WO2023050592A1

WO2023050592A1 - Powell prism, linear laser device, laser projection module and laser 3d camera

Info

Publication number: WO2023050592A1
Application number: PCT/CN2021/138579
Authority: WO
Inventors: 吴筱; 丁有爽; 邵天兰
Original assignee: 梅卡曼德（北京）机器人科技有限公司
Priority date: 2021-09-30
Filing date: 2021-12-15
Publication date: 2023-04-06
Also published as: CN115903105A

Abstract

A Powell prism (111), a linear laser device (11), a laser projection module (1) and a laser 3D camera, wherein the Powell prism (111) comprises a columnar prism body (1111), and a light-incident face (1112) of the columnar prism body (1111) is an aspheric face. By means of the Powell prism (111), parallel light beams or approximately parallel light beams, which are obtained by means of collimating, via a collimating lens (114), lasers emitted by two laser diodes (113) or a laser diode (113) in which two light-emitting chips are packaged, can be effectively shaped, such that uniform linear light spots are obtained. By means of the linear laser device (11), the uniform linear light spots can be obtained. By means of the laser projection module (1), the output linear light spots can be projected to a detection area at different angles. By means of the laser 3D camera, the resolution of a point cloud image can be improved, thereby preventing point cloud missing from occurring in the collected point cloud image.

Description

Powell prism, inline laser, laser projection module and laser 3D camera

priority statement

This application claims the priority of the Chinese invention patent with application number CN202111158973.4 and titled "Powell prism, inline laser, laser projection module and laser 3D camera" submitted on September 30, 2021. All content is incorporated here in full.

technical field

The application belongs to the field of optical cameras, and in particular relates to a Powell prism, an inline laser, a laser projection module and a laser 3D camera.

Background technique

One-line laser is a kind of semiconductor laser, which can provide a laser marking line for non-contact positioning in machinery, construction, logistics and other industries. For example, a line laser can be combined with a robot to be used in the logistics industry, and it can also be applied to a 3D camera to project laser light into the detection area, so that the 3D camera can collect 3D point cloud images of the detection area according to the projected laser lines.

An inline laser usually includes a laser diode, a collimator lens and a Powell prism arranged in sequence. The collimator lens collimates the laser light emitted by the laser diode to obtain a parallel beam. After the parallel beam is conditioned by the Powell prism, an inline can be obtained. type laser. In order to obtain a uniform inline spot, it is necessary to match the laser diode, collimator lens and Powell prism.

Contents of the invention

In order to overcome the problems existing in related technologies at least to a certain extent, the present application provides a Powell prism, an inline laser, a laser projection module and a laser 3D camera.

According to the first aspect of the embodiments of the present application, the present application provides a Powell prism, which includes a cylindrical prism body, the incident surface of the cylindrical prism body is an aspheric surface, and the conic coefficient of the aspherical surface is -1.6～- 1.3. The radius of curvature is 0.15-0.31; the body of the columnar prism is a cylinder or a cube with an n-sided prism structure, and n is an integer greater than or equal to 3.

According to the second aspect of the embodiment of the application, the application provides a word-line laser, which includes a fixing mechanism, a laser diode, a collimating lens, a circuit board, and the Powell prism described in any one of the above; the fixing mechanism It includes a housing and a prism fixing seat, a light source channel is opened in the housing, and the laser diode and collimating lens are arranged in the light source channel; the light emitting surface of the laser diode is located at the focal plane of the collimating lens , two light-emitting chips are packaged in the laser diode;

Along the light path direction in the light source channel, one end of the housing is provided with a first connecting portion, and the first connecting portion is used to fix the circuit board connected to the laser diode; the other end of the housing is One end is provided with a second connection part, and a connection channel is opened in the second connection part, and the connection channel communicates with the light source channel coaxially;

The Powell prism is arranged in the prism fixing seat, and the prism fixing seat can rotate relative to the second connecting part; the prism fixing seat is fixed to the second connecting part after being rotated to a desired position.

In the above inline laser, the prism fixing seat includes a prism barrel and a turntable, the Powell prism is fixedly arranged in the prism barrel, and the turntable is clamped on the prism barrel along the radial direction of the prism barrel; At least one arc-shaped through hole is opened on the turntable;

One end of the prism barrel close to the light-incident surface of the Powell prism is fitly connected in the connecting channel of the second connecting part, and the second connecting part is provided with at least one connecting hole on the end face facing the prism barrel; When the turntable rotates, the arc-shaped through hole can be aligned with at least one connecting hole.

