CN208398819U - laser sensor - Google Patents
laser sensor Download PDFInfo
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- CN208398819U CN208398819U CN201820904378.8U CN201820904378U CN208398819U CN 208398819 U CN208398819 U CN 208398819U CN 201820904378 U CN201820904378 U CN 201820904378U CN 208398819 U CN208398819 U CN 208398819U
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- reflective mirror
- laser sensor
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Abstract
The utility model discloses a kind of laser sensors, it include: laser emitter, imaging len, imaging sensor, reflective mirror and driving motor, reflective mirror is fixedly installed on the motor shaft of driving motor, and driving motor can drive reflective mirror to swing with respect to motor shaft axial line；The laser beam that laser emitter issues forms point shaped laser spot in object under test surface through mirror reflection, then it reflects to form and diffuses outward through object under test surface, imaging len and imaging sensor are arranged at intervals on the RX path to diffuse, and imaging len and imaging sensor are respectively positioned on the left or right side of laser sensor direction of advance, are projeced on imaging sensor after the imaged lens that diffuse.The environment resistant interference performance of the laser sensor is strong, and detection is reliable, accurate and short into the length on direction before measuring.
Description
Technical field
The utility model relates to laser technology field more particularly to a kind of laser sensors.
Background technique
Laser technology is grown rapidly in recent years, and since laser has, good directionality, brightness is high, monochromaticjty is good and energy is close
The features such as high is spent, thus laser triangulation technique is widely used in the fields such as industrial production, communication, information processing, especially existing
Using more extensive in the industrial productions such as welding, cutting, measurement.
During measuring the non-cpntact measurement of object distance, detection object pattern, laser sensor progress is generallyd use
Measurement, currently used laser sensor are formed on object appearance using the laser emitter that can project a fan-shaped smooth surface
Then one of hot spot is acquired again using imaging sensor, analyzes the hot spot.Such laser sensor is in measurement process, especially
It is the object under test strong for measurement surface reflection, easily generation interference phenomenon, thus the application of such laser sensor is limited.
Laser sensor is usually used cooperatively with execution system, such laser sensor is executed when measuring a region
System drives laser sensor to advance, laser sensor direction of advance perpendicular to or be approximately perpendicular to lasing area, and general swash
Optical sensor is arranged in imaging len, imaging sensor on the direction of laser sensor advance, then before laser sensor
It is just longer into the length on direction.If object under test direction of advance the end there are barrier, be difficult to complete advance side
The measurement of all patterns of upward measuring targets, accessibility are excessively poor.
Utility model content
The technical issues of solving needed for the utility model is: providing a kind of laser sensing that environment resistant light interference performance is strong
Device, the laser sensor compare traditional laser sensor before measuring into the length on direction into the length on direction before measuring
Degree wants short.
To solve the above problems, the technical solution adopted in the utility model is: the laser sensor, comprising: laser
Transmitter, imaging len, imaging sensor, reflective mirror and driving motor, reflective mirror are fixedly installed on the motor shaft of driving motor
On, and driving motor can drive reflective mirror to swing with respect to motor shaft axial line；The laser beam that laser emitter issues is through reflective mirror
It reflects and forms point shaped laser spot in object under test surface, then reflect to form and diffuse outward through object under test surface, imaging is saturating
Mirror and imaging sensor are arranged at intervals on the RX path to diffuse, and imaging len and imaging sensor are respectively positioned on laser
The left or right side of sensor direction of advance is projeced on imaging sensor after the imaged lens that diffuse.Above structure
Laser sensor can detect the object under test profile comprising depth direction information Yu left and right directions information.At this moment it needs to adopt
With complicated array image sensor.
Further, laser sensor above-mentioned, wherein driving motor drives reflective mirror to swing with respect to motor shaft axial line
When, the inswept plane of scanning motion of straight line where laser beam keeps the primary optical axis of imaging len and the inswept plane of scanning motion of laser beam total
Face, imaging sensor can use a simple linear array photosensitive element, at this moment also need to make imaging sensor photosensitive line and
The plane of scanning motion is coplanar.
Further, laser sensor above-mentioned, wherein make the laser beam into reflective mirror perpendicular to motor swinging axle
Line, the plane of scanning motion that the axis of oscillation of reflective mirror is inswept perpendicular to straight line where laser beam, the primary optical axis of imaging len and scanning
Co-planar, the then position for the imaging point that imaging sensor detects and the corresponding relationship of object under test superficial punctate hot spot are incited somebody to action
To simplification, it is convenient for information processing.
