Line laser profile measurement method, device and equipment

Abstract

The embodiment of the present application provides a line laser profile measurement method, device and equipment, which relates to the field of laser measurement technology. The method includes: controlling a driving motor to drive a line laser profile sensor to swing in a direction perpendicular to the reference plane where the object to be measured is located; during the swinging process of the line laser profile sensor, controlling the line laser profile sensor to emit a line laser, and collecting image data in real time, and recording the swing angle corresponding to the line laser profile sensor each time the image data is collected; performing data processing based on each collected image data and the corresponding swing angle to obtain the profile information of the object to be measured. Through the method of the present application, the profile information of the object to be measured can be obtained without the aid of external motion such as a conveyor belt or a sliding track, reducing the dependence on the external motion mechanism.

Description

Technical Field

[0001] The present application relates to the field of laser measurement technology, and in particular to a method, device and equipment for measuring line laser profiles. Background Art

[0002] Laser profiling is usually used in scenarios such as surface profile measurement of objects and surface defect detection of parts. At present, laser profiling usually uses a line laser profiling sensor, which projects a linear laser through a line laser light source to capture images of the object being measured, and then restores the complete three-dimensional spatial information of the object being measured based on the captured images in combination with the relative motion of the object being measured.

[0003] In the related art, when using a line laser profile sensor for measurement, in order to achieve relative movement between the line laser profile sensor and the object to be measured, a common method is to place the object to be measured on a conveyor belt, and fix the line laser profile sensor above the conveyor belt; or, the line laser profile sensor is slidably set on a sliding track, and the object to be measured is fixedly placed on a detection platform below the sliding track.

[0004] It can be seen that in the related art, the use of line laser profile sensors for profile measurement is highly dependent on external motion mechanisms such as conveyor belts or sliding tracks. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a line laser profile measurement method, device and equipment to achieve scanning of the surface profile of the object to be measured on the basis of reducing the dependence on the external motion mechanism. The specific technical solution is as follows:

[0006] In a first aspect of an embodiment of the present application, a line laser profile measurement method is provided, which is applied to a line laser profile sensor in a line laser profile measurement device, wherein the line laser profile measurement device further comprises a drive motor; the line laser profile sensor is fixedly connected to the drive motor via a rotating shaft, so that the line laser profile sensor can swing around the rotating shaft in a direction perpendicular to a reference plane where an object to be measured is located under the drive of the drive motor;

[0007] The method comprises:

[0008] Controlling the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located;

[0009] During the swinging of the line laser profile sensor, controlling the line laser profile sensor to emit a line laser, and collecting image data in real time, and recording the swinging angle corresponding to the line laser profile sensor each time the image data is collected;

[0010] Data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

[0011] In a possible implementation, the line laser profile sensor includes: a line laser module and an image acquisition module;

[0012] The data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured, including:

[0013] For each image data, convert the image data into first point cloud data of the line laser module coordinate system;

[0014] Based on a preset conversion matrix, the first point cloud data is converted into reference point cloud data of a reference axis coordinate system, wherein the reference axis coordinate system is: a rotation axis coordinate system when the line laser profile sensor is located at a specified angle; the conversion matrix is ​​determined based on an offset between an origin of a preset line laser module coordinate system and the rotation axis and a swing angle;

[0015] Based on the reference point cloud data corresponding to each image, all the reference point cloud data are spliced ​​to obtain the contour information of the object to be measured.

[0016] In a possible implementation, the first point cloud data is converted into reference point cloud data in the following manner:

[0017] ;

[0018] in, is the reference point cloud data, is the first point cloud data, is the preset transformation matrix, is the rotation vector, is the offset of the origin of the line laser module coordinate system relative to the rotation axis.

[0019] In a possible implementation, the conversion matrix It is obtained in advance according to the following method:

[0020] ;

[0021] in, is the preset first transformation matrix, To preset the second transformation matrix, , The preset first transformation matrix is ​​used to represent the transformation relationship between the line laser module coordinate system and the intermediate coordinate system, and the preset second transformation matrix is ​​used to represent the transformation relationship between the intermediate coordinate system and the reference axis coordinate system. The intermediate coordinate system is: the rotation axis coordinate system when acquiring the image data.

[0022] In a possible implementation, the It is determined based on the rotation axis and the rotation angle of the rotation axis. The offset of the origin of the line laser module coordinate system relative to the rotation axis and the rotation axis are determined in advance in the following manner:

[0023] Control the driving motor to drive the line laser profile sensor to swing around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located to scan the calibration object, and obtain calibration profile data in the line laser module coordinate system, wherein the surface equation of the surface of the calibration object facing the laser emission port is known;

[0024] Calculating the first coordinates of each point on the surface of the calibration object in the reference axis coordinate system according to the surface equation of the calibration object and the position of the calibration object;

[0025] Based on the corresponding relationship between the calibration profile data and the first coordinate, the offset of the origin of the line laser module coordinate system relative to the rotation axis and the rotation axis are obtained by fitting.

