing analysis, and the striation length demarcated before, works as gantry
When hanging 5 positions and keeping left very much, the collected striation of right sensor will form step, the distance of length of bench and the offset that keeps left at than
Example；Correspondingly, if 5 position of gantry crane is kept right very much, corresponding change can also occur for left sensor.The letter of comprehensive each sensor
Breath can carry out correctly palletizing operation with guiding in real time gantry crane 5.Due to using smart camera, acquisition, caching, processing are all
It is completed inside smart camera.In Fig. 4 for the laser image (4a) of laser strobe difference three-dimension sensor in the present embodiment with it is general
Laser image (4b) comparison diagram of logical line laser three-dimension sensor, it can be seen that laser strobe difference three-dimension sensor can be right
Digital picture does difference processing to realize the purpose for eliminating background, improving optical strip image quality.
It can understand the above description of the embodiments is intended to facilitate those skilled in the art and use practical
It is novel.Person skilled in the art obviously easily can make various modifications to these embodiments, and illustrating herein
General Principle be applied in other embodiments without having to go through creative labor.Therefore, the utility model is not limited to above-mentioned
Embodiment, those skilled in the art's announcement according to the present utility model, do not depart from improvement that the utility model scope is made and
Modification should be all within the protection scope of the utility model.
Claims (6)
1. a kind of laser strobe difference three-dimension sensor, which is characterized in that the sensor includes laser light source (3), Image Acquisition
With processing unit (1), light filter element (2) and stroboscopic controller (4), the stroboscopic controller (4) respectively with laser light
Source (3), Image Acquisition are electrically connected with processing unit (1), and light filter element (2) setting is single in Image Acquisition and processing
First (1) front end.
2. a kind of laser strobe difference three-dimension sensor according to claim 1, which is characterized in that the laser light source
It (3) is line laser transmitter.
3. a kind of laser strobe difference three-dimension sensor according to claim 2, which is characterized in that the line laser hair
Emitter is high temperature resistant line laser transmitter.
4. a kind of laser strobe difference three-dimension sensor according to claim 1, which is characterized in that the Image Acquisition
It is smart camera with processing unit (1).
5. a kind of laser strobe difference three-dimension sensor according to claim 4, which is characterized in that the light filtering
Unit (2) includes the optical filter that smart camera front end is arranged in.
6. a kind of laser strobe difference three-dimension sensor according to claim 5, which is characterized in that the light filtering
Unit (2) further includes the camera lens that smart camera front end is arranged in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821013103.1U CN208383079U (en) | 2018-06-28 | 2018-06-28 | A kind of laser strobe difference three-dimension sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821013103.1U CN208383079U (en) | 2018-06-28 | 2018-06-28 | A kind of laser strobe difference three-dimension sensor |
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| Publication Number | Publication Date |
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| CN208383079U true CN208383079U (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821013103.1U Active CN208383079U (en) | 2018-06-28 | 2018-06-28 | A kind of laser strobe difference three-dimension sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112393760A (en) * | 2020-11-04 | 2021-02-23 | 连云港杰瑞自动化有限公司 | Optical detection imaging device suitable for high-temperature forging |
-
2018
- 2018-06-28 CN CN201821013103.1U patent/CN208383079U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112393760A (en) * | 2020-11-04 | 2021-02-23 | 连云港杰瑞自动化有限公司 | Optical detection imaging device suitable for high-temperature forging |
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