CN215297902U

CN215297902U - Laser projection module and 3D camera

Info

Publication number: CN215297902U
Application number: CN202121857159.7U
Authority: CN
Inventors: 王艳超; 李庆; 李鹏飞; 丁有爽; 邵天兰
Original assignee: Mech Mind Robotics Technologies Co Ltd
Current assignee: Mech Mind Robotics Technologies Co Ltd
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2021-12-24
Anticipated expiration: 2031-08-10

Abstract

The utility model provides a laser projection module and a 3D camera, wherein the laser projection module comprises a laser, a galvanometer component and a fixing device; the laser and the galvanometer component are both arranged on the fixing device, and the laser is used for outputting linear laser; the galvanometer component comprises a galvanometer and a driving motor, the galvanometer is connected with the driving motor, and the driving motor can drive the galvanometer to rotate under the working state so that linear laser output by the laser is projected onto the galvanometer and then projected to a detection area at different angles; the fixing device is also provided with a protective baffle plate, and the protective baffle plate is used for protecting the vibrating mirror and blocking laser outside the working range of laser emission. The utility model discloses can with different angle projection to detection area behind the linear laser projection of laser instrument output on the mirror that shakes, can be more nimble, safer ground obtain required linear laser stripe to satisfy the demand of camera module to the projection.

Description

Laser projection module and 3D camera

Technical Field

The utility model belongs to the technical field of optical device, concretely relates to laser projection module and 3D camera.

Background

With the development of lasers, more and more machine devices need to install laser 3D cameras to acquire point cloud images. Can contain the laser projection module that is used for the linear stripe of projection and the camera module that is used for gathering the two-dimensional image in the 3D camera, the laser projection module can be to the linear stripe of laser of detection area projection at the during operation, and the camera module of being convenient for can confirm the three-dimensional coordinate of a plurality of pixel points in the laser stripe to obtain the point cloud image of detection area.

SUMMERY OF THE UTILITY MODEL

For overcoming the problem that exists in the correlation technique to a certain extent at least, the utility model provides a laser projection module and 3D camera.

According to a first aspect of embodiments of the present invention, the present invention provides a laser projection module, which includes a laser, a galvanometer component, and a fixing device;

the laser and the galvanometer component are both arranged on the fixing device, and the laser is used for outputting linear laser; the galvanometer component comprises a galvanometer and a driving motor, the galvanometer is connected with the driving motor, and the driving motor can drive the galvanometer to rotate under the working state so as to project linear laser output by the laser to a detection area at different angles after the linear laser is projected on the galvanometer;

the fixing device is further provided with a protection baffle plate, and the protection baffle plate is used for protecting the vibrating mirror and blocking laser outside the working range of laser emission.

In the laser projection module, the laser comprises a fixing mechanism, a laser diode, a collimating lens, a circuit board and a Powell prism;

the fixing mechanism comprises a shell and a prism fixing seat, a light source channel is formed in the shell, and the laser diode and the collimating lens are arranged in the light source channel;

a first connecting part is arranged at one end of the shell along the direction of a light path in the light source channel and used for fixing the circuit board connected with the laser diode; the other end of the shell is provided with a second connecting part, a connecting channel is arranged in the second connecting part, and the connecting channel is coaxially communicated with the light source channel;

the Bawell prism is arranged in the prism fixing seat, and the prism fixing seat can rotate relative to the second connecting part; and the prism fixing seat is fixed with the second connecting part after rotating to a required position.

Furthermore, at least one glue injection hole is formed in the shell along the radial direction of the light source channel, and the glue injection hole is of a funnel-shaped structure;

the glue injection hole is used for fixing the collimating lens and the shell after glue injection.

Furthermore, the prism fixing seat comprises a prism barrel and a rotary disc, the Bawell prism is fixedly arranged in the prism barrel, and the rotary disc is clamped on the prism barrel along the radial direction of the prism barrel; the turntable is provided with at least one arc-shaped through hole;

one end of the prism barrel, which is close to the light incident surface of the Bawell prism, is connected in the connecting channel of the second connecting part in a matching way, and the end surface of the second connecting part, which faces the prism barrel, is provided with at least one connecting hole; under the condition that the rotary disc rotates, the arc-shaped through hole can be aligned with at least one connecting hole.