According to the third aspect of the embodiments of the present application, the present application provides a laser projection module, which includes the word-line laser described in any one of the above, a galvanometer assembly and a fixing device;

The one-word line laser and the vibrating mirror assembly are all arranged on the fixing device, and the one-word line laser is used to output linear laser light; the vibrating mirror assembly includes a vibrating mirror and a driving motor, and the vibrating mirror and the driving motor connected, the drive motor can drive the vibrating mirror to rotate in the working state, so that the linear laser output by the word-line laser is projected on the vibrating mirror and then projected to the detection area at different angles.

In the above-mentioned laser projection module, the fixing device is also provided with a protective baffle, and the protective baffle is used to protect the vibrating mirror and block the laser light outside the working range emitted by the inline laser .

In the above-mentioned laser projection module, the fixing device includes a laser fixing seat and a vibrating mirror assembly fixing seat;

The laser fixing base is used to install and fix the laser, and the vibrating mirror assembly fixing base is used to install and fix the vibrating mirror assembly; along the laser emission direction of the laser installed on the laser fixing base, the vibrating mirror assembly The fixing base is connected with one side of the laser fixing base, so that the laser emitted by the laser hits the vibrating mirror installed on the fixing base of the vibrating mirror assembly.

Further, the laser fixing base includes a fixing base body and a sheet metal buckle provided on the top of the fixing base body, and the sheet metal buckle is used to fasten the in-line on the fixing base body above the laser to fix the word line laser.

Furthermore, a limit hole is provided on the bottom surface of the fixing base body, and a limit pin is installed in the limit hole; the limit pin is used to limit the motor in the vibrating mirror assembly.

Further, along the vertical direction of the top surface of the vibrating mirror assembly fixing seat, a fixing hole penetrating through the vibrating mirror assembly fixing seat is provided on the vibrating mirror assembly fixing seat;

A notch is arranged on the opposite edge of the side where the vibrating mirror assembly fixing seat is connected to the laser fixing seat, and the notch starts from the fixing hole and runs through the vibrating mirror assembly in a direction parallel to the top surface of the vibrating mirror assembly fixing seat. The fixing seat, and the notch also runs through the vibrating mirror assembly fixing seat along the vertical direction of the top surface of the vibrating mirror assembly fixing seat, so that the peripheral wall of the fixing hole has deformation ability;

The two opposite surfaces of the gap are provided with matching screw holes, and the screw holes penetrate along the parallel direction of the top surface of the fixing seat of the vibrating mirror assembly, so as to cooperate with the screws to realize the fixing of the vibrating mirror assembly in the fixing hole. fasten.

According to the fourth aspect of the embodiments of the present application, the present application provides a laser 3D camera, which includes a box body and any one of the above-mentioned laser projection modules, laser projection control components, At least one optical camera, camera controller, processor and power board;

The laser projection module is connected to the laser projection control assembly, and the laser projection control assembly is used to control the laser projection module to emit linear laser stripes to the surface of the object to be photographed; the optical camera is connected to the camera controller connected, the camera controller is used to control the optical camera to record the image of the linear laser stripes when the linear laser stripes scan the surface of the object to be photographed; A point cloud image corresponding to the object to be photographed is generated from an image collected at a time point; the power board is used to supply power to the laser projection drive assembly, camera controller and processor.

In the above-mentioned laser 3D camera, the first optical camera and the second optical camera are arranged in the box body; the box body includes a top cover and a bottom box, and the top cover is matched with the opening at the top of the bottom box;

The front panel of the bottom box is provided with a laser projection window, a first collection window and a second collection window, and the first collection window and the second collection window are symmetrically arranged on both sides of the laser projection window;

The light output end of the laser projection module is correspondingly arranged at the laser projection window, the viewfinder window of the first optical camera is correspondingly arranged at the first collection window, and the viewfinder window of the second optical camera is arranged correspondingly at the second acquisition window.

According to the above specific embodiments of the present application, it can be known that at least the following beneficial effects are provided: the Powell prism provided by the present application can effectively treat the laser diode with two light-emitting chips packaged by improving the conic coefficient and the radius of curvature of the light incident surface of the cylindrical prism body. The emitted laser beam is collimated by the collimator lens to obtain a parallel beam or an approximately parallel beam for shaping to obtain a uniform linear spot.

