Laser visual sensor and detection method thereof

A visual sensor and sensor technology, which is applied in the direction of instruments, measuring devices, and optical devices, can solve the problems of laser energy dispersion, difficulty in application, and weak signal strength, and achieve enhanced irradiation intensity, strong anti-strong light interference, and light intensity bright effect

Pending Publication Date: 2017-07-14
SUZHOU RUINIU ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The disadvantage is that the energy of the laser is scattered and the signal strength is re

Method used

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  • Laser visual sensor and detection method thereof
  • Laser visual sensor and detection method thereof
  • Laser visual sensor and detection method thereof

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Such as figure 2 As shown, in the laser vision sensor of this embodiment, the laser transmitter 1 emits a laser beam. If each laser beam is arranged in the same plane, it replaces the laser surface in the conventional laser vision sensor. The only difference is that what is illuminated by the laser is a series of light spots or spots arranged on the cross section, instead of Continuous light pattern of cross-sectional shape. Of course, in theory, the laser beam can be arranged in other ways according to the work task, and it does not have to be in the same plane, but the mathematical model of this arrangement is simple and easy to solve the spot position. These laser transmitters 1 cooperate with the image acquisition sensor 2 to form a laser vision system to obtain the position and depth information of the contour of the workpiece 4 described by points.

[0036] These laser beams can be arranged in parallel or like image 3 It is arranged in a fan-shaped divergence in o...

Embodiment 2

[0039] In particular, it is also possible to make the main optical axis of the imaging system of the image acquisition sensor coplanar with the plane where the laser beam is located, but the main optical axis of the imaging system and the laser beams are inclined, and the spot generated by the laser beam irradiating the workpiece can be Imaging on the photosensitive surface of the image acquisition sensor, such as Figure 5 Shown. The characteristic of the sensor with this structure is that all the light spots are imaged in a straight line, so the image acquisition sensor can adopt a linear array device (only one line of photosensitive array), and the information processing speed is fast.

[0040] If the actual position and direction of the laser beam have a large error with the design state, the image formed by the light spot will fall outside the photosensitive unit of the linear image acquisition sensor. To this end, an image acquisition sensor with a few rows of photosensitiv...

Embodiment 3

[0043] A reflector 3 can be added in the process of projecting the laser beam to realize folding the optical path and reduce the overall size.

[0044] In particular, using a mirror that can vibrate at a small angle, the deflection angle of the laser beam is also monitored when image information is collected, so that the laser beam can scan between the spots to achieve full coverage of the detection section. Such as Image 6 , Figure 7 As shown, a mirror 3 that vibrates at a slight angle is used. Between the left and right vibration limits, the corresponding spot can scan all the line segments of two adjacent spots, that is, as long as the scanning movement distance of the spot is greater than the adjacent two The maximum distance between the light spots is sufficient. In this way, the number of laser beams can be reduced and a dense detection point spot can also be obtained.

[0045] The above case of using a single vibrating mirror is more suitable for the case where the laser ...

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Abstract

The present invention relates to a laser visual sensor. The laser visual sensor comprises a mounting rack, one end of the mounting rack is provided with an image collection sensor, and the other end of the mounting rack is provided with at least one laser emitter capable of generating a plurality of laser beams. Based on the trigonometric survey principle, the laser visual sensor employs a plurality of laser beams to irradiate the workpiece surface to enhance the irradiation intensity of light spots so as to improve the reliability of visual information and enhance the anti-highlight interference capability of the laser visual sensor. Besides, the present invention further relates to the detection method of the laser visual sensor. The detection method of the laser visual sensor can simplify the solution algorithm and improve the information processing speed.

Description

Technical field [0001] The invention relates to a laser measuring device, in particular to a laser vision sensor. In addition, the present invention also relates to the detection method of the laser vision sensor. Background technique [0002] As attached figure 1 As shown, the existing laser vision sensor based on the topographic features of the workpiece surface usually uses a laser transmitter to project a light surface to form a light pattern on the surface of the workpiece, and then use a camera to collect and analyze the light pattern. The disadvantage is that the energy of the laser is relatively dispersed, and the signal strength is relatively weak, which is difficult to apply under strong ambient light interference. [0003] In view of the above-mentioned shortcomings, the designer actively researches and innovates in order to create a new structure of laser vision sensor and its detection method. Summary of the invention [0004] In order to solve the above technical pro...

Claims

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Application Information

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IPC IPC(8): G01B11/24
CPCG01B11/2433
Inventor 张向锋
Owner SUZHOU RUINIU ROBOT TECH CO LTD
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