Further, laser sensor above-mentioned, wherein further include dioptric element, thrown after the imaged lens that diffuse
It penetrates on dioptric element, then reflects through dioptric element on imaging sensor；Or diffuse and be projeced on dioptric element,
Then it is projeced on imaging sensor after imaging len after dioptric element.
Further, laser sensor above-mentioned, wherein the imaging len is imaged by the first imaging len and second
Lens composition, imaging sensor are made of the first imaging sensor and the second imaging sensor, the first imaging len and the first figure
As sensor is located at the left side of laser sensor direction of advance, the second imaging len and the second imaging sensor are located at laser sensing
The right side of device direction of advance.The present invention reaches balance detection or so using the method for increasing by one group of imaging len, imaging sensor
The sensitivity purpose of side information, to improving, detection accuracy is beneficial.
Further, laser sensor above-mentioned, wherein reflective mirror is set at the electrical axis line of driving motor, and
Horizontal center line and motor shaft axis when driving motor drives reflective mirror to swing with respect to motor shaft axial line, on mirror reflection face
Heart line is overlapped；The light beam that laser emitter issues is projeced on the horizontal center line on mirror reflection face.
Further, laser sensor above-mentioned, wherein the mass center of reflective mirror is overlapped with motor shaft axial line.
Further, laser sensor above-mentioned, wherein the driving motor is oscillating motor, in oscillating motor
The angle detector for measuring reflective mirror swing angle is provided on motor shaft.
Further, laser sensor above-mentioned, wherein the oscillating motor is fan-shaped motor, and angle detector is
Fan-shaped encoder.
Further, laser sensor above-mentioned, wherein laser emitter is connected with laser power control, laser
The power controller control illuminating state of laser emitter, OFF state and light brightness；At imaging sensor and detection information
Reason device is connected.
The beneficial effects of the utility model are: the laser sensor environment resistant interference performance is strong, laser sensing is effectively improved
The detection reliability and accuracy of device；In addition, the laser sensor compares traditional laser into the length on direction before measuring
Sensor wants short into the length on direction before measuring.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the first embodiment of laser sensor described in the utility model.
Laser sensor and weldering in Fig. 2 Fig. 1 after right view direction removal laser emitter, imaging len, imaging sensor
The usage state diagram that rifle, work pieces mate use.
Fig. 3 is the structural schematic diagram of second of embodiment of laser sensor described in the utility model.
Fig. 4 is the structural schematic diagram of the third embodiment of laser sensor described in the utility model.
Fig. 5 is the structural schematic diagram of the 4th kind of embodiment of laser sensor described in the utility model.
Fig. 6 be right view direction removal laser emitter in Fig. 5, imaging len, the laser sensor after imaging sensor with
The usage state diagram that welding gun, work pieces mate use.
Specific embodiment
With reference to the accompanying drawing and preferred embodiment is described in further detail technical solution described in the utility model.
Embodiment one
As depicted in figs. 1 and 2, laser sensor described in the present embodiment, comprising: laser emitter 1, imaging len 2, figure
Picture sensor 3, reflective mirror 6 and driving motor 4, reflective mirror 6 are fixedly installed on the motor shaft of driving motor 4, and driving motor 4
Reflective mirror 6 can be driven to swing with respect to motor shaft axial line 10.
For convenience of description, by laser sensor direction of advance, i.e. the positive direction of Y-axis, is defined as " preceding " in Fig. 2.Laser hair
The laser beam projects that emitter 1 issues are on the reflecting surface of reflective mirror 6, and the reflective surface through reflective mirror 6 is in 9 surface of object under test
Point shaped laser spot is formed, then reflects to form and diffuses outward through 9 surface of object under test, between imaging len 2 and imaging sensor 3
Every being set on the RX path to diffuse, and imaging len 2 and imaging sensor 3 are respectively positioned on 1 side of advance of laser sensor
To left or right side, be projeced on imaging sensor 3 after the imaged lens 2 that diffuse.
The laser beam that laser emitter 1 issues is reflected through reflective mirror 6 forms point shaped laser spot in 9 surface of object under test, we
This laser emitter 1 is referred to as dot laser, irradiation 9 surface of object under test is scanned using dot laser, due to shaped laser spot
Irradiation brightness is strong more than the irradiation brightness of linear hot spot, and the environment resistant light interference performance of laser sensor can be improved.