The one-line laser provided by the present application can obtain a uniform linear light spot by using an improved Powell prism.

The laser projection module provided by this application can project the output linear light spots to the detection area at different angles by using an improved one-line laser.

The laser 3D camera provided by this application adopts the improved laser projection module, and can improve the resolution of the point cloud image in the case of collecting point cloud images of objects with smooth surfaces and high reflectivity, avoiding the collection of point cloud images. Missing point clouds appear in the image.

It should be understood that the above general description and the following specific embodiments are only exemplary and explanatory, and are not intended to limit the scope of the present application.

Description of drawings

The accompanying drawings below are a part of the specification of the application, which illustrate the embodiments of the application, and together with the description of the specification, serve to explain the principle of the application.

Fig. 1 is a schematic diagram of a light spot obtained by using an existing Powell prism for a word-line laser.

Fig. 2 is a radiation illuminance diagram in the direction of the spot length obtained by using an existing Powell prism for a word-line laser.

Fig. 3 is a side view of a Powell prism provided by an embodiment of the present application.

Fig. 4 is a cross-sectional view of a word line laser provided by an embodiment of the present application

FIG. 5 is a schematic structural view of a prism fixing seat in a word-line laser provided by an embodiment of the present application.

FIG. 6 is a schematic diagram of a light spot obtained by a word-line laser provided in an embodiment of the present application.

FIG. 7 is a graph of irradiance along the length direction of the spot obtained by a word-line laser provided by an embodiment of the present application.

FIG. 8 is one of the overall structural schematic diagrams of a laser projection module provided by an embodiment of the present application.

FIG. 9 is the second schematic diagram of the overall structure of a laser projection module provided by the embodiment of the present application.

FIG. 10 is the third schematic diagram of the overall structure of a laser projection module provided by the embodiment of the present application.

FIG. 11 is one of the structural schematic diagrams of a fixing device in a laser projection module provided by an embodiment of the present application.

FIG. 12 is the second structural schematic diagram of a fixing device in a laser projection module provided by an embodiment of the present application.

Fig. 13 is a schematic structural diagram of a laser 3D camera provided by an embodiment of the present application with the top cover removed.

Explanation of reference signs:

111. Powell prism; 1111. Columnar prism body; 1112. Light incident surface;

112. Fixing mechanism; 1121. Housing; 1122. Prism fixing seat; 11221. Prism tube; 11222. Turntable; 1123. Light source channel; 1124. First connecting part;

113. Laser diode;

114. Collimating lens;

115. Circuit board;

11. One-line laser;

12. Vibrating mirror assembly; 121. Vibrating mirror; 122. Driving motor;

13. Fixing device; 131. Laser fixing seat; 1311. Fixing seat body; 1312. Sheet metal buckle; 1313. Limit hole; 1314. Limit pin; 132. Galvanometer component fixing seat; 1321. Fixing hole; , screw hole;

14. Protective baffle;

15. Lighting fixing board;

16. Light board;

17. Visor;

1. Laser projection module; 2. Laser projection control component; 3. First optical camera; 4. Second optical camera; 5. Camera controller; 6. Processor; 7. Power board;

10. Bottom box; 101. Laser projection window; 102. First acquisition window; 103. Second acquisition window.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly illustrate the spirit of the content disclosed in the application with the accompanying drawings and detailed descriptions. After any person skilled in the art understands the embodiments of the content of the application , when it can be changed and modified by the technology taught in the content of the application, it does not depart from the spirit and scope of the content of the application.

The exemplary embodiments and descriptions of the present application are used to explain the present application, but not to limit the present application. In addition, elements/members with the same or similar numbers used in the drawings and embodiments are used to represent the same or similar parts.

The terms "first", "second", ... etc. used herein do not specifically refer to a sequence or order, nor are they used to limit the present application, but are only used to distinguish elements or operations described with the same technical terms .

Regarding the directional terms used herein, such as: up, down, left, right, front or rear, etc., only refer to the directions of the drawings. Accordingly, the directional terms used are for illustration and not for limitation of the present invention.

As used herein, "comprising", "comprising", "having", "comprising" and so on are all open terms, meaning including but not limited to.

As used herein, "and/or" includes any or all combinations of the stated things.

The "plurality" herein includes "two" and "two or more"; the "multiple groups" herein includes "two groups" and "two or more groups".