[0026] In a possible implementation, the method further includes:

[0027] Acquire each first detection range in the line laser module coordinate system when the line laser profile sensor swings to each swing angle;

[0028] Projecting each of the detection ranges into the reference axis coordinate system to obtain each second detection range;

[0029] The intersection of the second detection ranges is determined as the actual detection range of the line laser profile sensor.

[0030] In a possible implementation manner, controlling the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located includes:

[0031] The driving motor is controlled to drive the line laser profile sensor to swing from a first angle to a second angle around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located, wherein the first angle and the second angle are the angles of rotation of the rotation axis when the distance between the laser emission port and the reference plane in the laser emission direction is the maximum detection distance.

[0032] In a possible implementation, the line laser profile sensor comprises: a line laser module and an image acquisition module; the line laser module comprises: a line laser transmitter; the image acquisition module comprises: a lens assembly and a controller; the controller is electrically connected to the line laser transmitter, the lens assembly and the drive motor;

[0033] The step of controlling the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located comprises:

[0034] The controller sends a first instruction to the drive motor to rotate the drive motor, thereby driving the line laser profile sensor to swing around the rotation axis in a direction perpendicular to a reference plane where the object to be measured is located;

[0035] During the swinging process of the line laser profile sensor, a line laser is emitted and image data is collected in real time, and the swinging angle corresponding to the line laser profile sensor when the image data is collected each time is recorded, including:

[0036] The controller sends a second instruction to the laser emitter to make the laser emitter emit a line laser, and sends a third instruction to the lens assembly to make the lens assembly collect image data in real time; each time the image data is collected, the rotation angle output by the drive motor is obtained and recorded as the corresponding swing angle;

[0037] The data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured, including:

[0038] The controller performs data processing based on each collected image data and the corresponding swing angle to obtain contour information of the object to be measured.

[0039] According to a second aspect of the embodiments of the present application, there is provided a line laser profile measurement device, including a line laser profile sensor and a drive motor;

[0040] During the swinging process of the line laser profile sensor, a line laser is emitted and image data is collected in real time, and the swinging angle corresponding to the line laser profile sensor when image data is collected each time is recorded;

[0041] The driving motor is fixedly connected to the line laser profile sensor via a rotating shaft, and is used to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located through the rotation of the driving motor;

[0042] The line laser profile sensor is used to control the rotation of the drive motor, and when the line laser profile sensor swings, it emits a line laser and collects image data in real time, records the corresponding swing angle of the line laser profile sensor each time image data is collected; and performs data processing based on each collected image data and the corresponding swing angle to obtain the profile information of the object to be measured.

[0043] In a possible implementation manner, the rotating shaft is a motor output shaft of the driving motor;

[0044] The driving motor also includes: a motor body and a mounting platform; the motor output shaft is located on the axis of the motor body; the mounting platform is located at one end of the motor body, and is perpendicular to the motor output shaft and rotates with the motor output shaft; the line laser profile sensor is fixedly mounted on the mounting platform, so that the line laser profile sensor can swing around the motor output shaft in a direction perpendicular to the reference plane where the object to be measured is located.

[0045] In a possible implementation manner, the line laser profile measuring device further includes: a motor support seat; a motor body of the drive motor is mounted on the motor support seat, and a mounting platform of the drive motor extends out of the motor support seat;

[0046] The line laser profile sensor comprises: a line laser module, an image acquisition module and a sensor mounting frame; the line laser profile sensor is fixedly mounted on the mounting platform of the drive motor through the sensor mounting frame.

[0047] In a possible implementation, the line laser module includes: a line laser transmitter; the image acquisition module includes: a lens assembly;

[0048] The line laser module and the image acquisition module are installed in parallel and at intervals along the length direction of the sensor mounting frame, wherein the line laser emitter and the lens assembly are installed toward the reference plane where the object to be measured is located, and the laser line projected by the line laser module to the reference plane is completely within the shooting field of view of the lens assembly.

[0049] In a possible implementation manner, the image acquisition module further includes: a controller;

[0050] The controller is electrically connected to the line laser emitter, the lens assembly and the drive motor; it is used to control the rotation of the drive motor, and during the swinging of the line laser contour sensor, control the line laser emitter to emit a line laser and control the lens assembly to collect image data in real time, record the swing angle output by the drive motor each time the image data is collected; and perform data processing based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

[0051] In a possible implementation, the laser emission port of the line laser profile sensor is located on the axis of the rotating shaft.

[0052] In a possible implementation, the device further includes: a housing;

[0053] The shell cover is arranged outside the online laser profile sensor and the driving motor.

[0054] According to a third aspect of the embodiments of the present application, a line laser profile measuring device is provided, which is applied to a line laser profile sensor in a line laser profile measuring device, wherein the line laser profile measuring device further comprises a driving motor; the line laser profile sensor is fixedly connected to the driving motor via a rotating shaft, so that the line laser profile sensor can swing around the rotating shaft in a direction perpendicular to a reference plane where the object to be measured is located under the drive of the driving motor;

[0055] The device comprises:

[0056] A first control module is used to control the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located;

[0057] A second control module is used to control the line laser profile sensor to emit a line laser during the swinging process of the line laser profile sensor, and to collect image data in real time, and to record the swing angle corresponding to the line laser profile sensor when collecting image data each time;

[0058] The data processing module is used to perform data processing based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

[0059] In a fourth aspect of the embodiments of the present application, a controller is provided, the controller comprising:

[0060] Memory, used to store computer programs;

[0061] The processor is used to implement any of the above-mentioned line laser profile measurement methods when executing the program stored in the memory.