The laser beam that laser emitter 1 issues is reflected through reflective mirror 6 forms point shaped laser spot in 9 surface of object under test, then
It reflects to form and diffuses outward through 9 surface of object under test, imaging len 2 and imaging sensor 3 are arranged at intervals at and diffuse
RX path on.When driving motor 4 drives reflective mirror 6 to swing with respect to motor shaft axial line 10, laser beam just will form one
A plane of scanning motion forms series of points shaped laser spot on the surface of object under test 9, and each hot spot then passes through imaging len 2 in image
The surface of sensor 3 is imaged.The case where between this plane of scanning motion and scan axis, imaging len primary optical axis without special relationship
Under, imaging sensor 3 must be using complicated face battle array photosensitive element.
If keeping the primary optical axis of imaging len 2 coplanar with the inswept plane of scanning motion of laser beam, the picture of hot spot also will be complete
Portion is distributed in the plane of scanning motion, then only need to be coplanar with the plane of scanning motion by the photosensitive line of imaging sensor, so that it may use one
Simple linear array photosensitive element.
If making swinging axle axial line 10 of the laser beam perpendicular to motor for being incident on reflective mirror 6, straight line where laser beam
Inswept plane will be perpendicular to the axis of oscillation of reflective mirror 6, then the position for the imaging point that imaging sensor detects with it is to be measured
The corresponding relationship of 9 superficial punctate hot spot of object will be simplified, and be convenient for information processing.
According to principle of triangulation, viewing angle β shown in Fig. 1 is more conducive to improve depth letter in Z-direction closer to 90 °
The detection sensitivity of breath.In the present embodiment, imaging len 2 and imaging sensor 3 are set to 1 direction of advance of laser sensor
Side, i.e., in the X-direction of imaging sensor 3, then straight line and diffusing reflection where being projeced into the laser beam on 9 surface of object under test
The angle β of straight line where light can be larger, and angle is not excited the limitation of optical sensor length requirement in a forward direction, that is, exists
The limitation of laser sensor length does not have effect of contraction to the size of angle β in Y coordinate positive direction in Fig. 2.Above structure is set
It sets, on the basis of guaranteeing detection accuracy, substantially reduces laser sensor before measuring into the length on direction, effectively improve
The accessibility of laser sensor.
Driving motor 4 described in the present embodiment can use servo motor, pass through the electric current side in control servo motor
To the swing for realizing motor shaft, oscillating motor can also be directlyed adopt certainly.It is provided on the motor shaft of oscillating motor for surveying
The angle detector 5 of 6 swing angle of reflective mirror is measured, setting angle detector 5 can be best understood from, control the pendulum of reflective mirror 6
Dynamic angle.
During actual measurement, the reflectance on different 9 surfaces of object under test, concave-convex degree etc. are different, thus needle
When being detected to different objects under test 9, it usually needs adjust laser emitter 1 according to 9 surface topography of actual determinand body and send out
The brightness of laser beam out.Be additionally provided with laser power control in the present embodiment in laser sensor, laser emitter 1 with
Laser power control is connected, and the laser power control control illuminating state of laser emitter 1, OFF state and lights bright
Degree.Laser emitter 1 is controlled by laser power control just to light within the period that detection unit exposes.
Laser sensor usually requires to be used cooperatively with execution system, here the laser sensor is set to welding gun 8
On, it is illustrated for tracking weld information by the laser sensor, the use of certain laser sensor not limitation and weldering
Seam tracking.As shown in Fig. 2, usual setting one bracket or shell, by laser emitter 1, imaging len 2, imaging sensor 3,
Driving motor 4 is fixed on the bracket or is set in shell, and laser sensor is fixedly installed by the bracket or shell
In on welding gun 8, to reduce the torque that the motor bearings of driving motor 4 is received, the position of reflective mirror 6 can be adjusted to reflective mirror 6
Center of gravity is overlapped with motor shaft axial line 10.
For convenience of the calculating of subsequent detection message handler, reflective mirror 6 can be set to the electrical axis line of driving motor 4
Horizontal center line at 10, when driving motor 4 drives reflective mirror 6 to swing with respect to motor shaft axial line 10, on 6 reflecting surface of reflective mirror
It is overlapped with motor shaft axial line 10, and the light beam that laser emitter 1 issues is projeced into the horizontal centre on 6 reflecting surface of reflective mirror
On line.The setting of above structure can simplify the calculating of detection information processor.
It for convenience of the calculating of subsequent detection message handler, and is imaging sensor 3 using the creation of linear array photosensitive element
Condition, can do following setting: the photosensitive line of imaging sensor 3 is coplanar with the plane of scanning motion, and makes the imaged throwing of lens 2 that diffuses
It penetrates on the photosensitive line of imaging sensor 3.