Certain terms used to describe the present application are discussed below or elsewhere in this specification to provide those skilled in the art with additional guidance in describing the present application.

In some usage scenarios, such as usage scenarios with strong light, or in order to improve the signal-to-noise ratio of the laser, so that the linear stripes emitted by the laser can be accurately identified after being projected on the surface of the object, usually two lasers can be installed in the laser diode.

However, the inventors of the present application discovered during the research and development process that when the laser light emitted by the two laser diodes passes through the Powell prism and is projected on the surface of the object, two light spots will be generated; compared with one light spot, the size of the two light spots is larger. And the brightness in the spot range is uneven. The reason is that the existing Powell prism is usually suitable for a laser with a built-in laser diode, and the lasers of two laser diodes do not match the surface parameters of the light incident surface of the existing Powell prism, resulting in a laser obtained after passing through the Powell prism. The word line light spot is not uniform. For example, the situation shown in Figure 1 will appear, combined with Figure 2, it can be seen that the energy of the line-shaped light spot in its length direction is mainly concentrated at both ends, the middle part is weak, and the overall uniformity is poor. Therefore, it is necessary to redesign a Powell prism that can be matched with two laser diodes.

As shown in Figure 3, the Powell prism 111 provided by the embodiment of the present application includes a columnar prism body 1111, the incident surface 1112 of the columnar prism body 1111 is an aspheric surface, the conic coefficient of the aspheric surface is -1.6～-1.3, and the radius of curvature is 0.15 ~0.31. Preferably, the radius of curvature may be 0.20˜0.24.

Wherein, the cylindrical prism body 1111 may be a cylinder or an n-sided prism structure, and n is an integer greater than or equal to 3. For example, when n=4, the columnar prism body 1111 can be a cube, and the Powell prism 111 is a quadrangular prism; when n=5, the columnar prism body 1111 can be a pentaprism structure, and the Powell prism 111 is a pentaprism.

The Powell prism 111 provided in the present application can effectively shape the parallel beams or nearly parallel beams obtained after the lasers emitted by the two laser diodes 113 are collimated by the collimator lens 114 to obtain a uniform linear spot.

As shown in Figure 4, based on the Powell prism 111 provided by the present application, the present application also provides a line laser 11, which includes the above-mentioned Powell prism 111, a fixing mechanism 112, a laser diode 113, a collimating lens 114 and a circuit board 115; the fixing mechanism 112 includes a housing 1121 and a prism holder 1122, and a light source channel 1123 is provided in the housing 1121, and the laser diode 113 and the collimating lens 114 are arranged in the light source channel 1123; the light-emitting surface of the laser diode 113 is positioned at the collimating lens 114 focal plane. Wherein, two light-emitting chips are packaged in the laser diode 113 . It is also possible to provide two laser diodes 113 .

Along the light path direction in the light source channel 1123, one end of the casing 1121 is provided with a first connection part 1124, and the first connection part 1124 is used to fix the circuit board 115 connected with the laser diode 113; the other end of the casing 1121 is provided with a second In the connecting portion 1125 , a connecting channel is opened in the second connecting portion 1125 , and the connecting channel communicates with the light source channel 1123 coaxially.

The Powell prism 111 is disposed in the prism fixing seat 1122 , and the prism fixing seat 1122 can rotate relative to the second connecting portion 1125 . According to debugging needs, when the prism fixing seat 1122 is rotated to a desired position, it is fixed with the second connecting portion 1125 .

It should be noted that the first connecting part 1124 can be integrally formed with the housing 1121, for example, the first connecting part 1124 can be an end surface of the housing 1121 along the light path direction in the light source channel 1123, and the circuit board 115 is directly fixed on the end surface . The first connecting part 1124 can also be an independent part, which is fixedly connected with the housing 1121; One end face is connected, and the circuit board 115 is fixedly arranged on the end plate.

The second connecting portion 1125 can be integrally formed with the housing 1121 ; or it can be an independent component, which is fixedly connected with the housing 1121 .

One end of the prism fixing seat 1122 is fitly connected in the connecting channel, specifically, one end of the prism fixing seat 1122 can be connected with the connecting channel through an interference fit. The diameter of the connection channel is greater than the diameter of the light source channel 1123, so that when the prism holder 1122 is matched and connected in the connection channel, the diameter of the Powell prism 111 installed in the prism holder 1122 is equivalent to the diameter of the light source channel 1123, so that the laser diode 113 The emitted laser light can enter along the axis of the Powell prism 111 after passing through the collimating lens 114 .

