WO2023071463A1 - 一种防眩光拍摄装置以及建筑机器人 - Google Patents

一种防眩光拍摄装置以及建筑机器人 Download PDF

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Publication number
WO2023071463A1
WO2023071463A1 PCT/CN2022/113939 CN2022113939W WO2023071463A1 WO 2023071463 A1 WO2023071463 A1 WO 2023071463A1 CN 2022113939 W CN2022113939 W CN 2022113939W WO 2023071463 A1 WO2023071463 A1 WO 2023071463A1
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WIPO (PCT)
Prior art keywords
polarizer
glare
light
polarization direction
liquid crystal
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PCT/CN2022/113939
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English (en)
French (fr)
Inventor
赖嘉炜
何志华
陈思宏
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广东博智林机器人有限公司
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Publication of WO2023071463A1 publication Critical patent/WO2023071463A1/zh

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/03—Combinations of cameras with lighting apparatus; Flash units
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B11/00—Filters or other obturators specially adapted for photographic purposes
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/02—Illuminating scene
    • G03B15/06—Special arrangements of screening, diffusing, or reflecting devices, e.g. in studio

Definitions

  • the present application relates to the technical field of industrial detection, in particular to an anti-glare photographing device and a construction robot.
  • the paving objects are usually smooth floor tiles, wall tiles, wooden floors, etc.
  • the coaxial light source is incident on such objects, most of the light will enter the industrial camera through specular reflection , causing obvious glare, which greatly affects the processing effect of the image algorithm.
  • the present application provides an anti-glare photographing device and a construction robot, which can reduce the glare effect produced by reflective objects.
  • the embodiment of the present application provides an anti-glare photographing device, including: a photographing module; a supplementary light assembly, which emits light toward the photographing direction of the photographing module to illuminate the photographing target of the photographing module; a first polarization
  • the first polarizer is arranged on the light exit side of the supplementary light assembly; and the second polarizer is arranged on the light incident side of the camera module, wherein the first polarizer and the second polarizer are not on the transmission optical path Overlapping, the polarization direction of the first polarizer and the polarization direction of the second polarizer are set at a variable angle from 0 to 90 degrees.
  • the first polarizer is provided with a first escape hole, and the second polarizer is disposed in the first avoidance hole.
  • one of the first polarizer or the second polarizer is a liquid crystal module
  • the other of the first polarizer or the second polarizer is a linear polarizer.
  • the voltage on the liquid crystal module is used to change the angle between the polarization direction of the first polarizer and the polarization direction of the second polarizer.
  • the first polarizer is a liquid crystal module
  • the second polarizer is a linear polarizer
  • the polarization direction when the liquid crystal module is not energized is equal to the polarization direction of the second polarizer.
  • the included angle is 0 degree; the included angle between the polarization direction when the liquid crystal module is powered on and the polarization direction of the second polarizer is greater than 0 degree and less than or equal to 90 degrees.
  • the included angle between the polarization direction of the liquid crystal module when it is not powered on and the polarization direction of the second polarizer is 90 degrees.
  • both the first polarizer and the second polarizer are linear polarizers, and a driving device is provided on the first polarizer or the second polarizer to change the polarizer of the first polarizer.
  • the included angle between the polarization direction and the polarization direction of the second polarizer is provided on the first polarizer or the second polarizer to change the polarizer of the first polarizer.
  • the photographing module includes a photographing lens and an imaging assembly
  • the supplementary light assembly includes a lamp board and a plurality of LED (Light-Emitting Diode) lamp beads
  • the lamp board is provided with The second escape hole through which the lens passes
  • a plurality of LED lamp beads are installed on the surface of the lamp board facing the shooting target
  • the first polarizer is arranged on the light emitting side of the plurality of LED lamp beads.
  • the supplementary light assembly further includes a diffuser plate made of a light-transmitting material, the diffuser plate is arranged between the plurality of LED lamp beads and the first polarizer, and the diffuser plate Correspondingly, there is a light hole through which the shooting lens is exposed.
  • the supplementary light assembly further includes a sealing ring, and the sealing ring is arranged between the lamp board and the diffuser plate, so as to seal and connect the lamp board and the diffuser board.
  • the anti-glare photographing device further includes: a housing, the housing is provided with an installation cavity and an opening communicating with the installation cavity, the photographing module and the supplementary light assembly are installed in the installation cavity, The first polarizer and the second polarizer are arranged to cover the opening together.
  • an embodiment of the present application provides a construction robot, including the anti-glare photographing device according to any one of the foregoing implementation manners of the first aspect of the present application.