[0062] Beneficial effects of the embodiments of the present application:

[0063] The embodiments of the present application provide a method, device and equipment for measuring line laser profiles. The line laser profile sensor is fixedly connected to the driving motor through a rotating shaft, so that the line laser profile sensor can swing around the rotating shaft in a direction perpendicular to the reference plane where the object to be measured is located under the drive of the driving motor. When measuring, the driving motor is controlled to drive the line laser profile sensor to swing in a direction perpendicular to the reference plane where the object to be measured is located. During the swinging of the line laser profile sensor, the line laser profile sensor is controlled to emit a line laser, and image data is collected in real time, and the swing angle corresponding to the line laser profile sensor is recorded each time the image data is collected. Finally, data processing is performed based on each collected image data and the corresponding swing angle to obtain the profile information of the object to be measured. Through the method of the embodiments of the present application, the driving motor fixedly connected to the line laser profile sensor can drive the line laser profile sensor to swing and scan around the rotating shaft in a direction perpendicular to the reference plane where the object to be measured is located. The profile information of the object to be measured can be obtained without the aid of external motion such as a conveyor belt or a sliding track, thereby reducing the dependence on external motion mechanisms.

[0064] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0066] Figure 1 It is the working schematic diagram of the line laser profile sensor;

[0067] Figure 2 A schematic diagram of the first structure of a line laser profile measurement device provided in an embodiment of the present application;

[0068] Figure 3 A flow chart of a line laser profile measurement method provided in an embodiment of the present application;

[0069] Figure 4a A first schematic diagram of the relative positions of the line laser profile sensor and the rotating shaft in the line laser profile measurement device provided in an embodiment of the present application;

[0070] Figure 4b A second schematic diagram of the relative positions of the line laser profile sensor and the rotating shaft in the line laser profile measurement device provided in an embodiment of the present application;

[0071] Figure 4cA third schematic diagram of the relative positions of the line laser profile sensor and the rotating shaft in the line laser profile measurement device provided in an embodiment of the present application;

[0072] Figure 5a~Figure 5c for Figure 4a An example diagram of the measurement process of the illustrated embodiment;

[0073] Figure 6a for Figure 4a A schematic diagram of the linear laser profile sensor swinging around the rotation axis during the measurement process of the illustrated embodiment;

[0074] Figure 6b for Figure 4b A schematic diagram of the linear laser profile sensor swinging around the rotation axis during the measurement process of the illustrated embodiment;

[0075] Figure 7a~Figure 7b for Figure 4a An example diagram of image data collected in the illustrated embodiment;

[0076] Figure 8a for Figure 4a An example diagram of the projected light path during the swinging process of the linear laser profile sensor in the illustrated embodiment;

[0077] Figure 8b for Figure 4a A side view of the projected light path of the linear laser profile sensor during the swinging process in the illustrated embodiment;

[0078] Figure 8c for Figure 4a An example diagram of a laser line projected onto the surface of an object to be measured during the swinging process of the linear laser profile sensor in the illustrated embodiment;

[0079] Figure 8d for Figure 4a An example diagram of image data collected by the image acquisition module in the illustrated embodiment;

[0080] Figure 8e for Figure 4a The illustrated embodiment is a sample diagram of the surface profile of the object to be measured obtained by splicing;

[0081] Fig. 9 A schematic diagram of a circuit structure of a line laser profile sensing device provided in an embodiment of the present application;

[0082] Fig.10 Another schematic diagram of the circuit structure of the line laser profile sensing device provided in the embodiment of the present application;

[0083] Fig.11 for Figure 3 A schematic diagram of specific implementation steps of step S30;

[0084] Fig.12a for Figure 4a A first schematic diagram of a coordinate system established in the illustrated embodiment;

[0085] Figure 12b for Figure 4a A second schematic diagram of the coordinate system established in the illustrated embodiment;

[0086] Fig.12c for Figure 4b A first schematic diagram of a coordinate system established in the illustrated embodiment;

[0087] Fig.12d for Figure 4b A second schematic diagram of the coordinate system established in the illustrated embodiment;

[0088] Fig.13 for Figure 4a An example diagram of image data in the sensor coordinate system in the illustrated embodiment;

[0089] Fig.14 A flow chart for determining a detection range provided in an embodiment of the present application;

[0090] Fig.15 for Figure 4a An example diagram of the maximum detection range in the illustrated embodiment;

[0091] Fig.16 A second structural schematic diagram of the line laser profile measurement device provided in an embodiment of the present application;

[0092] Fig.17 A third structural schematic diagram of the line laser profile measurement device provided in an embodiment of the present application;

[0093] Fig.18 A schematic diagram of the structure of a line laser profile measurement device provided in an embodiment of the present application;

[0094] Fig.19 A schematic diagram of the structure of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0095] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0096] First, the professional terms in the embodiments of the present application are explained:

[0097] Triangulation: A measurement principle in which a light source, a receiver and an object to be measured (i.e. the object to be measured) form a triangle. The laser irradiates the object to be measured at a certain incident angle, and the reflected laser forms an image on the receiver. The incident light and the reflected light form a triangle. When calculating the distance from the object to be measured to the baseline (the line connecting the light source and the receiver), the geometric trigonometric theorem is used, so it is called triangulation.