Further, the collimating lens comprises a lens and a lens barrel, the lens is arranged in the lens barrel, and an external thread is arranged on the outer wall of the lens barrel along the axial direction of the lens barrel; the shell is internally provided with an internal thread on the peripheral wall of the light source channel; the collimating lens is connected with the shell through the external thread and the internal thread.

In the laser projection module, the fixing device comprises a laser fixing seat and a galvanometer component fixing seat;

the laser fixing seat is used for installing and fixing the laser, and the galvanometer component fixing seat is used for installing and fixing the galvanometer component; the laser beam generator comprises a laser fixing seat, a vibrating mirror assembly fixing seat and a vibrating mirror, wherein the vibrating mirror assembly fixing seat is connected with one side of the laser fixing seat, and the vibrating mirror is installed on the vibrating mirror assembly fixing seat.

Furthermore, the protective baffle is arranged on the opposite side of the connecting side of the galvanometer component fixing seat and the laser fixing seat and is connected with the galvanometer component fixing seat; the height of the protective baffle is greater than that of a laser beam emitted by a laser installed in the laser fixing seat.

Furthermore, the laser fixing seat comprises a fixing seat body, the fixing seat body is of a concave structure, a placing groove is formed in the bottom surface of a notch of the concave structure, and a refrigerating sheet is placed in the placing groove; the laser device is characterized in that heat dissipation grooves and avoidance grooves are formed in two side walls of the concave-shaped structure respectively, temperature sensors are arranged in the avoidance grooves and used for detecting the temperature of the laser device.

Furthermore, the laser fixing seat further comprises a metal plate buckle arranged at the top of the fixing seat body, wherein two ends of the bottom of the metal plate buckle are respectively connected with the fixing seat body and are used for fixing the laser placed in the placing groove of the fixing seat body.

Furthermore, a fixing hole penetrating through the galvanometer component fixing seat is formed in the galvanometer component fixing seat along the vertical direction of the top surface of the galvanometer component fixing seat; the driving motor is arranged in the fixing hole, and the galvanometer is positioned above the fixing hole;

the edge of the opposite side edge of one side, connected with the laser fixing seat, of the galvanometer component fixing seat is provided with a notch, the notch penetrates through the galvanometer component fixing seat from the fixing hole along the parallel direction of the top surface of the galvanometer component fixing seat, and the notch also penetrates through the galvanometer component fixing seat along the vertical direction of the top surface of the galvanometer component fixing seat, so that the peripheral wall of the fixing hole has deformation capacity;

and the two opposite surfaces of the notch are provided with matched second screw holes, and the second screw holes penetrate along the parallel direction of the top surface of the vibrating mirror assembly fixing seat so as to be matched with screws to realize the fastening of the vibrating mirror assembly in the fixing holes.

Further, fixing device still includes the illumination fixed plate, illumination fixed plate and guard flap integrated into one piece or fixed connection are in the same place, install lamp plate and light screen on the illumination fixed plate, the light screen is used for right the light of lamp plate transmission carries out the part and shelters from.

Furthermore, the light screen comprises a first light shielding sheet, a light homogenizing sheet and a second light shielding sheet which are sequentially arranged, the first light shielding sheet and the second light shielding sheet are both used for partially shielding light emitted by the lamp panel, and the light homogenizing sheet is used for homogenizing the light emitted by the lamp panel;

the first shading sheet is provided with at least one first light transmission hole, and the number of the first light transmission holes is matched with the number of the LED lamp beads on the lamp panel; and the second shading sheet is provided with second light holes, the second light holes correspond to the first light holes, and the area of each second light hole is larger than or equal to that of each first light hole.

According to the utility model discloses in the second aspect, the utility model also provides a 3D camera, it includes at least one optics 2D camera and any one of the aforesaid laser projection module, optics 2D camera becomes with laser projection module and predetermines the angle, laser projection module is used for to being shot object surface emission laser line, optics 2D camera is used for laser line scanning is recorded when being shot object surface the image of laser line.

According to the above embodiments of the present invention, at least the following advantages are obtained: the utility model provides a laser projection module is through setting up laser instrument, galvanometer subassembly and fixing device, all sets up laser instrument and galvanometer subassembly on fixing device, and the laser instrument is used for exporting linear laser, and the galvanometer subassembly includes the galvanometer and the driving motor who is connected with the galvanometer, and driving motor can drive the galvanometer rotation under operating condition; the utility model provides a laser projection module can be with the linear laser projection of laser instrument output with different angle projection to detection area on the mirror that shakes after, can be more nimble, more safely the required linear laser stripe that obtains to satisfy the demand of camera module to the projection.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification of the invention, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic view of an overall structure of a laser projection module according to an embodiment of the present invention.