  • the technical solution of the present application sets the first polarizer to polarize and block the outgoing light of the supplementary light assembly, thereby changing the polarization direction that the outgoing light of the supplementary light assembly allows to pass, and only retains the incident polarized light in one direction, and the output of the first polarizer After the incident light is irradiated on the target part, it is specularly reflected. Since the second polarizer is located on the imaging path of the camera module, the second polarizer realizes polarization and blocks the reflected light incident on the camera module, which can control the specular reflection light incident on the camera module. Components, the glare caused by specular reflection on the surface of the measured object is basically blocked, leaving only the diffusely reflected light, whose polarization state has changed, thereby reducing or even eliminating the glare effect entering the shooting module.
  • FIG. 1 is a schematic exploded view of the structure of the anti-glare shooting device provided by the embodiment of the present application;
  • FIG. 2 is a schematic diagram of the principle of the anti-glare photographing device provided by the embodiment of the present application.
  • An embodiment of the present application provides an anti-glare shooting device, which is applied to a construction robot
  • the construction robot may be a paving type construction robot
  • the construction robot may also be a paint spraying robot
  • the construction robot may also be other types of robots, I won't list them all here.
  • the anti-glare photographing device of the present application includes a photographing module 1 for capturing images and a supplementary light assembly 2 for providing an illumination source for the photographing module 1.
  • the supplementary light assembly 2 When in a working condition without ambient lighting, the supplementary light assembly 2 The work realizes the supplementary light under the condition of no ambient lighting, and the photographing module 1 realizes the capture and detection of the detection target under the supplementary light of the supplementary light component 2 .
  • the first polarizer 3 is arranged on the top, and the second polarizer 4 is arranged on the light-incident side of the camera module 1, so as to alleviate or even eliminate the glare problem caused by the reflection of the shooting target.
  • the supplementary light component 2 of the industrial light source is mainly an LED (Light-Emitting Diode) lamp, and the light polarization emitted by the LED lamp is relatively low, that is, the energy ratio of the S polarization component to the P polarization component is close to 1:1, which is close to non-polarized light.
  • LED Light-Emitting Diode
  • the output of the first polarizer 3 By setting the first polarizer 3 to polarize and block the outgoing light of the supplementary light assembly 2, thereby changing the polarization direction that the outgoing light of the supplementary light assembly 2 is allowed to pass through, and only keeping the incident polarized light in one direction, the output of the first polarizer 3
  • the incident light is specularly reflected after being irradiated on the target, and since the second polarizer 4 is located on the light-incident side of the camera module 1 , this makes the second polarizer 4 realize the polarization blocking of the reflected light incident on the camera module 1 .
  • the polarization direction of the first polarizer 3 and the polarization direction of the second polarizer 4 are set at a variable angle of 0-90 degrees, by changing the first polarization
  • the angle between the polarization directions of the component 3 and the second polarizer 4 can control the components of the specularly reflected light incident on the camera module 1 .
  • the polarization directions of the first polarizer 3 and the second polarizer 4 are at an angle, since the first polarizer 3 and the second polarizer 4 do not overlap on the transmission optical path, they pass through the mirror surface on the surface of the measured object.
  • the glare caused by reflection is basically blocked, leaving only diffusely reflected light, whose polarization state has been changed, thereby reducing or even eliminating the glare effect entering the shooting module 1 .
  • the first polarizer 3 is provided with a first avoidance hole 31, and the second polarizer 4 is arranged in the first avoidance hole 31, so that after the outgoing light passes through the first polarizer 3, it is reflected by the shooting target and passes through.
  • the second polarizer 4 directly enters the camera module 1 , and the reflected light does not overlap with the first polarizer 3 again to ensure that the imaging light entering the camera module 1 has a higher imaging brightness.
  • One of the first polarizer 3 or the second polarizer 4 is a liquid crystal module, and the corresponding second polarizer 4 or first polarizer 3 is a linear polarizer; the liquid crystal module can realize the transmission of emitted light or reflected light Transparent transmission, the liquid crystal module includes a liquid crystal panel and liquid crystal molecules located in the liquid crystal panel. Since the liquid crystal molecules in the liquid crystal panel have electrode structures on both sides, increasing the voltage to the liquid crystal module after the power is turned on causes the liquid crystal molecules to deflect and displace; Since the main element of liquid crystal molecules is carbon
  • the liquid crystal molecules By applying a voltage to the liquid crystal module to change the alignment direction of the liquid crystal molecules, the liquid crystal molecules pass or block the light through the change of the alignment direction. Since the light of the supplementary light component 2 is close to non-polarized light, when the outgoing light passes through the liquid crystal module in a linearly polarized state When grouping, only the polarized light in one direction is kept, and the polarization direction of the skate remains unchanged and is reflected to the second polarizer 4.
  • the polarized specularly reflected light is linearly polarized
  • the film is blocked to reduce or even eliminate glare, so that the target object enters the shooting module 1, which can realize active light source imaging and effectively reduce glare.