[0098] Line laser triangulation: The light source for triangulation projects a linear laser, which is combined with the relative motion of the object to be measured to restore the three-dimensional surface of the object to be measured;

[0099] Direct drive motor: refers to a motor that does not require speed reduction devices such as ball screws, gears, belts, etc., and directly drives the load to operate through the motor. The output shaft extends from the main body, and the load can be directly mounted on the main body without the need for other transition devices.

[0100] Line laser profile sensor is a high-precision, non-contact measuring device used in industrial automation, quality inspection, scientific research and other fields. Figure 1 The figure shows a working schematic diagram of the line laser profile sensor. The working principle of the line laser profile sensor is as follows: the line laser module 110 emits a line laser (i.e., the projection light path) to project onto the surface of the object 200 to be measured, and the lens assembly 121 in the image acquisition module 120 is used to capture the laser contour line formed after the laser line is reflected on the surface of the object 200 to be measured, and project it onto the image sensor 122. Each pixel point on the image sensor 122 corresponds to a specific position on the laser line. By measuring the position of the reflected light on the image sensor 122, the distance from the image sensor 122 to the position can be calculated, and then through the relative movement of the line laser profile sensor 100 and the object 200 to be measured, data is continuously collected and the complete three-dimensional contour information of the object 200 to be measured is restored through data processing and synthesis.

[0101] In order to achieve relative motion measurement, line laser profile sensors are usually used in conjunction with motion mechanisms such as conveyor belts and robotic arms. For example, a sensor is installed above a conveyor belt to continuously scan moving objects; a sensor is installed on a robotic arm to perform multi-angle scanning on stationary or slowly moving objects. That is, the use of line laser profile sensors for profile measurement in related technologies is highly dependent on external motion mechanisms.

[0102] In order to scan the surface profile of an object to be measured while reducing the dependence on external mechanisms, a first aspect of an embodiment of the present application provides a line laser profile measurement method, which is applied to a line laser profile sensor in a line laser profile measurement device, such as Figure 2 As shown, Figure 2This is a first structural schematic diagram of a line laser profile measurement device provided in an embodiment of the present application, wherein the line laser profile measurement device comprises a line laser profile sensor 100 and a drive motor 400; the line laser profile sensor is fixedly connected to the drive motor 400 via a rotating shaft 410, so that the line laser profile sensor 100 can swing around the rotating shaft 410 in a direction perpendicular to a reference plane where a measured object is located, driven by the drive motor 400;

[0103] It can be understood that the rotating shaft 410 in the embodiment of the present application can be the output shaft itself of the drive motor 400 or an extension of the output shaft, or it can be a transmission mechanism such as a coupling, a bearing seat, etc., and the line laser profile sensor 100 is fixedly connected to the drive motor 400 through the transmission mechanism. The embodiment of the present application is not limited to this.

[0104] In a possible implementation, the drive motor is a direct drive motor, and the rotating shaft is an output shaft of the drive motor, so as to improve the swing accuracy of the line laser profile sensor.

[0105] like Figure 3 As shown, Figure 3 A flow chart of a line laser profile measurement method provided in an embodiment of the present application, the method comprising:

[0106] Step S10, controlling the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to the reference plane where the object to be measured is located;

[0107] Step S20, during the swinging process of the line laser profile sensor, controlling the line laser profile sensor to emit a line laser, and collecting image data in real time, and recording the swinging angle corresponding to the line laser profile sensor when collecting image data each time;

[0108] Step S30, performing data processing based on each collected image data and the corresponding swing angle to obtain contour information of the object to be measured.

[0109] Through the method of the embodiment of the present application, the driving motor fixedly connected to the line laser contour sensor can drive the line laser contour sensor to swing and scan around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located. Without the aid of external movement such as a conveyor belt or sliding track, the contour information of the object to be measured can be obtained, thereby reducing dependence on external motion mechanisms.

[0110] In the related art, a line laser profile sensor is placed on a horizontally placed annular sliding track to achieve annular measurement, such as measuring tires or other annular objects, but it can only be used for objects to be measured placed on a horizontal plane, and it still requires the external movement of the annular sliding track, and is highly dependent on the external motion mechanism.

[0111] Since the line laser profile sensor in the embodiment of the present application can swing around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located, the line laser profile measurement method in the embodiment of the present application can realize measurement in any direction and is not limited to the objects to be measured on the horizontal plane, thereby improving the applicability of the line laser profile sensor.