In this embodiment, as shown in FIG. 5 , the prism holder 1122 includes a prism barrel 11221 and a turntable 11222 , the Powell prism 111 is fixedly arranged in the prism barrel 11221 , and the turntable 11222 is clamped on the prism barrel 11221 along the radial direction of the prism barrel 11221 superior.

At least one arc-shaped through hole is opened on the turntable 11222 . At least one connection hole is opened on the end surface of the second connection portion 1125 facing the prism barrel 11221 . Connecting hole can adopt circular hole. When the turntable 11222 rotates, the arc-shaped through hole can be aligned with at least one connecting hole. The prism fixing base 1122 is fixed to the second connecting portion 1125 through arc-shaped through holes, aligned connecting holes and screws.

Specifically, the size of the arc-shaped through hole is larger than the size of the connecting hole, so that the turntable 11222 can always be fixedly connected with the second connecting part 1125 through the screw, the arc-shaped through hole and the connecting hole.

In a specific embodiment, the package diameter of the laser diode 113 is 7.5mm-9.5mm, and the window size of the laser diode 113 is 3.5mm-4mm. The light entrance aperture of the collimating lens 114 is 5.5mm-7.5mm, and its focal length is 3.0mm-6.0mm.

The laser light emitted by the laser diode 113 passes through the collimating lens 114 to form a collimated beam. The collimated beam is vertically incident on the light incident surface 1112 of the Powell prism 111, and passes through the Powell prism 111 to form a fan-shaped divergent beam. type spot.

Wherein, the distance between the Powell prism 111 and the collimator lens 114 can be set according to the length of the word-line laser 11 . Specifically, the distance between the Powell prism 111 and the collimator lens 114 may be set to 1.0mm˜5.0mm.

As shown in FIG. 6 , the brightness of the laser stripes emitted by the line laser 11 using the Powell prism 111 provided by the embodiment of the present application is uniform, and a uniform linear light spot is obtained.

It can be seen from the irradiance diagram of the linear spot length direction obtained by using the Powell prism 111 provided by the embodiment of the present application shown in FIG. Basically keep around 4Watts/cm ² .

Compared with the existing lasers, the output energy of the inline laser 11 provided in the embodiment of the present application is greatly improved, which is about 4 times of the output energy of the existing lasers. The one-word-line laser 11 provided in the embodiment of the present application mainly improves its light output energy from the following two aspects: 1) Using the laser diode 113 packaged with two light-emitting chips as the light source of the one-word-line laser 11 . 2) Improve the utilization rate of light energy of the line laser 11 from two aspects: reduce the focal length of the collimating lens 114, thereby reducing the distance from the collimating lens 114 to the laser diode 113; increase the light entering of the collimating lens 114 aperture.

As shown in Fig. 8 and Fig. 9, based on the one-word line laser 11 provided by the present application, the present application also provides a laser projection module 1, which includes the above-mentioned one-word line laser 11, galvanometer assembly 12 and fixing device 13 . Wherein, a word-line laser 11 and a galvanometer assembly 12 are both arranged on a fixing device 13, and a word-line laser 11 is used to output a linear light spot.

The vibrating mirror assembly 12 comprises a vibrating mirror 121 and a drive motor 122, the vibrating mirror 121 is connected to the driving motor 122, and the driving motor 122 can drive the vibrating mirror 121 to rotate in a working state, so that the linear light spot output by a word line laser 11 is projected on the vibrating mirror. After the mirror 121 is put on, it is projected onto the detection area at different angles.

In the above embodiment, the fixing device 13 is provided with a protective baffle 14 , which is used to protect the vibrating mirror 121 and block laser light emitted by the inline laser 11 outside the working range.

In a specific embodiment, as shown in FIGS. 9 to 11 , the fixing device 13 includes a laser fixing base 131 and a vibrating mirror assembly fixing base 132 . Wherein, the laser fixing seat 131 is used for installing and fixing the word-line laser 11 , and the vibrating mirror assembly fixing seat 132 is used for installing and fixing the vibrating mirror assembly 12 . Along the laser emission direction of the word-line laser 11 installed on the laser fixing seat 131, the vibrating mirror assembly fixing seat 132 is connected with one side of the laser fixing seat 131, so that the laser emitted by the word-line laser 11 hits the vibrating mirror assembly and fixes it. On the vibrating mirror 121 installed on the seat 132.