  • the first polarizer 3 is a liquid crystal film group
  • the second polarizer 4 is a linear polarizer
  • the angle between its polarization direction and the polarization direction of the second polarizer is 0 degrees
  • the angle between the polarization direction of the liquid crystal module and the polarization direction of the second polarizer is greater than 0 degrees and less than or equal to 90 degrees
  • the liquid crystal A certain voltage is applied to the first polarizer 3 of the module to change the polarization direction of the first polarizer 3 to achieve an angle setting of 0-90 degrees with the corresponding polarization direction of the second polarizer 4 to control the incident
  • the components of the specularly reflected light to the camera module 1 can realize that the reflected light incident to the camera module 1 is only diffusely reflected light.
  • the glare effect is relatively weak, and the polarization direction and linear polarization of the liquid crystal module can be reduced by adjusting the voltage applied to the liquid crystal module.
  • the included angle of the polarization direction of the sheet increases the light finally incident on the imaging module and improves the energy utilization efficiency.
  • the light basically undergoes diffuse reflection and produces a strong depolarization effect.
  • a lower voltage or no voltage can be applied to the liquid crystal module to make the liquid crystal
  • the polarization direction of the module is consistent with that of the linear polarizer, which ensures high energy utilization efficiency and improves the versatility of the anti-glare camera.
  • the polarization direction of the liquid crystal module can also be set at an angle to the second polarizer 4 when no voltage is applied, so that when data collection is performed, the liquid crystal module maintains low or no voltage applied. state, that is, the default polarization state of the liquid crystal module maintains an angle with the polarization direction of the second polarizer 4, so that the anti-glare shooting device is fixed to operate in the anti-glare mode. Therefore, the polarization direction of the first polarizer 3 and the second polarizer 4 can be set at an angle of 0-90 degrees when initially set, so that the anti-glare shooting device can be fixed in the anti-glare mode when it is working. The work of adjusting the polarization angle of the first polarizer 3 or the second polarizer 4 is eliminated.
  • the included angle between the polarization direction of the first polarizer 3 and the polarization direction of the second polarizer 4 is preferably set at 90 degrees, so that both the S polarization and the P polarization pass through the first polarization.
  • the polarizing element 3 and the second polarizing element 4 perform polarization blocking to better eliminate glare.
  • the first polarizer 3 can also be a linear polarizer, and by setting a driving device on the first polarizer 3 or the second polarizer 4, the first polarizer can be changed.
  • the angle between the polarization direction of the polarizer 3 and the polarization direction of the second polarizer 4 can realize the angle setting between the polarization direction of the first polarizer 3 and the polarization direction of the second polarizer 4 , and realize the elimination of imaging glare.
  • the liquid crystal module is a 90-degree twisted nematic liquid crystal module, so that after the voltage is applied to the liquid crystal film group, the twist direction of the liquid crystal molecules can be 90 degrees different from that before the voltage is applied.
  • the difference in polarization direction is also 90 degrees
  • the light emitted by the supplementary light component 2 only retains a single polarization direction after being emitted from the liquid crystal module, and then is reflected by the target object mirror and then polarized by the second polarizer 4. Enables glare cancellation for active imaging.
  • the photographing module 1 includes a photographing lens and an imaging assembly.
  • the supplementary light assembly 2 includes a lamp board 21 and a plurality of LED lamp beads 22.
  • the lamp board 21 is provided with a second avoidance hole 211 for the photographing lens to pass through.
  • the plurality of LED lamp beads 22 Installed on the surface of the lamp board 21 facing the side of the shooting target, the first polarizer 3 is arranged on the light emitting side of a plurality of LED lamp beads 22, the supplementary light assembly 2 includes a lamp board 21 and a plurality of LED lamp beads 22, the lamp board 21 Surrounding the shooting module 1 in a ring shape, a plurality of LED lamp beads 22 are installed on the surface of the light board 21 facing the shooting target, which can provide uniform lighting effect when the shooting module 1 captures and images the target object.
  • the LED lamp bead 22 is an LED lamp bead 22 in a COB (chip on board, Chip On Board) package form. Due to the secondary light distribution through the COB package, it has a larger The light-emitting angle and good uniformity are suitable for scenes that have high requirements for light-emitting area and light uniformity; it should be noted that when the supplementary light component 2 is a special LED lamp bead 22 that emits polarized light, using this type The lamp beads can emit polarized light when the first polarizer 3 is not working, and only need to pass through the second polarizer 4 to realize the function of controlling the glare component, avoiding the blocking of the emitted light by the first polarizer 3 .
  • COB chip on board, Chip On Board
  • the imaging component of this embodiment is an industrial camera 10, and the shooting lens is an industrial lens 11 configured with the industrial camera 10.
  • the industrial camera 10 can effectively compress the volume of the imaging module by using the board-level industrial camera 10. Due to its compact structural design, It can be better adapted to different types of construction robots, so that it can be installed on the end tooling of the robot to realize working imaging.