[0112] In the embodiment of the present application, the rotation axis can be at any position of the line laser profile sensor. In the embodiment, the line laser profile sensor 100 includes: a line laser module 110 and an image acquisition module 120. The image acquisition module 120 includes a lens assembly 121 and an image sensor 122. Figure 4a~Figure 4c This is a schematic diagram of the relative positions of the line laser profile sensor and the rotation axis in the line laser profile measurement device provided in an embodiment of the present application. For example, the rotation axis can be Figure 4a The position shown by the black dot, that is, the direction vector of the axis of the rotating shaft 410 is parallel to the direction vector of the laser line, and the axis passes through the laser outlet of the line laser profile sensor, that is, the laser outlet of the line laser module 110; it can also be as shown in Figure 4b The position shown by the black dot in the middle, that is, the axis of the rotating shaft 410 can be the midline of the first surface of the line laser profile sensor (i.e., the surface opposite to the surface where the laser emission port is located in the line laser profile sensor) in the direction facing inwards of the paper surface. Of course, it can also be as Figure 4c As shown, the axis of the rotation axis 410 passes through the center of the second surface of the line laser profile sensor (the second surface is a surface perpendicular to the first surface and the laser line) and is perpendicular to the second surface. The embodiment of the present application does not limit the position of the rotation axis.

[0113] In the following, in conjunction with the accompanying drawings, the axis of the rotating shaft passes through the laser emission port (i.e. Figure 4a The rotation axis position shown in the figure) and the rotation axis in the figure Figure 4b Taking the position shown as an example, the line laser profile measurement method provided in the embodiment of the present application is described in detail.

[0114] The following first describes the line laser profile measurement method provided in the embodiment of the present application by taking the example that the direction vector of the axis of the rotating shaft is parallel to the direction vector of the laser line, and the axis passes through the laser outlet of the line laser profile sensor.

[0115] Figure 5a~Figure 5c for Figure 4a The schematic diagram of the linear laser profile sensor measurement process in the embodiment shown is as follows: Figure 5a~Figure 5cAs shown, the line laser profile sensor 100 is fixed to the drive motor 400 via a rotating shaft 410. The axis of the rotating shaft 410 passes through the laser emission port of the line laser profile sensor. When the drive motor 400 is controlled to rotate in the swing direction, the line laser profile sensor 100 will also rotate in the swing direction. Figure 5a~Figure 5c For example, the driving motor 400 is controlled to drive the line laser profile sensor 100 to swing from position 1 to position 3.

[0116] During the swinging of the line laser profile sensor 100, the line laser module 110 of the line laser profile sensor 100 is controlled to emit a line laser, and the line laser is projected to different positions on the surface of the measured object 200, and during the swinging of the line laser profile sensor 100, the laser line moves on the reference plane 300 and the surface of the measured object 200. In the figure, the black solid line represents the laser line, and when the line laser profile sensor 100 is in position 1, the line laser beam emitted by the line laser module 110 is projected to the position of position 11, when the line laser profile sensor 100 is in position 2, the line laser beam emitted by the line laser module 110 is projected to the position of position 21, and when the line laser profile sensor 100 is in position 3, the line laser beam emitted by the line laser module 110 is projected to the position of position 31.

[0117] During the swinging process of the line laser profile sensor 100, the image acquisition module 120 will acquire image data in real time and record the swing angle corresponding to the line laser profile sensor 100 each time the image data is acquired. Figure 5a~Figure 5c In the figure, the line laser profile sensor starts scanning from position 1. When the line laser profile sensor is at position 2 and position 3, the swing angles of the line laser profile sensor relative to position 1 are recorded. Figure 6a Shown Figure 4a A schematic diagram of the swinging of the line laser profile sensor around the rotation axis during the measurement process of the illustrated embodiment. When the line laser profile sensor swings from position 1 to position 2 according to the swinging direction, its swinging angle relative to position 1 is θ1. When the line laser profile sensor swings to position 3, its swinging angle relative to position 1 is θ2.

[0118] It is understandable that, in a possible implementation, in order to ensure the size and accuracy of the swing angle of the line laser profile sensor, the drive motor includes an encoder, and the encoder controls the accuracy of the rotation of the output shaft of the drive motor, thereby controlling the size and accuracy of the swing angle of the line laser profile sensor. For example, Figure 6a and Figure 6bAs shown, the swing angles θ1 and θ2 of the line laser profile sensor 100 are both the angles of rotation of the rotating shaft 410 controlled by the encoder, that is, the swing angle of the line laser profile sensor 100 is the angle of rotation of the shaft 410. During the actual measurement process, the rotation angle of the rotating shaft 410 is recorded as the swing angle of the line laser profile sensor 100.

[0119] During the swinging process of the online laser profile sensor 100, the image acquisition module 120 will collect image data in real time and form an image on the sensor in the online laser profile sensor. Figure 7a~Figure 7b Shown Figure 4a An example of the image data collected in the embodiment shown in FIG. Figure 5a When the image on the sensor is at position 11, Figure 7a As shown, when the line laser is in Figure 5c When the image on the sensor is at position 31, Figure 7b shown.

