CN214756613U - Binocular vision laser emission system - Google Patents
Binocular vision laser emission system Download PDFInfo
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- CN214756613U CN214756613U CN202120128907.1U CN202120128907U CN214756613U CN 214756613 U CN214756613 U CN 214756613U CN 202120128907 U CN202120128907 U CN 202120128907U CN 214756613 U CN214756613 U CN 214756613U
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Abstract
The utility model discloses a binocular vision laser emission system, including laser light source module, laser emission camera lens module, two mesh vision modules, the three-dimensional cloud platform of panorama and calculation module. The laser emission lens is connected with the laser, can change focal length and is used for adjusting the state of a laser emission beam; the binocular vision system comprises a first imaging unit and a second imaging unit, and is used for shooting an image of a visual field where a target is located to obtain distance and orientation information of the target; the panoramic three-dimensional tripod head is used for installing the laser emission lens module and the binocular vision module, adjusting the position of the binocular vision laser emission system relative to a target and ensuring complete image information acquisition and accurate laser emission; and the calculation module is used for calculating the distance and the direction between the real space and the laser emission lens according to the distance and the angle difference of the target imaging positions in the first view field and the second view field, and sending instructions to the panoramic three-dimensional holder and the laser emission lens module after calculation to complete accurate target striking.
Description
Technical Field
The utility model relates to a laser emission field, more specifically relates to a binocular vision laser emission system.
Background
Obstacles often appear in industrial production, security and protection guarantee and scientific research, and the appearance of the obstacles often influences production and life, thereby causing great adverse hidden dangers. In addition, the laser emitting system is special in position, has certain dangerousness, and cannot ensure the safety and effective cleaning of personnel in the driving or cleaning process, so that the laser emitting system capable of automatically identifying and cleaning the target object in a long distance needs to be provided.
The traditional technical scheme is that a coaxial aiming emission function is used, and a controller screen is provided with an aiming cross frame, and an aiming system and an emission system share a light path. In the scheme, aiming is finished through manual operation, the imaging light path and the laser light path adopt a common light path structure, a dichroic mirror is adopted for synthesis, and the wavelength is limited to a certain extent. Because the reason of common light path, when main laser emission, the energy is far greater than the scope that the camera can accept, and overexposure often can appear in the controller screen, the unable clear observation target condition to because dichroic mirror's use, the unable simple power promotion that carries on of this system, it is higher to the dichroic mirror requirement of core, and dichroic mirror's debugging installation is very complicated moreover.
Disclosure of Invention
The present invention provides a binocular vision laser emitting system that overcomes or at least partially solves the above problems.
According to an aspect of the present invention, there is provided a binocular vision laser emitting system, including: the device comprises a laser light source module, a laser emission lens module, a binocular vision module, a panoramic three-dimensional holder and a calculation module. The laser emission lens is connected with the laser, can change focal length and is used for adjusting the state of a laser emission beam; the binocular vision system comprises a first imaging unit and a second imaging unit, and is used for shooting an image of a visual field where a target is located to obtain distance and orientation information of the target; the panoramic three-dimensional tripod head is used for installing the laser emission lens module and the binocular vision module, adjusting the position of the binocular vision laser emission system relative to a target and ensuring complete image information acquisition and accurate laser emission; and the calculation module is used for calculating the distance and the direction of the target between the real space and the laser emission lens according to the distance and the angle difference of the target imaging positions on the first view field and the second view field, and sending an instruction to the panoramic three-dimensional holder and the laser emission lens module after calculation so as to complete accurate target striking.
Preferably, the laser emission lens module is connected with the laser light source module, and can change focal length for adjusting the state of the laser emission beam, the focal length is changed by adjusting the relative position between the lenses through a built-in motion mechanism, the motion mechanism can be an electric structure or a pneumatic structure, and the like, the laser emission beam comprises a divergent beam, a collimated beam and a focused beam, the laser emission lens comprises emission lenses, the emission lenses are coated with an antireflection film, and the wavelength range of the antireflection film can be designed to be any wavelength according to requirements.
Preferably, the laser light source module comprises a semiconductor laser, a solid laser and a fiber laser.
Preferably, the binocular vision module comprises a first imaging unit and a second imaging unit, and is used for shooting an image of a visual field where a target is located to obtain distance and orientation information of the target. The first imaging unit specifically comprises a first visual camera, a first imaging lens and a first view field, the second imaging unit specifically comprises a second visual camera, a second imaging lens and a second view field, and the first imaging unit and the second imaging unit are separated and form a certain included angle when being installed, so that the view fields of the two imaging units are overlapped; the first imaging unit is used for acquiring and recording the position information of the target imaged on the first view field and comparing the position information of the target imaged on the second view field acquired by the second imaging unit; preferably, the angle is in the range of 0 ° to 180 °.
Preferably, the fields of view overlap, either completely or partially.
Preferably, the panoramic three-dimensional holder is used for installing a laser emission lens module and a binocular vision module, adjusting the position of a binocular vision laser emission system relative to a target and ensuring complete image information acquisition and accurate laser emission; the laser emission lens module and the binocular vision module are fixed in installation positions, the first imaging unit and the second imaging unit can be installed on two sides of the laser emission lens module, and can also be installed on the same side of the laser emission lens module.