  • the supplementary light assembly 2 also includes a diffuser plate 23 made of a light-transmitting material, and the diffuser plate 23 is arranged between a plurality of LED lamp beads 22 and the first polarizer 3, so that the emitted light is diffused
  • the diffuser plate 23 passes through the polarization barrier of the first polarizer 3 after transmission, the polarized light after the outgoing light passes through the first polarizer 3 is reduced, and the diffuser plate 23 is correspondingly penetrated with a light hole 231 for the exposure of the shooting lens, so that the camera module 1 external capture image
  • the diffuser plate 23 in this embodiment uses a double-sided frosted diffuser plate with a transmittance of 70%, ensuring that the outgoing light of the supplementary light assembly 2 maintains a sufficient uniform light effect while maintaining a High transmittance; further, in order to meet different lighting requirements, users can also choose different specifications of diffuser 23 for installation, including but not limited to the use of high transmittance transparent glass, transparent single-sided frosted, milky white D
  • the supplementary light assembly 2 also includes a sealing ring 24; through the sealing connection between the sealing ring 24 and the LED lamp bead 22 and the lamp board 21, the sealing ring 24 is correspondingly sealed and fixed on the peripheral side of the diffusion plate 23 and the lamp board 21 edge, so that the outgoing light of the supplementary light assembly 2 can pass through the diffuser plate 23 as much as possible, and ensure the sealing of the shooting device;
  • the material of the sealing ring 24 is silicon rubber, because its material can withstand high temperatures (greater than 150 degrees), which can ensure the sealing performance of the entire supplementary light assembly 2 under the condition of high heat generation of the supplementary light assembly 2;
  • the second polarizer 4 is arranged in the first avoidance hole 31 of the first polarizer 3, so that the light reflected into the camera module 1 can be polarized twice to realize the elimination of the glare phenomenon; While the polarization directions of the first polarizer 3 are combined complementary, the volume of the second polarizer 4 is further reduced.