[0120] The line laser profile measurement method of the present application is described below in conjunction with specific embodiments. Figure 4a The swing process of the line laser profile sensor in the embodiment shown can be simplified to the swing process of the line laser module, such as Figure 8a~Figure 8b As shown, Figure 8a~Figure 8b They are Figure 4a The example diagram and side view of the projection light path during the swinging process of the linear laser profile sensor in the embodiment shown in the figure. During the scanning process, the laser lines are projected to different positions on the surface of the object to be measured 200, forming multiple laser lines on the surface of the object to be measured. Figure 8c The multiple laser lines shown in a~h in the figure are imaged on the image sensor after data collection as shown below Figure 7a~Figure 7b The multiple contour lines shown in the figure are integrated into the same image to obtain the following Figure 8d The image data shown in a~h.

[0121] After the image data is converted into coordinates, the reference point cloud data in the reference axis coordinate system is obtained. After the reference point cloud data are spliced, the following can be obtained: Figure 8e The contour diagram is composed of the contour lines shown in b~g.

[0122] Finally, after scanning each surface and splicing them together, the complete contour information of the object to be measured can be obtained.

[0123] In a possible implementation manner, the circuit structure of the line laser profile sensing device provided in the embodiment of the present application is as follows: Fig. 9As shown, the line laser profile sensor 100 includes: a line laser module 110 and an image acquisition module 120; the line laser module 110 includes: a line laser emitter 111; the image acquisition module 120 includes: a lens assembly 121 and a controller 123; the controller 123 is electrically connected to the line laser emitter 111, the lens assembly 121 and the drive motor 400;

[0124] The controller 123 is used to send instructions to the drive motor 400 and the line laser emitter 111, and process data. Based on this, the above step S10 can be specifically:

[0125] The controller 123 sends a first instruction to the driving motor 400 to rotate the driving motor 400, thereby driving the linear laser profile sensor 100 to swing around the rotation axis in a direction perpendicular to the reference plane where the measured object is located;

[0126] The aforementioned step S20 may specifically be:

[0127] The controller sends a second instruction to the laser emitter so that the laser emitter emits a line laser, and sends a third instruction to the lens assembly so that the lens assembly collects image data in real time; each time the image data is collected, the rotation angle output by the direct drive motor is obtained and recorded as the corresponding swing angle;

[0128] The aforementioned step S30 may specifically be:

[0129] The controller performs data processing based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

[0130] In the above embodiment, the controller 123 is provided in the image acquisition module 120. In other embodiments, the controller 123 may be provided separately. Fig.10 As shown, the drive motor 400 includes a motor drive circuit 401 and a direct drive motor 402. The motor drive circuit 401 is used to control the operation of the direct drive motor 402. The controller 123 is connected to the motor drive circuit 401. The controller 123 is responsible for controlling the operation of the motor drive circuit 401, thereby driving the rotation of the direct drive motor 402. The controller 123 can process the collected image data and restore the contour information of the object being measured.

[0131] It can be understood that, in the above embodiments, the controller 123 may be integrated into the image sensor 122 , or may be a controller independent of the image sensor 122 , and this application does not limit this.

[0132] Through the method of the embodiment of the present application, the controller sends a first instruction to the drive motor and a second instruction to the line laser profile sensor, so that the drive motor rotates, driving the line laser profile sensor to swing around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located, and emits a line laser during the swinging process and collects image data in real time, and records the swing angle corresponding to the line laser profile sensor each time the image data is collected. Finally, the controller performs data processing based on each collected image data and the corresponding swing angle to obtain the profile information of the object to be measured. During the measurement process, the profile information of the object to be measured can be obtained without the help of external movements such as conveyor belts or sliding tracks, reducing the dependence on external motion mechanisms.

[0133] Since the line laser profile sensor swings around the rotating axis during the process of collecting image data, in a possible implementation manner, Fig.11 FIG. 1 is a schematic diagram of specific implementation steps of the aforementioned step S30, wherein the aforementioned step S30 includes:

[0134] Step S301, for each image data, converting the image data into first point cloud data of a line laser module coordinate system;

[0135] Among them, the line laser module coordinate system is a coordinate system with the laser outlet of the line laser module as the origin at any time, such as Figure 12a to Figure 12d As shown, Fig.12a and Figure 12b for Figure 4a A schematic diagram of a coordinate system established in the illustrated embodiment, Fig.12c and Fig.12d for Figure 4b A schematic diagram of a coordinate system established in the illustrated embodiment.

[0136] Figure 12a to Figure 12d In the figure, the x-axis of the line laser module coordinate system is the moving direction of the laser line, the intersection of the line laser and the reference plane is set as the y-axis, and the direction perpendicular to the xy plane is set as the r-axis.

[0137] Since the laser line on the surface of the object to be measured is a two-dimensional contour line in the online laser module coordinate system, the x coordinate of any point on each contour line in the online laser module coordinate system is 0.

[0138] It can be understood that when the image data is converted into the first point cloud data in the line laser module coordinate system, each point cloud data in the image in the sensor coordinate system is actually converted into the first point cloud data in the line laser module coordinate system. Fig.13 Shown Figure 4a An example diagram of image data in a sensor coordinate system in the illustrated embodiment, in which the pixel row direction is the z-axis and the pixel column direction is the x-axis.