Imaging sensor 3 can be CCD device, be also possible to CMOS or other kinds of device.Particularly, which passes
Sensor 3 can be linear array photosensitive element, because the hot spot on the workpiece formed along laser beam is necessarily in straight line, as
It necessarily point-blank, only need to be by straight line and the inswept co-planar of laser beam where linear array photosensitive element.Image passes
Sensor uses linear array photosensitive element, can be than greatly improving processing speed using face battle array photosensitive element.
Picture signal to detect laser sensor is converted to position and attitude information, or is converted to position and attitude letter
It is reconverted into the general information for directly guiding matched execution system after breath, can also usually be arranged on laser sensor
Detection information processor, imaging sensor are connected with detection information processor, and the detection information processor can be selected
The processor that picture signal can be converted to position and attitude information, can also select can be converted to picture signal in position and attitude letter
After breath, it is reconverted into the general information for directly guiding matched execution system.Certainly during processing at detection information
Reason device is likely to require some docking informations of execution system offer, such as executes the position deviation of system, posture angular displacement.
Embodiment two
Fig. 3 provides the structural schematic diagram of another embodiment, as shown in figure 3, the present embodiment it is different from embodiment one it
Be in: dioptric element 7 is additionally provided in laser sensor, the position of dioptric element 7 is provided with two ways:
First way: it is projeced on dioptric element 7 after the imaged lens 2 that diffuse, is then reflected through dioptric element 7
In on imaging sensor 3.
The second way: diffusing and be projeced on dioptric element 7, then throws after imaging len 2 after dioptric element 7
It penetrates on imaging sensor 3.
Dioptric element 7 can be diffused using bendings such as reflective mirror, prisms, so that laser sensor be made integrally more to step up
It gathers, further reduces the overall volume of laser sensor.
Embodiment three
Fig. 4 provides the structural schematic diagram of another embodiment, as shown in figure 4, the present embodiment it is different from embodiment one it
Be in: using two imaging lens in the present embodiment: the first imaging len 2-1 and the second imaging len, and use two
Imaging sensor: the first imaging sensor 3-1 and the second imaging sensor 3-2.Wherein the first imaging len 2-1 and the first image
Sensor 3-1 is located on the RX path of the one side of laser sensor direction of advance to diffuse, the second imaging len 2-2
It is located on the RX path of the another side of laser sensor direction of advance to diffuse with the second imaging sensor 3-2.The
One imaging sensor 3-1 and the second imaging sensor 3-2 can symmetrically or approximately symmetrically be set to Y-axis two sides, the first imaging
Lens 2-1 and the second imaging len 2-2 can symmetrically or approximately symmetrically be set to Y-axis two sides.
The setting of above structure, even if 9 surface reflection of object under test it is very strong or exist concave-convex circumstance of occlusion or
The relatively low equal at least one problem of the noise of person's image sensor signal, as long as there have an imaging sensor that can obtain to be good
Image information can also be stablized, accurately detect 9 pattern of object under test.Two light from same point are utilized in the present embodiment
Calculate the facula position on object under test 9, received place straight line and the second image of diffusing of the first imaging sensor 3-1
Angle α between the received place straight line that diffuses of sensor 3-2 is obviously more much greater than the angle β in embodiment one,
It is higher than by two contained side detection and localization point precision of β by two contained side detection and localization points of α, thus the present embodiment institute
Detection accuracy of the detection accuracy for the laser sensor stated also than embodiment one is high.
Example IV
Fig. 5 and Fig. 6 provides the structural schematic diagram of another embodiment, and the present embodiment and the difference of embodiment one exist
In overall volume in order to further reduce laser sensor, oscillating motor can be using fan-shaped motor, and angle detector can be with
It, in this way can be with using fan-shaped encoder, or the cramped construction being combined as a whole using fan-shaped motor and fan-shaped photoelectric encoder
Under conditions of laser sensor volume does not increase, the dial disc radius of fan-shaped photoelectric encoder is made larger, so as to
Improve angle measurement accuracy.Shown in referring to figs. 5 and 6, the rotor of fan-shaped motor is reduced to sector (-shaped) coil 4-2, the stator of fan-shaped motor
Also it can simplify as sector electromagnet 4-1, the fixed part of fan-shaped photoelectric encoder is Photoelectric Detection head 5-1, Photoelectric Detection head 5-1
Reflective gratings information detector can be used.The rotating part of fan-shaped photoelectric encoder is fan-shaped grating 5-2.