  • the anti-glare shooting device further includes a housing 5, the housing 5 is provided with an installation cavity and an opening communicating with the installation cavity, the camera module 1 and the supplementary light assembly 2 are installed in the installation cavity, and the first polarizer 3 and the second polarizer 4 are set together to cover the opening, which can realize the integrated installation of the anti-glare shooting device.
  • the light board 21 is fixed on the side of the opening, and the sealing ring 24 is arranged to seal and fix on the edge of the opening, and then the diffuser plate 23 and the first polarizer 3 are installed to realize the whole of the device.
  • the sealed assembly ensures the reliability of the device when it is shaking or in the process of work.
  • the embodiment of the present application also provides a construction robot, including the anti-glare shooting device of any of the above-mentioned embodiments, by installing the housing 5 on the robotic arm or torso of the robot, it can reduce or even eliminate the glare when capturing the target.
  • the specific structure of the anti-glare shooting device refers to the above-mentioned embodiments. Since the anti-glare shooting device adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the technical solutions brought about by the above-mentioned embodiments.
  • the construction robot of the present application can be a construction site construction robot such as floor laying equipment or plastering equipment, which can realize the capture and imaging of objects of different materials while reducing or even eliminating glare.

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Abstract

一种防眩光拍摄装置以及建筑机器人，防眩光拍摄装置包括拍摄模块（1）、补光组件（2）、第一偏振件（3）以及第二偏振件（4），补光组件（2）朝拍摄模块（1）的拍摄方向发出光照，以对拍摄模块（1）的拍摄目标进行照明，第一偏振件（3）设置于补光组件（2）的出光侧，第二偏振件（4）设置于拍摄模块（1）的入光侧，第一偏振件（3）和第二偏振件（4）在传输光路上不重叠，第一偏振件（3）的偏振方向与第二偏振件（4）的偏振方向呈0至90度的可变夹角设置。可以减少拍摄目标反射至拍摄模块（1）的光，进而有利于缓解拍摄目标产生眩光的问题。

Description

一种防眩光拍摄装置以及建筑机器人
相关申请的交叉引用
本申请要求2021年10月27日提交的、申请号为202111256415.1、申请名称为“一种防眩光拍摄装置以及建筑机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及工业检测技术领域，特别涉及一种防眩光拍摄装置以及建筑机器人。
背景技术
建筑机器人作业时需要使用工业相机对目标进行拍摄，并结合图像算法对作业场景和铺装目标进行定位测量。由于建筑机器人的工作环境复杂，需要适应户外暴晒下的工况，也需要保证在无环境照明的情况下照常工作；为保证在无环境照明的情况下正常工作，通常都需要增加额外的照明光源进行主动补光，以使工业相机采集的图像清晰稳定，便于图像处理。
但是对于铺贴类建筑机器人，其铺贴物通常为表面光滑的地砖、墙砖、木地板等，当同轴光源入射至这类目标物时，大部分的光会通过镜面反射进入到工业相机，造成明显的眩光，极大影响图像算法的处理效果。
发明内容
本申请提供一种防眩光拍摄装置以及建筑机器人，能够降低反光目标物产生的眩光效果。