Fig. 2 is a second schematic view of an overall structure of a laser projection module according to an embodiment of the present invention.

Fig. 3 is a third schematic view of an overall structure of a laser projection module according to an embodiment of the present invention.

Fig. 4 is a cross-sectional view of a laser in a laser projection module according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a housing of a laser in a laser projection module according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a laser in a laser projection module according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a prism fixing seat in a laser projection module according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of a fixing device in a laser projection module according to an embodiment of the present invention.

Fig. 9 is a second schematic structural diagram of a laser in a laser projection module according to an embodiment of the present invention.

Fig. 10 is a schematic structural diagram of a light shielding plate in a laser projection module according to an embodiment of the present invention.

Description of reference numerals:

1. a laser;

11. a fixing mechanism;

111. a housing; 1111. injecting glue holes;

112. a prism fixing seat; 1121. a prismatic lens barrel; 1122. a turntable; 1123. an arc-shaped through hole;

113. a light source channel; 114. a first connection portion;

115. a second connecting portion; 1151. connecting holes;

12. a laser diode; 121. an electrode;

13. a collimating lens; 131. a card slot;

14. a circuit board; 141. threading holes;

15. a Powell prism;

2. a galvanometer component;

21. a galvanometer; 22. a drive motor;

3. a fixing device;

31. a protective baffle; 311. a transverse plate; 312. a longitudinal plate;

32. a laser fixing seat; 321. a fixed seat body; 3211. a limiting hole; 3212. a limiting bolt; 322. a placement groove; 3221. a refrigeration plate; 323. a heat sink; 324. an avoidance groove; 325. a first screw hole; 326. a metal plate buckle;

33. a galvanometer component fixing seat; 331. a fixing hole; 332. a second screw hole;

34. an illumination fixing plate; 341. a transverse portion; 342. a longitudinal portion; 343. a third threaded hole; 344. a limiting column;

35. a lamp panel;

36. a visor; 361. a first light-shielding sheet; 3611. a first light-transmitting hole; 362. light homogenizing; 363. a second light-shielding sheet; 3631. and a second light hole.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the spirit of the present invention will be described in detail with reference to the accompanying drawings, and any person skilled in the art can change or modify the techniques taught by the present invention without departing from the spirit and scope of the present invention after understanding the embodiments of the present invention.

The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.

As used herein, the terms "first," "second," …, etc. do not denote any order or sequential importance, nor are they used to limit the invention, but rather are used to distinguish one element from another or from another element or operation described in the same technical language.

With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.

As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.

As used herein, "and/or" includes any and all combinations of the described items.

References to "at least one" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".

Certain words used to describe the invention are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the invention.

As shown in fig. 1-3, the embodiment of the present invention provides a laser projection module including a laser 1, a galvanometer component 2, and a fixing device 3. Wherein, laser instrument 1 and galvanometer subassembly 2 all set up on fixing device 3, and laser instrument 1 is used for exporting linear laser. The galvanometer assembly 2 comprises a galvanometer 21 and a driving motor 22, the galvanometer 21 is connected with the driving motor 22, and the driving motor 22 can drive the galvanometer 21 to rotate under the working state, so that linear laser output by the laser 1 is projected to a detection area at different angles after being projected on the galvanometer 21. The fixing device 3 is provided with a protective baffle 31, and the protective baffle 31 is used for protecting the galvanometer 21 and blocking laser light emitted by the laser 1 out of the working range.

In a specific embodiment, as shown in fig. 4, the laser 1 includes a fixing mechanism 11, a laser diode 12, a collimating lens 13, a circuit board 14, and a powell prism 15. The fixing mechanism 11 includes a housing 111 and a prism fixing base 112, a light source channel 113 is formed in the housing 111, and the laser diode 12 and the collimating lens 13 are disposed in the light source channel 113.

Along the light path direction in the light source passage 113, one end of the housing 111 is provided with a first connection portion 114, and the other end thereof is provided with a second connection portion 115. The circuit board 14 is fixedly connected to the first connection portion 114, and the laser diode 12 is connected to the circuit board 14 through the electrode 121.