[0139] In a possible implementation, the origin of the online laser module coordinate system is the laser outlet, the x-axis is the moving direction of the laser line, the y-axis is the intersection of the line laser and the reference plane, and the r-axis is perpendicular to the xy plane. The sensor coordinate system is converted to the line laser module coordinate system. In fact, the x coordinate is added to 0 in the coordinates (y, z) in each sensor coordinate system. Since z and r both represent the height of the object to be measured, the first point cloud data of this point in the online laser module coordinate system is represented as (0, y, r).

[0140] For example, Fig.13 As shown, the coordinates of point A on the laser contour line in the sensor coordinate system are (6, 5), which is converted to (0, 6, 5) in the line laser module coordinate system.

[0141] Step S302, based on a preset transformation matrix, converting the first point cloud data into reference point cloud data of a reference axis coordinate system;

[0142] Since the line laser profile sensor has different line laser module coordinate systems when it swings to different angles, the corresponding first point cloud data are not in the same coordinate system when the line laser profile sensor is at different swing angles, and the first point cloud data cannot be integrated. Therefore, it is necessary to convert the coordinate systems of each module to the same coordinate system, that is, the reference axis coordinate system. Among them, the reference axis coordinate system is the rotation axis coordinate system when the line laser profile sensor is located at a specified angle. For example, the rotation axis coordinate system when the line laser profile sensor is swung to the first scanning position can be used as the reference axis coordinate system, or the axis coordinate system when the line laser profile sensor is swung to the last scanning position can be used as the reference axis coordinate system, or the axis coordinate system when the line laser profile sensor is swung to any scanning position can be used as the reference axis coordinate system. The specified angle is the swing angle of the line laser profile sensor relative to the initial state.

[0143] It is understandable that if Fig.12a and Figure 12b As shown, in Figure 4a In the embodiment shown, the rotation axis coordinate system is the same as the line laser module coordinate system. In this case, the reference axis coordinate system is the line laser module coordinate system when the line laser profile sensor is located at a specified angle. For example, assuming that the rotation axis coordinate system when the line laser profile sensor is swung to the first scanning position is used as the reference axis coordinate system, if the line laser profile sensor is swung to the first scanning position as shown in FIG. Fig.12a As shown, the reference axis coordinate system is Fig.12a The line laser module coordinate system in the Figure 12b As shown, the reference axis coordinate system is Figure 12bThe line laser module coordinate system xyr.

[0144] However, when the axis of the rotating shaft does not pass through the laser outlet of the line laser profile sensor, the rotating shaft coordinate system is different from the line laser module coordinate system. For example, assuming that the rotating shaft coordinate system when the line laser profile sensor swings to the first scanning position is used as the reference axis coordinate system, if the line laser profile sensor swings to the first scanning position, Fig.12c As shown, the reference axis coordinate system is Fig.12c Rotation axis coordinate system; if the line laser profile sensor swings to the first scanning position Fig.12d As shown, the reference axis coordinate system is Fig.12d The axis of rotation in the coordinate system xyz.

[0145] The transformation matrix of the line laser module coordinate system and the reference axis coordinate system is determined in advance based on the offset between the origin of the line laser module coordinate system and the rotation axis and the swing angle. The derivation process is detailed below and will not be repeated here.

[0146] Step S303 , based on the reference point cloud data corresponding to each image, all the reference point cloud data are spliced ​​to obtain the contour information of the object to be measured.

[0147] Through the method of the embodiment of the present application, the image data collected when the line laser contour sensor swings at different swing angles is converted into the first point cloud data in the line laser module coordinate system, and then each first point cloud data is converted to the same reference axis coordinate system to obtain each reference point cloud data. Since each point cloud data is in the same coordinate system, it is convenient to splice each point cloud data to obtain the contour information of the object to be measured.

[0148] Because when the axis of the rotating shaft passes through the laser outlet of the line laser profile sensor, the line laser module coordinate system corresponding to each swing angle only rotates relative to the absolute axis coordinate system, when the line laser module coordinate system is converted to the reference axis coordinate system, the coordinate system conversion can be achieved through the rotation transformation matrix. The rotation transformation matrix is ​​the second transformation matrix mentioned below and will not be repeated here.

[0149] When the rotation axis is in other positions, the line laser module coordinate system corresponding to each swing angle is not only rotated but also displaced relative to the absolute axis coordinate system, and the coordinate system conversion cannot be achieved only through the rotation transformation matrix. The following will take the axis of the rotation axis as the midline of the first surface of the laser profile sensor in the direction facing inward on the paper as an example to explain the derivation process of the preset transformation matrix in detail:

[0150] Since the line laser module coordinate system corresponding to different swing angles has translation and rotation relative to the absolute axis coordinate system, and the line laser module coordinate system with different swing angles has different rotation angles relative to the absolute axis coordinate system, it is relatively complicated to directly convert the line laser module coordinate system to the absolute axis coordinate system. Since the line laser module coordinate system corresponding to each swing angle has only translation but no rotation relative to the rotation axis, and the coordinate origin of the reference axis coordinate system is the axis center of the rotation axis, the reference axis coordinate system has only rotation but no translation relative to the rotation axis.