Specifically, the protective baffle 14 is arranged on the opposite side of the connecting side of the vibrating mirror assembly fixing seat 132 and the laser fixing seat 131, and is connected with the vibrating mirror assembly fixing seat 132, so as to protect the vibrating mirror 121 and protect the one-word line laser. 11 Shoot out the laser light outside the working range to block it.

Specifically, the height of the protective baffle 14 is greater than the height of the laser beam emitted by the laser installed in the laser holder 131, so that if the laser beam emitted by the line laser 11 does not hit the vibrating mirror 121 in the vibrating mirror assembly 12 , can beat on the protective baffle 14, thereby avoiding to irradiate the staff and cause injury to it.

In this embodiment, as shown in Figure 9 and Figure 10, the laser fixing base 131 includes a fixing base body 1311 and a sheet metal buckle 1312 arranged on the top of the fixing base body 1311, the sheet metal buckle 1312 is used to fasten the fixing base The body 1311 is placed above the word line laser 11 to fix the word line laser 11 . Specifically, the sheet metal buckle 1312 adopts a several-shaped structure, and the two ends of the bottom thereof are respectively connected with the fixing base body 1311 .

In a specific embodiment, as shown in FIG. 8 and FIG. 9 , the fixing device 13 is also provided with a lighting fixing plate 15 , and the lighting fixing plate 15 and the longitudinal plate in the protective baffle 14 are arranged on the galvanometer assembly fixing base 132 on the same side. A lamp board 16 and a light shielding board 17 are fixedly installed on the end surface of the illumination fixing board 15, and the lamp board 16 can improve the brightness of the shooting area of the 3D camera. The shading plate 17 can be used in conjunction with the lamp panel 16, and it is used to partially block the light emitted by the lamp panel 16, so as to prevent the light emitted by the lamp panel 16 from irradiating too much on the ground and causing interference to other adjacent work stations.

It should be noted that the protective baffle 14 and the lighting fixing plate 15 can be integrally formed, or can be two independent parts. When the protective baffle 14 and the lighting fixing plate 15 are two independent components, they can be fixedly connected together or separated from each other.

In a specific embodiment, as shown in FIGS. 9 to 11 , a limiting hole 1313 is defined on the bottom surface of the fixing base body 1311 , and a limiting pin 1314 is installed in the limiting hole 1313 . The limit pin 1314 is used to limit the motor in the vibrating mirror assembly 12 . After the vibrating mirror 121 in the vibrating mirror assembly 12 is installed, it can be determined whether the angle of the vibrating mirror 121 is adjusted to the required angle by detecting the distance between the motor in the vibrating mirror assembly 12 and the limit pin 1314 .

In a specific embodiment, as shown in FIG. 12 , along the vertical direction of the top surface of the vibrating mirror assembly fixing base 132 , a fixing hole 1321 penetrating through the vibrating mirror assembly fixing base 132 is provided on the vibrating mirror assembly fixing base 132 . A notch is arranged on the opposite edge of the side where the vibrating mirror assembly fixing seat 132 is connected to the laser fixing seat 131. The notch starts from the fixing hole 1321 and runs through the vibrating mirror assembly fixing seat 132 in a direction parallel to the top surface of the vibrating mirror assembly fixing seat 132, and the notch It also penetrates the vibrating mirror assembly fixing base 132 along the vertical direction of the top surface of the vibrating mirror assembly fixing base 132 , so that the surrounding wall of the fixing hole 1321 has the ability to deform. Matching screw holes 1322 are provided on two opposite surfaces of the notch, and the screw holes 1322 run through parallel to the top surface of the vibrating mirror assembly fixing seat 132 to cooperate with screws to fasten the vibrating mirror assembly 12 in the fixing hole 1321 .

When using the vibrating mirror assembly fixing seat 132 to fix the vibrating mirror assembly 12 , the motor in the vibrating mirror assembly 12 can be placed in the fixing hole 1321 first, and the motor is fastened in the fixing hole 1321 through screws and screw holes 1322 .

Based on the laser projection module 1 provided by the present application, as shown in Figure 13, the present application also provides a laser 3D camera, which includes a box body and the above-mentioned laser projection module 1 and laser projection control assembly arranged in the box body 2. At least one optical camera, camera controller 5, processor 6 and power board 7.