A connection passage is opened in the second connection portion 115, and the connection passage is coaxially communicated with the light source passage 113. The powell prism 15 is disposed in the prism fixing base 112, and the prism fixing base 112 is connected to the second connecting portion 115 and can rotate relative to the second connecting portion 115.

According to the debugging requirement, the prism fixing base 112 is fixed with the second connecting portion 115 after rotating to the required position.

It should be noted that the first connecting portion 114 may be integrally formed with the housing 111, for example, the first connecting portion 114 may be an end surface of the housing 111 along the light path direction in the light source channel 113, and the circuit board 14 is directly fixed on the end surface. The first connecting portion 114 can also be a separate component, which is fixedly connected to the housing 111; for example, the first connection portion 114 may be an end plate connected to an end surface of the housing 111 in the light path direction in the light source passage 113, and the circuit board 14 is fixedly disposed on the end plate.

As shown in fig. 5 and 6, the second connection portion 115 may be integrally formed with the housing 111; or may be a separate component that is fixedly attached to the housing 111.

One end of the prism fixing seat 112 is connected to the connection channel in a fitting manner, and specifically, one end of the prism fixing seat 112 may be connected to the connection channel in an interference fit manner. The diameter of the connecting channel is larger than that of the light source channel 113, so that when the prism fixing seat 112 is matched and connected in the connecting channel, the diameter of the Bawell prism 15 installed in the prism fixing seat 112 is equivalent to that of the light source channel 113, and laser emitted by the laser diode 12 can penetrate through the collimating lens 13 and then can be emitted along the axis of the Bawell prism 15.

In this embodiment, as shown in fig. 4 and 5, at least one glue injection hole 1111 is formed on the housing 111 in a direction from the outside of the housing 111 to the light source channel 113 in the housing 111, that is, along the radial direction of the light source channel 113.

The glue injection hole 1111 is of a funnel-shaped structure, the upper portion of the glue injection hole is of an inverted frustum structure, and the lower portion of the glue injection hole is of a cylindrical structure. After the position of the collimating lens 13 in the light source channel 113 is adjusted, glue can be injected through the glue injection hole 1111, and the collimating lens 13 and the housing 111 are fixed, so that the position of the collimating lens 13 in the housing 111 is fixed.

In this embodiment, as shown in fig. 7, the prism fixing base 112 includes a prism cylinder 1121 and a rotating disc 1122, the powell prism 15 is fixedly disposed in the prism cylinder 1121, and the rotating disc 1122 is engaged with the prism cylinder 1121 along a radial direction of the prism cylinder 1121.

The turntable 1122 is provided with at least one arc-shaped through hole 1123. The second connection portion 115 has at least one connection hole 1151 formed in an end surface facing the prism barrel 1121. The connection hole 1151 may be a circular hole. The arc-shaped through-hole 1123 can be aligned with at least one connection hole 1151 as the rotary disk 1122 is rotated. The prism holder 112 is fixed to the second connection portion 115 by the arc-shaped through hole 1123, the aligned connection hole 1151, and a screw.

Specifically, the size of the arc-shaped through hole 1123 is larger than the size of the coupling hole 1151, so that the swivel plate 1122 can be fixedly coupled to the second coupling portion 115 always through the screw, the arc-shaped through hole 1123 and the coupling hole 1151.

Specifically, the arc-shaped through hole 1123 and the connection hole 1151 are each provided in plurality. The rotary plate 1122 is an annular rotary plate 1122 integrally provided with the prism cylinder 1121, and a plurality of arc-shaped through holes 1123 are uniformly provided on an annular surface of the annular rotary plate 1122. The second connection portion 115 is a cylindrical body, and the plurality of connection holes 1151 are uniformly provided on an annular end surface of the cylindrical body facing the prism barrel 1121. Wherein the size of the arc-shaped through hole 1123 is larger than that of the connection hole 1151.

More specifically, 4 arc-shaped through holes 1123 may be provided at intervals on the

rotary plate

1122, and 12 connection holes 1151 may be provided at intervals on the end surface of the second connection portion 115 facing the prism cylinder 1121. Of course, 1 arc through hole 1123 may also be provided on the rotary disc 1122 along the circumferential direction of the rotary disc 1122, and the arc through hole 1123 may be an annular arc through hole 1123; the end surface of the second connecting portion 115 facing the prism cylinder 1121 is provided with 1 connecting hole 1151, so that the rotation plate 1122 and the second connecting portion 115 can be fixedly connected by means of the screw, the arc-shaped through hole 1123 and the connecting hole 1151 regardless of how much the rotation plate 1122 rotates.