Preferably, the calculation module is configured to calculate a distance and an orientation of the target in the real space and the laser emission lens according to a distance and an angle difference between target imaging positions in the first view field and the second view field, and send an instruction to the panoramic three-dimensional pan-tilt and the laser emission lens module after calculation, so as to complete accurate target striking.
According to another aspect of the present invention, there is provided a binocular vision laser emitting method, comprising: shooting a target through the binocular vision module according to the first imaging unit and the second imaging unit to obtain position information of the target imaged on the first view field and the second view field, and calculating the distance and the orientation of the target in a real space and the laser emission lens module through the calculation module according to the distance and the angle difference of target imaging positions on the first view field and the second view field; and sending a motion instruction to the panoramic three-dimensional holder through the computing module to enable the laser emission lens module to be aligned to a target, so as to realize automatic aiming emission.
Drawings
Fig. 1 is a schematic view of a binocular vision laser emitting system according to an embodiment of the present invention.
Fig. 2 is the embodiment of the utility model provides a light path schematic diagram of binocular vision module.
Fig. 3 is a schematic view of target acquisition of a binocular vision laser emission system according to an embodiment of the present invention.
Fig. 4 is a schematic view of a target hitting of a binocular vision laser emitting system according to an embodiment of the present invention.
Fig. 5 is a schematic perspective view of a binocular vision laser emitting system according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Fig. 1 shows a schematic diagram of a binocular vision laser emission system, which includes a laser light source module 1, a laser emission lens module 2, a binocular vision module 3, a panoramic three-dimensional pan-tilt 4 and a calculation module 5. The laser emission lens module 2 is connected with the laser light source module 1, can change focal length and is used for adjusting the state of a laser emission beam; the binocular vision module 3 comprises a first imaging unit and a second imaging unit and is used for shooting an image of a visual field where a target is located to obtain distance and orientation information of the target; the panoramic three-dimensional tripod head 4 is used for installing a laser emission lens binocular vision system and adjusting the position of the binocular vision laser emission system relative to a target, so that the image information acquisition is complete and the laser emission is accurate; and the calculation module 5 is used for calculating the distance and the direction between the real position of the target and the laser emission lens module 2 according to the distance and the angle difference of the target imaging positions on the first view field and the second view field, and sending a motion instruction to the panoramic three-dimensional holder 4 after calculation so that the laser emission lens module 2 is aligned with the target to emit laser.
The laser emission lens module 2 comprises an imaging unit 21 and a movement mechanism 22, the movement mechanism 22 is connected with the calculation module 5, and the movement mechanism 22 can be controlled through an electric signal to enable the movement mechanism 22 to adjust the imaging unit 21, so that the laser emission lens module 2 can adjust the emergent light beam into a convergent light beam, a collimated light beam and a divergent light beam.
Fig. 2 is a schematic optical path diagram of a binocular vision module, where the binocular vision module 3 includes a first imaging unit 31 and a second imaging unit 32, where the first imaging unit 31 specifically includes a first vision camera 311, a first imaging lens 312 and a first field of view 313, and the second imaging unit 32 specifically includes a second vision camera 321, a second imaging lens 322 and a second field of view 323. The first imaging unit 31 and the second imaging unit 32 are connected to the computing module 5, respectively.
As shown in fig. 2, in the process of shooting the target, the binocular vision module 3 respectively shoots the images of the visual field where the target a (x, y, z) is located by the first vision camera 311, the first imaging lens 312, the second vision camera 321 and the second imaging lens 322 based on the parallax principle, wherein the first visual field 313 and the second visual field 323 acquire two images of the object to be detected from different positions, and the first vision camera 311 records the corresponding point a on the image plane of the vision camera1(x1,y1,z1) And the second vision camera 321 records the corresponding point A on the image plane of the vision camera2(x2,y2,z2) And the distance (depth) z between the space point target A and the camera is obtained by calculating the relationship between the corresponding points (x1, y1, z1) of the first imaging unit 31 and the corresponding points (x2, y2, z2) of the second imaging unit 32, so as to obtain the three-dimensional coordinates of the target point to be measured.
It should be noted that the panoramic three-dimensional pan-tilt 4 can be installed below the transmitting lens module 2 and the binocular vision module 3, or can be installed below the transmitting lens module 2 separately, so as to adapt to the system structure in the actual use environment and achieve the aiming effect.