The above is only the preferred embodiment of the utility model, is not to make any other form to the utility model
Limitation, and according to any modification or equivalent variations made by the technical essence of the utility model, still fall within the requires of the utility model
The range of protection.
The utility model has the advantages that: the laser sensor environment resistant interference performance is strong, effectively improves laser sensor
Detect reliability and accuracy；In addition, the laser sensor compares traditional laser sensing into the length on direction before measuring
Device wants short into the length on direction before measuring.
Claims (11)
1. laser sensor, comprising: laser emitter, imaging len and imaging sensor, it is characterised in that: further include reflective mirror
And driving motor, reflective mirror are fixedly installed on the motor shaft of driving motor, and driving motor can drive reflective mirror with respect to motor
Axis axial line is swung；The laser beam that laser emitter issues forms point shaped laser spot in object under test surface through mirror reflection, so
It reflects to form and diffuses outward by object under test surface, imaging len and imaging sensor, which are arranged at intervals at, to diffuse
On RX path, and imaging len and imaging sensor are respectively positioned on the left or right side of laser sensor direction of advance, diffusing reflection
It is projeced on imaging sensor after the imaged lens of light.
2. laser sensor described in accordance with the claim 1, it is characterised in that: driving motor drives reflective mirror with respect to motor shaft axis
When heart string pendulum moves, the axis of oscillation of the plane of scanning motion that straight line where laser beam is inswept perpendicular to reflective mirror.
3. laser sensor described in accordance with the claim 1, it is characterised in that: the primary optical axis and the plane of scanning motion of imaging len are total
Face.
4. laser sensor according to claim 1 or 2, it is characterised in that: the imaging sensor is that linear array is photosensitive
The primary optical axis of element, imaging len is coplanar with the plane of scanning motion, and the photosensitive line of linear array photosensitive element is coplanar with the plane of scanning motion.
5. laser sensor described in accordance with the claim 1, it is characterised in that: the imaging len by the first imaging len and
Second imaging len composition, imaging sensor are made of the first imaging sensor and the second imaging sensor, the first imaging len
It is located at the left side of laser sensor direction of advance with the first imaging sensor, the second imaging len and the second imaging sensor are located at
The right side of laser sensor direction of advance.
6. laser sensor described in accordance with the claim 1, it is characterised in that: further include dioptric element, diffuse imaged
It is projeced on dioptric element after lens, then reflects through dioptric element on imaging sensor；Or it diffuses and is projeced into folding
On optical element, then it is projeced on imaging sensor after imaging len after dioptric element.
7. according to laser sensor described in claim 1,2,3,5 or 6, it is characterised in that: reflective mirror is set to driving motor
Electrical axis line at, and when driving motor driving reflective mirror is with respect to the swing of motor shaft axial line, the water on mirror reflection face
Flat center line is overlapped with motor shaft axial line；The light beam that laser emitter issues is projeced into the horizontal centre on mirror reflection face
On line.
8. according to laser sensor described in claim 1,2,3,5 or 6, it is characterised in that: the mass center and motor shaft of reflective mirror
Axial line is overlapped.
9. according to laser sensor described in claim 1,2,3,5 or 6, it is characterised in that: the driving motor is to swing
Motor is provided with the angle detector for measuring reflective mirror swing angle on the motor shaft of oscillating motor.
10. laser sensor according to claim 9, it is characterised in that: the oscillating motor is fan-shaped motor, angle
Detector is fan-shaped encoder.
11. laser sensor described in accordance with the claim 1, it is characterised in that: laser emitter and laser power control phase
Connection, the laser power control control illuminating state of laser emitter, OFF state and lights brightness；Imaging sensor and inspection
Measurement information processor is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820904378.8U CN208398819U (en) | 2018-06-12 | 2018-06-12 | laser sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820904378.8U CN208398819U (en) | 2018-06-12 | 2018-06-12 | laser sensor |
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| Publication Number | Publication Date |
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| CN208398819U true CN208398819U (en) | 2019-01-18 |
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| CN201820904378.8U Active CN208398819U (en) | 2018-06-12 | 2018-06-12 | laser sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680116A (en) * | 2018-06-12 | 2018-10-19 | 苏州睿牛机器人技术有限公司 | Laser sensor |
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2018
- 2018-06-12 CN CN201820904378.8U patent/CN208398819U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680116A (en) * | 2018-06-12 | 2018-10-19 | 苏州睿牛机器人技术有限公司 | Laser sensor |
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