In practical use, one end of the prism tube 1121 is inserted into the connection channel of the second connection portion 115, the rotating disc 1122 is rotated to adjust the angle of the powell prism 15 so as to meet the adjustment requirement, and then the prism fixing seat 112 and the second connection portion 115 are fixed through the screw, the arc-shaped through hole 1123 and the connection hole 1151.

Preferably, the length of the end of the prism tube 1121 connected to the second connection part 115 is less than or equal to the length of the connection passage in the second connection part 115, which not only facilitates fastening the prism holder 112 and the second connection part 115, but also reduces the length of the laser 1 fixture 3, thereby reducing the size of the laser 1 for outputting linear laser light. When the angle of the powell prism 15 is adjusted to a preset requirement, the rotating disc 1122 may contact with the end surface of the second connecting portion 115 facing the prism cylinder 1121, so as to facilitate fastening the prism fixing base 112 and the second connecting portion 115.

In the present embodiment, as shown in fig. 4, the collimator lens 13 includes a lens and a lens barrel, the lens is disposed in the lens barrel, and an external thread is provided on an outer wall of the lens barrel along an axial direction thereof. Located in the housing 111, a female screw is provided on the peripheral wall of the light source passage 113. The collimating lens 13 is connected with the housing 111 through an external thread and an internal thread, so that the position of the collimating lens 13 in the light source channel 113 can be conveniently adjusted, and the distance between the collimating lens 13 and the laser diode 12 can meet the preset requirement.

After the position of the collimating lens 13 in the light source channel 113 is adjusted, glue can be injected through the glue injection hole 1111 formed in the housing 111, and the glue injection hole is specifically used for fixing the lens barrel and the housing 111, so that the position of the collimating lens 13 in the light source channel 113 is fixed.

In the embodiment, as shown in fig. 4, a slot 131 is disposed on the end surface of the lens barrel, and the auxiliary tool can rotate the collimating lens 13 through the slot 131 to change the position of the collimating lens 13 in the light source channel 113 and adjust the distance between the collimating lens 13 and the laser diode 12.

In the present embodiment, as shown in fig. 2 and 4, the circuit board 14 includes an electrode region and a lead fixing region, which are integrally formed or fixedly connected together. The electrode area is fixedly connected with the shell 111, the lead fixing area extends out of one side of the shell 111, and a threading hole 141 is formed in the lead fixing area. The lead wire connected with the electrode 121 of the laser diode 12 can pass through the threading hole 141, so that the lead wire can be conveniently stored and sorted, and the lead wire at the position of the circuit board 14 is prevented from being excessively messy.

When the laser 1 is assembled, the specific assembling process is as follows:

the laser diode 12 is connected to the circuit board 14 through the electrode 121.

The laser diode 12 is placed in the light source channel 113 of the laser 1 holder 3, and the circuit board 14 is fixedly connected to the housing 111 in the laser 1 holder 3.

The opposite end of one end of the shell 111 connected with the circuit board 14 is screwed into the light source channel 113 of the laser 1 fixing device 3, the distance between the collimating lens 13 and the laser diode 12 is adjusted, after the preset requirement is met, glue is injected into the shell 111 through the glue injection hole 1111, and the collimating lens 13 and the shell 111 are fixed.

The powell prism 15 is installed in the prism holder 112, and the prism holder 112 is inserted into the connection passage of the second connection part 115. The prism holder 112 is rotated to adjust the angle of the powell prism 15. When the angle of the powell prism 15 is adjusted to meet the preset requirement, the prism fixing seat 112 and the second connecting portion 115 are fixed through the screw, the arc-shaped through hole 1123 on the rotary disc 1122 and the connecting hole 1151 on the second connecting portion 115, so that the laser 1 capable of inputting linear laser is obtained.

In one particular embodiment, as shown in fig. 8, the fixture 3 includes a laser mount 32 and a galvanometer assembly mount 33. The laser fixing seat 32 is used for installing and fixing the laser 1, and the galvanometer component fixing seat 33 is used for installing and fixing the galvanometer component 2. Along the laser emission direction of the laser 1 installed on the laser fixing seat 32, the galvanometer component fixing seat 33 is connected with one side of the laser fixing seat 32, so that laser emitted by the laser 1 is incident on the galvanometer 21 installed on the galvanometer component fixing seat 33.