As shown in fig. 3, the laser emission lens module 2 and the binocular vision module 3 are mounted on the panoramic three-dimensional pan/tilt 4, when mounted, it is ensured that the emission lens module 2 and the binocular vision module 3 are in the same plane, the first imaging unit 31 and the second imaging unit 32 can be mounted on the same side of the emission lens module 2 or respectively mounted on both sides, the distance between the first imaging unit 31 and the second imaging unit 32 is fixed, when mounted, the optical axes of the first imaging unit 31 and the second imaging unit 32 can be in the range of 30 ° to 180 °, as long as it is ensured that the two viewing fields are not blocked; when the binocular vision laser emission system works, the panoramic three-dimensional tripod head 4 horizontally rotates by 360 degrees, when a target object appears in the first view field 313 and the second view field 323, the corresponding first vision camera 311 and the second vision camera 321 shoot images and transmit image data to the calculation module 5, the distance and the azimuth difference between the target and the laser emission lens module 2 are calculated, a pitching rotation instruction is sent to the panoramic three-dimensional tripod head 4, the panoramic three-dimensional tripod head 4 moves after receiving the pitching horizontal rotation angle shown in fig. 4, the laser emission lens module 2 is ensured to be aligned to the target object, meanwhile, a movement mechanism in the laser emission lens module 2 is controlled through distance information obtained by calculation of the calculation module 5, the lens outgoing beam form is adjusted, and the laser beam is ensured to accurately strike the target object at high energy.
It should be noted that the distance fixing is to calibrate according to the positions of the transmitting lens module 2 and the binocular vision module 3 after installation, and determine the coordinates of the relative origin of the transmitting lens module 2 and the binocular vision module 3, and if the distance is adjusted, recalibrate is needed.
The utility model discloses utilize the parallax of binocular vision, obtain the three-dimensional coordinate of target object in the two vision cameras public visual field by the trigonometry principle, realized can accomplish the purpose that the laser instrument aims at the target and strikes through vision system and three-dimensional cloud platform system, it still needs the restriction of extra range finding module to have solved the acquisition to distance information, very big reduction the system's component unit, improve system stability; by utilizing the independent structures of the vision module and the laser emission module, the two system modules can work simultaneously, and the restriction influence between the two system modules is small, so that the spatial layout freedom of the system is improved, the hitting direction, posture and angle are more flexible, and the beam synthesis is not required to be carried out by using a dichroic mirror; meanwhile, the distance information is measured in real time and at high precision, the emission form of the emitted light beam can be flexibly and accurately adjusted, the laser striking quality is guaranteed, meanwhile, due to the design of an independent emission module, other imaging units are not needed to be considered, laser light sources with different wavelengths and different powers can be rapidly replaced, the adaptability of the emission system is improved, and meanwhile, the influence of the emitted light on the optical system is reduced.
Finally, it should be noted that the above embodiments are only intended to illustrate the technical solution of the present invention, not to limit it, and the application can be extended to other modifications, variations, applications and embodiments, and all such modifications, variations, applications, embodiments are considered to be within the spirit and scope of the present invention.
Claims (7)
1. A binocular vision laser emission system is characterized by comprising a laser light source module, a laser emission lens module, a binocular vision module, a panoramic three-dimensional holder and a calculation module; the laser emission lens is connected with the laser, can change focal length and is used for adjusting the state of a laser emission beam; the binocular vision system comprises a first imaging unit and a second imaging unit, and is used for shooting an image of a visual field where a target is located to obtain distance and orientation information of the target; the panoramic three-dimensional tripod head is used for installing the laser emission lens module and the binocular vision module, adjusting the position of the binocular vision laser emission system relative to a target and ensuring complete image information acquisition and accurate laser emission; and the calculation module is used for calculating the distance and the direction of the target between the real space and the laser emission lens according to the distance and the angle difference of the target imaging positions on the first view field and the second view field, sending an instruction to the panoramic three-dimensional holder and the laser emission lens module after calculation, emitting laser and finishing accurate target striking.
2. The binocular vision laser emission system according to claim 1, wherein the focal length is changed by adjusting the relative position between the lenses through a built-in motion mechanism, the motion mechanism may be an electric structure or a pneumatic structure, the laser beam emitted from the laser comprises a diverging beam, a collimated beam and a focusing beam, the laser emission lens comprises emission lenses, the emission lenses are coated with an anti-reflection film, and the wavelength range of the anti-reflection film can be designed to be any wavelength as required.
3. A binocular vision laser emitting system according to claim 1, wherein the laser light source module comprises a semiconductor laser, a solid state laser, a fiber laser.
4. The binocular vision laser emission system according to claim 1, wherein the first imaging unit specifically includes a first vision camera, a first imaging lens and a first field of view; the second imaging unit specifically comprises a second visual camera, a second imaging lens and a second field of view; the first imaging unit and the second imaging unit are separated and form a certain included angle when being installed, so that the view fields of the two imaging units are overlapped; the first imaging unit is used for acquiring and recording the position information of the target imaged on the first view field and comparing the position information of the target imaged on the second view field acquired by the second imaging unit.
5. The system of claim 4, wherein the angle is in the range of 0 ° to 180 °.
6. The system of claim 4, wherein the fields of view overlap, either completely or partially.
7. The binocular vision laser emission system of claim 1, wherein the laser emission lens module is fixed to a binocular vision module, and the first imaging unit and the second imaging unit are installed at both sides of the laser emission lens module or at the same side of the laser emission lens module.
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| CN112584053A (en) * | 2021-01-18 | 2021-03-30 | 北京同方华光系统科技有限公司 | Binocular vision laser emission system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112584053A (en) * | 2021-01-18 | 2021-03-30 | 北京同方华光系统科技有限公司 | Binocular vision laser emission system and method |
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