The laser projection module 1 is connected to the laser projection control assembly 2, and the laser projection control assembly 2 is used to control the laser projection module 1 to emit linear laser stripes to the surface of the object to be photographed; the optical camera is connected to the camera controller 5, and the camera controller 5 is used for To control the optical camera to record the image of the linear laser stripes when the linear laser stripes scan the surface of the object to be photographed; the processor 6 is connected to the camera controller 5, which is used to generate corresponding images of the object to be photographed according to the images collected by the optical camera at multiple time points The point cloud image; the power board 7 is used to supply power for the laser projection driver assembly, the camera controller 5 and the processor 6.

In a specific embodiment, as shown in Figure 13, the first optical camera 3 and the second optical camera 4 are arranged in the box body; The box body includes a top cover (not shown in the figure) and a bottom box 10, the top cover Matching with the opening on the top of the bottom box 10, the top of the bottom box 10 is closed by the top cover.

A laser projection window 101 , a first collection window 102 and a second collection window 103 are opened on the front panel of the bottom box 10 , and the first collection window 102 and the second collection window 103 are arranged symmetrically on both sides of the laser projection window 101 .

The light output end of the laser projection module 1 is correspondingly arranged at the laser projection window 101, the viewfinder window of the first optical camera 3 is correspondingly arranged at the first collection window 102, and the viewfinder window of the second optical camera 4 is correspondingly arranged at the second collection window 103 places.

Further, the laser projection window 101 is coated with an anti-reflection film, so as to reduce the reflection intensity of the laser light and increase the transmission intensity of the laser light. The first collection window 102 and the second collection window 103 are also coated with an anti-reflection film, so as to increase the transmission of external light into the first optical camera 3 and the second optical camera 4 .

The camera controller 5, the processor 6 and the power board 7 are all arranged in the area between the first optical camera 3 and the laser projection module 1 in the bottom box 10, and the laser projection control assembly 2 is all arranged in the bottom box 10 of the laser projection module. The area between group 1 and the second optical camera 4.

When the laser 3D camera provided by the embodiment of the present application is used to collect point cloud images of objects with smooth surfaces and high reflectivity, the resolution of the point cloud images can be improved, and point cloud deletions in the collected point cloud images can be avoided. According to field of view calculation and three-dimensional simulation, the installation angles of the first optical camera 3 and the second optical camera 4 can be adjusted respectively to ensure that the available public field of view reaches the optimal use range and maximizes the working range. Wherein, both the installation angle of the first optical camera 3 and the installation angle of the second optical camera 4 can be adjusted between 3° and 10°.

The laser 3D camera provided in the embodiment of the present application can be used to assist robots in grabbing parcels, parts and other items in scenarios such as logistics transportation and palletizing.

The above is only an illustrative specific implementation of the application. Without departing from the concept and principles of the application, any equivalent changes and modifications made by those skilled in the art shall fall within the protection scope of the application. .

Claims

A Powell prism, characterized in that it includes a columnar prism body, the incident surface of the columnar prism body is an aspheric surface, the conic coefficient of the aspheric surface is -1.6～-1.3, and the radius of curvature is 0.15～0.31; The cylindrical prism body is a cylinder or an n-faced prism structure, and n is an integer greater than or equal to 3.
A word-line laser is characterized in that it includes a fixing mechanism, a laser diode, a collimating lens, a circuit board and a Powell prism; the fixing mechanism includes a housing and a prism holder, and a light source channel is provided in the housing, The laser diode and collimating lens are arranged in the light source channel; the light-emitting surface of the laser diode is located at the focal plane of the collimating lens, and two light-emitting chips are packaged in the laser diode;

Along the light path direction in the light source channel, one end of the housing is provided with a first connecting portion, and the first connecting portion is used to fix the circuit board connected to the laser diode; the other end of the housing is One end is provided with a second connection part, and a connection channel is opened in the second connection part, and the connection channel communicates with the light source channel coaxially;

The Powell prism is arranged in the prism fixing seat, and the prism fixing seat can rotate relative to the second connecting part; the prism fixing seat is fixed to the second connecting part after being rotated to a desired position.
The in-line laser according to claim 2, wherein the prism fixing base comprises a prism barrel and a turntable, the Powell prism is fixedly arranged in the prism barrel, and the turntable is arranged along the radial direction of the prism barrel clamped on the prism barrel; at least one arc-shaped through hole is opened on the turntable;