Specifically, the protective baffle 31 is disposed on the opposite side of the connection side of the galvanometer component fixing seat 33 and the laser fixing seat 32, and is connected with the galvanometer component fixing seat 33, so as to protect the galvanometer 21 and block laser light emitted by the laser 1 out of the working range.

Specifically, the height of the protective baffle 31 is greater than the height of the laser beam emitted by the laser 1 installed in the laser fixing seat 32, so that if the laser beam emitted by the laser 1 does not strike the galvanometer 21 in the galvanometer assembly 2, the laser beam can strike the protective baffle 31, thereby avoiding the injury to the worker due to the irradiation.

In a specific embodiment, as shown in fig. 8 and 9, the laser holder 32 includes a holder body 321, the holder body 321 is in a concave structure, a placement groove 322 is formed on a bottom surface of a recess of the concave structure, and the placement groove 322 is used for placing a refrigeration sheet 3221. The laser 1 generates heat in the working process to easily cause the temperature rise, the laser 1 can be arranged on the refrigeration sheet 3221, and the refrigeration sheet 3221 can cool the laser 1 in the working process so as to reduce the influence of overhigh temperature on the precision of the laser 1.

In this embodiment, a heat sink 323 is disposed on a sidewall of the fixing base body 321 perpendicular to the optical path direction of the mounted laser 1 to reduce the contact area between the laser 1 and the fixing base body 321; on the one hand, the laser 1 is favorable for heat dissipation, and on the other hand, the heat of the laser 1 can be prevented from being excessively transferred to the fixing seat body 321, so that the temperature of the fixing seat body 321 is increased, and the heat dissipation of the laser 1 is further influenced.

It is understood that the heat sink 323 can be replaced by heat dissipation holes penetrating through the sidewall of the fixing base 321.

An avoiding groove 324 is formed in the other side wall of the fixing base body 321 in the direction perpendicular to the optical path direction of the installed laser 1, that is, the avoiding groove 324 and the heat dissipation groove 323 are respectively formed in two opposite side walls of the fixing base body 321. A temperature sensor may be disposed in the avoiding groove 324, and a detection end of the temperature sensor may pass through the avoiding groove 324 to detect the temperature of the laser 1.

The bottom of the fixing base body 321 is further provided with a first screw hole 325, and the fixing base body 321 and the shell 111 of the 3D camera can be fixed through the screw and the first screw hole 325.

In this embodiment, as shown in fig. 2 and fig. 3, the laser fixing base 32 further includes a metal plate buckle 326 disposed on the top of the fixing base body 321, and the metal plate buckle 326 is used for buckling above the laser 1 placed on the fixing base body 321 to fix the laser 1. Specifically, the metal plate buckle 326 is of a structure shaped like a Chinese character 'ji', and two ends of the bottom of the metal plate buckle are respectively connected with the fixing seat body 321.

In a specific embodiment, as shown in fig. 8, a fixing hole 331 penetrating through the galvanometer unit fixing base 33 is provided on the galvanometer unit fixing base 33 in a vertical direction of the top surface of the galvanometer unit fixing base 33. The relative side edge cloth of one side is connected with laser instrument fixing base 32 to mirror subassembly fixing base 33 that shakes establishes the opening, and the opening starts from fixed orifices 331, runs through mirror subassembly fixing base 33 that shakes along the parallel direction of mirror subassembly fixing base 33 top surface, and the opening still runs through mirror subassembly fixing base 33 that shakes along the vertical direction of mirror subassembly fixing base 33 top surface to make fixed orifices 331 perisporium have deformability. The two opposite surfaces of the notch are provided with second screw holes 332 matched with each other, and the second screw holes 332 penetrate through the top surface of the galvanometer component fixing seat 33 in the parallel direction so as to be matched with screws to fasten the galvanometer component 2 in the fixing holes 331.

When the galvanometer component 2 is fixed by the galvanometer component fixing seat 33, the motor in the galvanometer component 2 can be placed in the fixing hole 331 firstly, and the motor is fastened in the fixing hole 331 through the screw and the second screw hole 332.