第一方面，本申请实施例提供一种防眩光拍摄装置，包括：拍摄模块；补光组件，补光组件朝拍摄模块的拍摄方向发出光照，以对拍摄模块 的拍摄目标进行照明；第一偏振件，第一偏振件设置于补光组件的出光侧；以及第二偏振件，第二偏振件设置于拍摄模块的入光侧，其中，第一偏振件和第二偏振件在传输光路上不重叠，第一偏振件的偏振方向与第二偏振件的偏振方向呈0至90度的可变夹角设置。
根据本申请第一方面的前述实施方式，第一偏振件上设置有第一避让孔，第二偏振件设置于第一避让孔。
根据本申请第一方面的前述任一实施方式，第一偏振件或第二偏振件之一为液晶模组，第一偏振件或第二偏振件另一者为线偏振片，通过调整施加在液晶模组上的电压，以改变第一偏振件的偏振方向与第二偏振件的偏振方向的夹角。
根据本申请第一方面的前述任一实施方式，第一偏振件为液晶模组，第二偏振件为线偏振片，液晶模组未通电时的偏振方向与第二偏振件的偏振方向之间的夹角为0度；液晶模组通电时的偏振方向与第二偏振件的偏振方向之间的夹角大于0度，小于等于90度。
根据本申请第一方面的前述任一实施方式，液晶模组未通电时的偏振方向与第二偏振件的偏振方向之间的夹角为90度。
根据本申请第一方面的前述任一实施方式，第一偏振件与第二偏振件均为线偏振片，第一偏振件或第二偏振件上设置有驱动装置，以改变第一偏振件的偏振方向与第二偏振件的偏振方向的夹角。
根据本申请第一方面的前述任一实施方式，拍摄模块包括拍摄镜头和成像组件，补光组件包括灯板以及多个LED(发光二极管，Light-EmittingDiode)灯珠，灯板贯穿设置有供拍摄镜头穿过的第二避让孔，多个LED灯珠安装于灯板面对拍摄目标的表面，第一偏振件设置于多个LED灯珠的出光侧。
根据本申请第一方面的前述任一实施方式，补光组件还包括采用透光材料制成的漫射板，漫射板设置于多个LED灯珠和第一偏振件之间，漫射板对应贯穿有供拍摄镜头显露的通光孔。
根据本申请第一方面的前述任一实施方式，补光组件还包括密封圈，密封圈设于灯板和漫射板之间，以将灯板和漫射板密封连接。
根据本申请第一方面的前述任一实施方式，防眩光拍摄装置还包括：壳体，壳体设置有安装腔以及与安装腔连通的开口，拍摄模块和补光组件均安装于安装腔内，第一偏振件和第二偏振件共同封盖开口设置。
第二方面，本申请实施例提供一种建筑机器人，包括根据本申请第一方面的前述任一实施方式的防眩光拍摄装置。
本申请技术方案通过设置第一偏振件用于偏振阻隔补光组件的出射光，从而改变补光组件的出射光允许通过的偏振方向，只保留一个方向的偏振光入射，第一偏振件的出射光照射在目标件后镜面反射，由于第二偏振件位于拍摄模块的成像路径上，进而使得第二偏振件实现偏振阻隔入射至拍摄模块的反射光，可控制入射至拍摄模块的镜面反射光的成分，在被测目标件表面上经过镜面反射造成的眩光基本被阻隔，仅剩下经过漫反射的光，其偏振状态已经发生了改变，从而降低甚至消除进入到拍摄模块的眩光效果。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请实施例提供的防眩光拍摄装置的结构爆炸示意图；
图2为本申请实施例提供的防眩光拍摄装置的原理示意图。
附图标号说明：
标号 名称 标号 名称
1 拍摄模块 23 漫射板
10 工业相机 231 通光孔
11 工业镜头 24 密封圈
2 补光组件 3 第一偏振件
21 灯板 31 第一避让孔
211 第二避让孔 4 第二偏振件
22 LED灯珠 5 壳体
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，本申请实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本申请中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当人认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请实施例提供一种防眩光拍摄装置，其应用于建筑机器人，该建筑机器人可以是铺贴类建筑机器人，该建筑机器人还可以是喷涂料机器人，该建筑机器人还可以是其他类型的机器人，在此就不一一列举。
如图1，本申请的防眩光拍摄装置包括用于采集图像的拍摄模块1以及用于为拍摄模块1提供照明光源的补光组件2，当处于无环境照明的工况 时，补光组件2工作实现在无环境照明条件下的补光，拍摄模块1在补光组件2补光下实现对检测目标件的捕捉检测。
由于补光组件2的照明光源在目标物表面发生镜面反射后直接入射至拍摄模块1而产生眩光，造成局部的像素饱和，影响图像算法的准确性；因此在补光组件2的出射光出射方向上设置第一偏振件3，在拍摄模块1的入光侧设置第二偏振件4，以缓解甚至消除拍摄目标物反光产生的眩光问题。
工业光源的补光组件2主要为LED(发光二极管，Light-EmittingDiode)灯，LED灯发出的光偏振比较低，即S偏振成分与P偏振成分的能量比接近1:1，接近非偏振光，通过设置第一偏振件3用于偏振阻隔补光组件2的出射光，从而改变补光组件2的出射光允许通过的偏振方向，只保留一个方向的偏振光入射，第一偏振件3的出射光照射在目标件后镜面反射，由于第二偏振件4位于拍摄模块1的入光侧，这就使得第二偏振件4实现偏振阻隔入射至拍摄模块1的反射光。
如图2，当补光组件2工作时，产生出射光，第一偏振件3的偏振方向与第二偏振件4的偏振方向呈0-90度的可变夹角设置，通过改变第一偏振件3与第二偏振件4的偏振方向的夹角，即可控制入射至拍摄模块1的镜面反射光的成分。当第一偏振件3与第二偏振件4的偏振方向两者呈夹角时，由于第一偏振件3和第二偏振件4在传输光路上不重叠，在被测目标件表面上经过镜面反射造成的眩光基本被阻隔，仅剩下经过漫反射的光，其偏振状态已经发生了改变，从而降低甚至消除进入到拍摄模块1的眩光效果。