One end of the prism barrel close to the light-incident surface of the Powell prism is fitly connected in the connecting channel of the second connecting part, and the second connecting part is provided with at least one connecting hole on the end face facing the prism barrel; When the turntable rotates, the arc-shaped through hole can be aligned with at least one connecting hole.
A laser projection module, characterized in that it comprises a word-line laser, a galvanometer assembly and a fixing device according to any one of claims 2-3;

The one-word line laser and the vibrating mirror assembly are all arranged on the fixing device, and the one-word line laser is used to output linear laser light; the vibrating mirror assembly includes a vibrating mirror and a driving motor, and the vibrating mirror and the driving motor connected, the drive motor can drive the vibrating mirror to rotate in the working state, so that the linear laser output by the word-line laser is projected on the vibrating mirror and then projected to the detection area at different angles.
The laser projection module according to claim 4, wherein a protective baffle is also provided on the fixing device, and the protective baffle is used to protect the vibrating mirror and protect the inline laser. Shoot laser light out of the working range to block it.
The laser projection module according to claim 4, wherein the fixing device comprises a laser fixing seat and a galvanometer assembly fixing seat;

The laser fixing base is used to install and fix the laser, and the vibrating mirror assembly fixing base is used to install and fix the vibrating mirror assembly; along the laser emission direction of the laser installed on the laser fixing base, the vibrating mirror assembly The fixing base is connected with one side of the laser fixing base, so that the laser emitted by the laser hits the vibrating mirror installed on the fixing base of the vibrating mirror assembly.
The laser projection module according to claim 6, wherein the laser fixing base comprises a fixing base body and a sheet metal buckle provided on the top of the fixing base body, and the sheet metal buckle is used to fasten the The fixing base body is placed above the one-word-line laser to fix the one-word-line laser.
The laser projection module according to claim 7, wherein a limit hole is provided on the bottom surface of the fixing seat body, and a limit pin is installed in the limit hole; the limit pin is used for The motor in the vibrating mirror assembly performs the limit.
The laser projection module according to claim 6, characterized in that, along the vertical direction of the top surface of the vibrating mirror assembly fixing seat, a hole penetrating through the vibrating mirror assembly fixing seat is provided on the vibrating mirror assembly fixing seat. fixing hole;

A notch is arranged on the opposite edge of the side where the vibrating mirror assembly fixing seat is connected to the laser fixing seat, and the notch starts from the fixing hole and runs through the vibrating mirror assembly in a direction parallel to the top surface of the vibrating mirror assembly fixing seat. The fixing seat, and the notch also runs through the vibrating mirror assembly fixing seat along the vertical direction of the top surface of the vibrating mirror assembly fixing seat, so that the peripheral wall of the fixing hole has deformation ability;

The two opposite surfaces of the gap are provided with matching screw holes, and the screw holes penetrate along the parallel direction of the top surface of the fixing seat of the vibrating mirror assembly, so as to cooperate with the screws to realize the fixing of the vibrating mirror assembly in the fixing hole. fasten.
A laser 3D camera, characterized in that it comprises a box body and the laser projection module according to any one of claims 4-9, a laser projection control assembly, at least one optical camera, and a camera set in the box body controllers, processors and power boards;

The laser projection module is connected to the laser projection control assembly, and the laser projection control assembly is used to control the laser projection module to emit linear laser stripes to the surface of the object to be photographed; the optical camera is connected to the camera controller connected, the camera controller is used to control the optical camera to record the image of the linear laser stripes when the linear laser stripes scan the surface of the object to be photographed; A point cloud image corresponding to the object to be photographed is generated from an image collected at a time point; the power board is used to supply power to the laser projection drive assembly, camera controller and processor.
The laser 3D camera according to claim 10, wherein a first optical camera and a second optical camera are arranged in the box body; the box body includes a top cover and a bottom box, and the top cover and the bottom box The top opening matches the setting;

A laser projection window, a first collection window, and a second collection window are provided on the front panel of the bottom box, and the first collection window and the second collection window are symmetrically arranged on both sides of the laser projection window;

The light output end of the laser projection module is correspondingly arranged at the laser projection window, the viewfinder window of the first optical camera is correspondingly arranged at the first collection window, and the viewfinder window of the second optical camera is arranged correspondingly at the second acquisition window.