In a specific embodiment, as shown in fig. 8 and 9, the protective baffle 31 adopts a corner structure, which includes a horizontal plate 311 and a vertical plate 312, wherein the horizontal plate 311 and the vertical plate 312 are integrally formed or fixedly connected together. The transverse plate 311 is disposed on the opposite side of the galvanometer component fixing seat 33 where the second screw hole 332 is disposed, and the longitudinal plate 312 is disposed on the opposite side of the galvanometer component fixing seat 33 where the laser fixing seat 32 is connected.

The top surface of the horizontal plate 311 is coplanar with the top surface of the vertical plate 312, and the bottom surface of the horizontal plate 311 is coplanar with the bottom surface of the vertical plate 312.

The protective baffle 31 is used for surrounding the opposite side of the side where the galvanometer component fixing seat 33 is connected with the laser fixing seat 32 and the opposite side of the side where the galvanometer component fixing seat 33 is provided with the second screw hole 332 so as to protect the galvanometer component fixing seat 33 and the galvanometer component 2 arranged in the galvanometer component fixing seat 33.

In a specific embodiment, as shown in fig. 8 and 9, the fixing device 3 further includes an illumination fixing plate 34, and the illumination fixing plate 34 and the longitudinal plate of the protective baffle 31 are disposed on the same side of the galvanometer block fixing seat 33.

The lighting fixing plate 34 adopts a corner structure, and includes a horizontal portion 341 and a vertical portion 342, and the horizontal portion 341 and the vertical portion 342 are integrally formed or fixedly connected together. The top surface of the horizontal portion 341 is flush with the top surface of the vertical portion 342, and the bottom surface of the horizontal portion 341 is flush with the bottom surface of the vertical portion 342.

The lateral portion 341 is connected to the vertical plate 312 of the guard flap 31.

The lamp panel 35 is fixedly mounted on the end face of the transverse portion 341 of the lighting fixing plate 34, and the lamp panel 35 can improve the brightness of the 3D camera shooting area.

A third screw hole 343 is opened in an end surface of the vertical portion 342 of the illumination fixing plate 34, and a shade 36 is fixedly connected to the end surface of the vertical portion 342 of the illumination fixing plate 34 through a screw and the third screw hole 343. Light screen 36 can use with lamp plate 35 cooperation, and it is used for carrying out the part to the light of lamp plate 35 transmission and shelters from, and the scope of the light irradiation to ground of avoiding lamp plate 35 transmission is too big, produces the interference to other operation stations that close on. Specifically, two third threaded holes 343 are provided.

And a limiting post 344 is further disposed between the two third threaded holes 343 and on the end surface of the vertical portion of the lighting fixing plate 34, on one hand, the limiting post 344 may be used to fix the light shielding plate 36, and on the other hand, the limiting post 344 may also be used to mark the installation direction of the light shielding plate 36, thereby improving the installation efficiency. Specifically, two of the limiting posts 344 are provided, and the two limiting posts 344 may be disposed near one of the third threaded holes 343.

The protective baffle 31 and the illumination fixing plate 34 may be integrally formed, or may be two separate members. When the protective barrier 31 and the lighting fixture plate 34 are two separate parts, they may be fixedly connected together or separated from each other.

In a specific embodiment, as shown in fig. 10, the light shielding plate 36 includes a first light shielding sheet 361, a light homogenizing sheet 362 and a second light shielding sheet 363, which are sequentially disposed, wherein the first light shielding sheet 361 and the second light shielding sheet 363 are both used for partially shielding light emitted by the lamp panel 35, so as to avoid that the light emitted by the lamp panel 35 irradiates the ground in a too large range, which causes interference to other adjacent work stations. The light uniformizing sheet 362 is used for performing uniform processing on the light emitted by the lamp panel 35.

Specifically, set up at least one first light trap 3611 on the first anti-dazzling screen 361, the quantity of first light trap 3611 and the quantity phase-match of LED lamp pearl on the lamp plate 35. The second light shielding sheet 363 is provided with a second light hole 3631, the second light hole 3631 corresponds to the first light hole 3611, and the area of the second light hole 3631 is larger than or equal to the area of all the first light holes 3611.

In a specific embodiment, as shown in fig. 3 and 9, a bottom surface of the fixing base body 321 is provided with a limiting hole 3211, and a limiting bolt 3212 is installed in the limiting hole 3211. The limiting bolt 3212 is used for limiting a motor in the galvanometer component 2. After the installation of the galvanometer 21 in the galvanometer assembly 2 is completed, whether the angle of the galvanometer 21 is adjusted to a required angle can be determined by detecting the distance between the motor in the galvanometer assembly 2 and the limit bolt 3212.