本实施例中，第一偏振件3上设置有第一避让孔31，第二偏振件4设置于第一避让孔31中，使得出射光经过第一偏振件3后，通过拍摄目标物反射通过第二偏振件4直接进入拍摄模块1，反射光不与第一偏振件3再次偏振重叠，保证进入拍摄模块1的成像光有较高的成像亮度。
第一偏振件3或第二偏振件4的其中一个为液晶模组，对应的第二偏振件4或第一偏振件3则为线偏振片；液晶模组可实现出射光或反射光的穿透传输，液晶模组包括液晶面板以及位于液晶面板中的液晶分子，由于 液晶面板中的液晶分子两边具有电极结构，在液晶模组接通电源后向其增加电压使得液晶分子产生偏转和位移；由于液晶分子的主要元素为碳
(C)，其分子结构呈细长的棒状，对呈棒状的液晶分子施加电压，则会产生“电偶极矩”效应，这种效应会对液晶分子的电场大小以及方向产生影响与改变，因此当在液晶分子层加入电压时，液晶分子内部产生正负两种电极，然后对外界的电场大小与方向开始产生影响，于是改变了液晶分子的行进方向。当电源停止加压后，液晶分子的正电荷向负电荷的方向前进，负电荷朝向正电荷端前进，这样也就改变了液晶分子的排列方向，并且液晶分子的排列方式其偏振方向可以通过改变施加在液晶模组上的电压调整。
通过对液晶模组施加电压改变液晶分子的排列方向，液晶分子通过排列方向的改变使光线通过或遮挡，由于补光组件2的光接近非偏振光，当出射光通过线偏振状态下的液晶模组时，仅保留一个方向的偏振光，冰鞋偏振方向保持不变并反射至为第二偏振件4，由于镜面反射光与线偏振片的偏振方向成夹角，使得偏振镜面反射光被线偏振片阻隔，实现眩光降低甚至消除，从而使目标物进入拍摄模块1，可实现主动光源成像并有效降低眩光。
本实施例中，第一偏振件3为液晶膜组，第二偏振件4为线偏振片；当液晶模组未通电时，其偏振方向与第二偏振件的偏振方向之间的夹角为0度；液晶模组通电时的偏振方向与所述第二偏振件的偏振方向之间的夹角大于0度，小于等于90度；当补光组件2工作或需要消除眩光时，对为液晶模组的第一偏振件3施加一定的电压，使其与第一偏振件3的偏振方向发生改变，实现与第二偏振件4的对应偏振方向呈0-90度的夹角设置，控制入射至拍摄模块1的镜面反射光的成分，可实现入射至拍摄模块1的反射光线只有经过漫反射的光。
对于表面光滑程度较低的被拍目标物(如木地板、瓷砖、大理石等)，眩光效应相对较弱，可以通过调整施加在液晶模组上的电压，减少液晶模组的偏振方向与线偏振片的偏振方向的夹角，从而增加最终入射至成像模组的光线，提高能量利用效率。
对于表面粗糙的被拍目标物(水泥墙面、石砖等)，光线基本发生漫反射并产生强烈的退偏效果，可对液晶模组施加一个较低的电压或不施加任何电压，使液晶模组的偏振方向与线偏振片的偏振方向保持一致，保证较高的能量利用效率，提高防眩光相机的泛用性。
进一步的，液晶模组还可在未通电施加电压的情况下的偏振方向与第二偏振件4成夹角设置，可实现进行数据采集时，液晶模组为保持施加低电压或不施加电压的状态，即液晶模组的默认偏振状态与第二偏振件4的偏振方向保持夹角，使得防眩光拍摄装置固定运行在抗眩光模式。因此，可以使得第一偏振件3与第二偏振件4在初始设置时两者的偏振方向即呈0-90度的夹角设置，实现防眩光拍摄装置工作时即固定运行在抗眩光模式，免去了对第一偏振件3或第二偏振件4的偏振角度调节工作。
本实施例中，当补光组件2工作时，第一偏振件3的偏振方向与第二偏振件4的偏振方向的夹角优选为90度设置，使得S偏振与P偏振均通过第一偏振件3以及第二偏振件4进行偏振阻隔，更好的实现对眩光的消除。
需要说明的是，第二偏振件4为线偏振片时，第一偏振件3也可以为线偏振片，通过在第一偏振件3或第二偏振件4上设置驱动装置，以改变第一偏振件3的偏振方向与第二偏振件4的偏振方向的夹角，可实现第一偏振件3的偏振方向与第二偏振件4的偏振方向呈夹角设置，实现对成像眩光的消除。
在一些实施例中，液晶模组为90度扭曲向列型液晶模组，使得对液晶膜组施加电压后，其液晶分子扭转方向对比施加电压前可相差90度
(即偏振方向相差也为90度)，实现施加电压后补光组件2发出的光线经由液晶模组出射后只保留单个偏振方向，再经由目标物镜面反射后径第二偏振件4偏振阻隔，实现主动成像的眩光消除。
拍摄模块1包括拍摄镜头和成像组件，补光组件2包括灯板21以及多个LED灯珠22，灯板21贯穿设置有供拍摄镜头穿过的第二避让孔211，多个LED灯珠22安装于灯板21朝向拍摄目标物一侧的表面，第一偏振件3设置于多个LED灯珠22的出光侧，补光组件2包括灯板21以及多个 LED灯珠22，灯板21环绕拍摄模块1而呈环形设置，多个LED灯珠22安装于灯板21面向拍摄目标的表面设置，可为拍摄模块1对目标物捕捉成像时提供均匀的光照效果。
在一些实施例中，LED灯珠22为COB(板上芯片，Chip On Board)封装形式的LED灯珠22，由于通过COB封装进行了二次配光，使得相对于常规LED灯珠具有较大的发光角度及良好的均匀性，适用于对发光面积及光照均匀性有较高要求的场景；需要说明的是，当补光组件2为选用出射偏振光的特殊LED灯珠22，使用这类灯珠，可以在第一偏振件3不工作的情况下出射偏振光，仅需要通过第二偏振件4便可实现控制眩光成分的功能，避免了第一偏振件3对于出射光的阻隔。
本实施例的成像组件为工业相机10，拍摄镜头为与工业相机10设配的工业镜头11，工业相机10使用板级工业相机10可以有效压缩成像模组的体积，由于其紧凑的结构设计，能够更好的适配不同型号的建筑机器人，使其安装至机器人的末端工装上实现工作成像。