The utility model also provides a 3D camera, including the laser projection module that at least one optics 2D camera and above-mentioned embodiment provided.

Exemplarily, an optical 2D camera arranged at a certain angle with the laser projection module records an image of a laser line when the laser line scans the surface of the object to be shot, and further, according to a laser triangulation method, three-dimensional position coordinates of a point cloud point of the surface profile of the object to be shot are determined, so as to obtain a three-dimensional point cloud picture corresponding to the object to be shot.

Specifically, each cloud point is a position point in a three-dimensional cloud point image, and after the three-dimensional position coordinates of the multiple cloud points are determined, the three-dimensional cloud point image corresponding to the shot object can be obtained.

The foregoing is only an illustrative embodiment of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present invention should fall within the protection scope of the present invention.

Claims

1. A laser projection module is characterized by comprising a laser, a galvanometer component and a fixing device;

2. The laser projection module of claim 1, wherein the laser comprises a fixture, a laser diode, a collimating lens, a circuit board, and a powell prism;

3. The laser projection module of claim 2, wherein at least one glue injection hole is formed in the housing along a radial direction of the light source channel, and the glue injection hole is of a funnel-shaped structure;

4. The laser projection module as claimed in claim 2 or 3, wherein the prism holder comprises a prism barrel and a rotary table, the Bawell prism is fixedly arranged in the prism barrel, and the rotary table is clamped on the prism barrel along the radial direction of the prism barrel; the turntable is provided with at least one arc-shaped through hole;

5. The laser projection module as claimed in claim 2, wherein the collimating lens comprises a lens and a lens barrel, the lens is disposed in the lens barrel, and the outer wall of the lens barrel is provided with an external thread along the axial direction of the lens barrel; the shell is internally provided with an internal thread on the peripheral wall of the light source channel; the collimating lens is connected with the shell through the external thread and the internal thread.

6. The laser projection module of claim 1, wherein the fixing device comprises a laser fixing seat and a galvanometer component fixing seat;

7. The laser projection module of claim 6, wherein the protective baffle is disposed on the side opposite to the side where the galvanometer component holder is connected to the laser holder and is connected to the galvanometer component holder; the height of the protective baffle is greater than that of a laser beam emitted by a laser installed in the laser fixing seat.

8. The laser projection module of claim 6, wherein the laser holder comprises a holder body, the holder body is of a concave structure, a placement groove is formed in the bottom surface of a notch of the concave structure, and a refrigeration sheet is placed in the placement groove; the laser device is characterized in that heat dissipation grooves and avoidance grooves are formed in two side walls of the concave-shaped structure respectively, temperature sensors are arranged in the avoidance grooves and used for detecting the temperature of the laser device.

9. The laser projection module of claim 8, wherein the laser fixing seat further comprises a sheet metal buckle arranged at the top of the fixing seat body, and two ends of the bottom of the sheet metal buckle are respectively connected with the fixing seat body and used for fixing the laser placed in the placing groove of the fixing seat body.

10. The laser projection module as claimed in claim 6, wherein a fixing hole penetrating through the galvanometer component fixing seat is formed on the galvanometer component fixing seat along a vertical direction of the top surface of the galvanometer component fixing seat; the driving motor is arranged in the fixing hole, and the galvanometer is positioned above the fixing hole;

11. The laser projection module of claim 6, wherein the fixing device further comprises an illumination fixing plate, the illumination fixing plate and the protective baffle are integrally formed or fixedly connected together, a lamp panel and a light shielding plate are mounted on the illumination fixing plate, and the light shielding plate is used for partially shielding light emitted by the lamp panel.

12. The laser projection module of claim 11, wherein the light shielding plate comprises a first light shielding sheet, a light homogenizing sheet and a second light shielding sheet, which are sequentially arranged, the first light shielding sheet and the second light shielding sheet are both used for partially shielding light emitted by the lamp panel, and the light homogenizing sheet is used for homogenizing light emitted by the lamp panel;

13. A 3D camera comprising at least one optical 2D camera and a laser projection module of any of claims 1 to 12; the optical 2D camera and the laser projection module form a preset angle, the laser projection module is used for emitting a laser line to the surface of a shot object, and the optical 2D camera is used for recording an image of the laser line when the laser line scans the surface of the shot object.