本实施例中，补光组件2还包括采用透光材料制成的漫射板23，漫射板23设置于多个LED灯珠22和第一偏振件3之间，使得出射光经过漫射板23的透射后经过第一偏振件3的偏振阻隔，减少出射光经过第一偏振件3后的偏振光，漫射板23对应贯穿有供拍摄镜头显露的通光孔231，以便于拍摄模块1的对外捕捉成像；本实施例中的漫射板23使用透过率70％的双面磨砂漫射板，保证补光组件2的出射光在得到充分的匀光效果的同时也保持着有较高的透射率；进一步的，为了满足不同的打光需求，用户也可以选用不同规格的漫射板23进行安装，包括但不限于使用高透过率物色透明玻璃、透明单面磨砂、乳白漫射板等。
进一步的，补光组件2还包括密封圈24；通过密封圈24与LED灯珠22及灯板21之间进行密封连接，密封圈24对应密封固定于漫射板23以及灯板21的周侧边缘，使得补光组件2的出射光能够尽可能多的通过漫射板23，并且保证本拍摄装置的密封性；优选的，密封圈24的材质为硅橡胶，由于其材质可耐高温(大于150度)，可保证在补光组件2高发热工况下整个补光组件2的密封性能；
第二偏振件4设置于第一偏振件3的第一避让孔31，以实现反射进入拍摄模块1的光线能够进行二次偏振，实现对炫光现象的消除；实现第二偏振件4与第一偏振件3之间偏振方向互补结合的同时，进一步降低了第二偏振件4的体积。
在一些实施例中，防眩光拍摄装置还包括壳体5，壳体5设置有安装腔以及与安装腔连通的开口，拍摄模块1和补光组件2均安装于安装腔内，第一偏振件3和第二偏振件4共同封盖开口设置，可实现本防眩光拍摄装置的集成安装。
本实施例中，在拍摄模块1固定后，通过将灯板21固定于开口侧，并设置密封圈24密封固定于开口边缘后，安装漫射板23以及第一偏振件3，实现装置的整体密封装配，保证了装置在工作出现抖动或过程中的可靠性。
本申请实施例还提供了一种建筑机器人，包括上述任一实施方式的防眩光拍摄装置，通过将壳体5安装于机器人的机器臂或者躯干位置，实现在对目标物捕捉时，降低甚至消除目标物的成像炫光，该防眩光拍摄装置的具体结构参照上述实施例，由于防眩光拍摄装置采用了上述所有实施例的全部技术方案，因此至少具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述；需要说明的是，本申请的建筑机器人可以是铺地板设备或抹灰设备等工地建筑机器人，可实现对不同材质目标物的捕捉成像的同时降低甚至消除炫光。
通过将拍摄模块1与补光组件2集成于壳体5中，在满足建筑机器人工装体积需求的同时提供稳定的主动照明，保证防眩光拍摄装置的全天候工作；并通过第一偏振件3与第二偏振件4的组合使用，极大地降低了反光目标物产生的眩光效果，降低了图像算法的复杂度。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (11)

  1. 一种防眩光拍摄装置，包括：
    拍摄模块；
    补光组件，所述补光组件朝所述拍摄模块的拍摄方向发出光照，以对拍摄模块的拍摄目标进行照明；
    第一偏振件，所述第一偏振件设置于所述补光组件的出光侧；以及
    第二偏振件，所述第二偏振件设置于所述拍摄模块的入光侧，
    其中，所述第一偏振件和第二偏振件在传输光路上不重叠，所述第一偏振件的偏振方向与所述第二偏振件的偏振方向呈0至90度的可变夹角设置。
  2. 如权利要求1所述的防眩光拍摄装置，其中，所述第一偏振件上设置有第一避让孔，所述第二偏振件设置于所述第一避让孔。
  3. 如权利要求1所述的防眩光拍摄装置，其中，所述第一偏振件或第二偏振件之一为液晶模组，所述第一偏振件或第二偏振件另一者为线偏振片，通过调整施加在液晶模组上的电压，以改变所述第一偏振件的偏振方向与所述第二偏振件的偏振方向的夹角。
  4. 如权利要求3所述的防眩光拍摄装置，其中，所述第一偏振件为液晶模组，所述第二偏振件为线偏振片，所述液晶模组未通电时的偏振方向与所述第二偏振件的偏振方向之间的夹角为0度；所述液晶模组通电时的偏振方向与所述第二偏振件的偏振方向之间的夹角大于0度，小于等于90度。
  5. 如权利要求3所述的防眩光拍摄装置，其中，所述液晶模组未通电时的偏振方向与所述第二偏振件的偏振方向之间的夹角为90度。
  6. 如权利要求1所述的防眩光拍摄装置，其中，所述第一偏振件与所述第二偏振件均为线偏振片，所述第一偏振件或第二偏振件上设置有驱动装置，以改变所述第一偏振件的偏振方向与所述第二偏振件的偏振方向的夹角。
  7. 如权利要求1所述的防眩光拍摄装置，其中，所述拍摄模块包括拍摄镜头和成像组件，所述补光组件包括灯板以及多个LED灯珠，所述灯板贯穿设置有供拍摄镜头穿过的第二避让孔，多个所述LED灯珠安装于所述灯板面对拍摄目标的表面，所述第一偏振件设置于多个所述LED灯珠的出光侧。
  8. 如权利要求7所述的防眩光拍摄装置，其中，所述补光组件还包括采用透光材料制成的漫射板，所述漫射板设置于多个所述LED灯珠和所述第一偏振件之间，所述漫射板对应贯穿有供所述拍摄镜头显露的通光孔。
  9. 如权利要求8所述的防眩光拍摄装置，其中，所述补光组件还包括密封圈，所述密封圈设于所述灯板和所述漫射板之间，以将所述灯板和所述漫射板密封连接。
  10. 如权利要求1至9任一项所述的防眩光拍摄装置，还包括：
    壳体，所述壳体设置有安装腔以及与所述安装腔连通的开口，所述拍摄模块和所述补光组件均安装于所述安装腔内，所述第一偏振件和所述第二偏振件共同封盖所述开口设置。
  11. 一种建筑机器人，包括如权利要求1至10中任意一项所述的防眩光拍摄装置。
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