[0151] Therefore, in a possible implementation, the rotation axis coordinate system corresponding to each swing angle can be defined as an intermediate coordinate system, and the first point cloud data in the line laser module coordinate system corresponding to each swing angle can be converted into the second point cloud data in the intermediate coordinate system corresponding to the swing angle, and then the second point cloud data in the intermediate coordinate system corresponding to each swing angle can be converted into reference point cloud data in the reference axis coordinate system.

[0152] Since the line laser module coordinate system and the intermediate coordinate system corresponding to each swing angle only have translation, and the translation amount The distance between the line laser module coordinate system and the rotation axis. The and rotation axes are obtained by pre-calibrating the calibration object. The specific calibration process is shown below and will not be repeated here.

[0153] Therefore, in a possible implementation, the first transformation matrix for transforming the line laser module coordinate system into the intermediate coordinate system is:

[0154]

[0155] First point cloud data in the line laser module coordinate system (0, y, r) is converted into the second point cloud data in the intermediate coordinate system in the following way :

[0156]

[0157] For each intermediate coordinate system, relative to the reference axis coordinate system, there is only a rotation around the rotation axis. Assume that the rotation axis is expressed as ( x , y , z ), the swing angle of the line laser profile sensor when it swings to the i-th scanning position is In a possible implementation, the second transformation matrix for transforming the intermediate coordinate system into the reference axis coordinate system is:

[0158] ;

[0159] is the rotation vector. In one possible implementation, It is determined based on the rotation axis and the rotation angle of the rotation axis. It can be understood that the rotation axis refers to a vector used to represent the rotation axis, and the rotation angle of the rotation axis is the same as the swing angle of the line laser profile sensor.

[0160] In another possible implementation, the following method is used to determine :

[0161] ;

[0162] in, Indicates the rotation axis in the line laser module coordinate system, Represents a vector about an axis of rotation Rotation In one possible implementation, the Rodriguez formula can be used to rotate the vector .

[0163] For the second point cloud data in the intermediate coordinate system , converted into reference point cloud data in the reference axis coordinate system in the following way :

[0164]

[0165] In summary, the preset transformation matrix for converting the line laser module coordinate system to the reference axis coordinate system is:

[0166]

[0167] The first point cloud data is converted into reference point cloud data according to the following formula:

[0168]

[0169] Finally, each reference point cloud data is spliced ​​together to obtain the spliced ​​point cloud of the surface of the object to be measured, and then the contour information of the object to be measured can be obtained.

[0170] Through the method of the embodiment of the present application, the conversion of the line laser module coordinate system and the reference axis coordinate system can be achieved according to the preset conversion matrix, so that the line laser profile sensor can efficiently perform coordinate conversion and improve the efficiency of data processing.

[0171] The following is an explanation of the calibration process of the calibration object mentioned above:

[0172] First, the calibration object is scanned according to the aforementioned steps S10 to S20 to obtain calibration contour data in the line laser module coordinate system.

[0173] Then, according to the surface equation of the calibration object and the position of the calibration object, the first coordinates of each point on the surface of the calibration object in the reference axis coordinate system are calculated;

[0174] Finally, based on the correspondence between the calibration profile data and the first coordinate, the offset and rotation axis of the line laser module coordinate system relative to the rotation axis can be fitted.

[0175] It is understandable that the calibration object can be a sphere, a cone, etc., but the surface equation of the surface of the calibration object facing the laser emission port of the line laser module is known. For example, assuming that the calibration object is a standard sphere, the constraints of the standard sphere are:

[0176] ;

[0177] Then each point on the surface of the standard sphere satisfies the constraints:

[0178] ;

[0179] By solving the above equations, the offset of the line laser module coordinate system relative to the rotation axis and the rotation axis can be obtained.

[0180] By calibrating the calibration object through the method of the embodiment of the present application, the offset and rotation axis of the line laser module coordinate system relative to the rotation axis can be obtained, and the measurement accuracy and reliability of the line laser profile sensor can be ensured.

[0181] It is understandable that the measurement range of the line laser profile sensor in space is limited. Since the line laser profile sensor has limited ability to receive and process reflected light, when the object to be measured is too close to the line laser profile sensor, the reflected light is too concentrated, causing the pixels on the sensor to be saturated or distorted, affecting the measurement accuracy; and when the object to be measured is too far from the line laser profile sensor, the light may be scattered or attenuated during propagation, resulting in low resolution after imaging.

[0182] Therefore, it is necessary to determine the actual detection range that the line laser profile sensor can actually clearly measure. For example, if the direction vector of the axis of the rotating shaft is parallel to the direction vector of the laser line, and the axis passes through the laser outlet of the line laser profile sensor, in a possible implementation, Fig.14 The flowchart of determining the detection range provided by the embodiment of the present application is shown, and the actual detection range of the line laser profile sensor is determined by the following steps:

[0183] Step S1, obtaining each first detection range in the line laser module coordinate system when the line laser profile sensor swings to each swing angle;

[0184] Step S2, projecting each detection range into the reference axis coordinate system to obtain each second detection range;

[0185] Step S3: determine the intersection of the second detection ranges as the actual detection range of the line laser profile sensor.

[0186] When the line laser profile sensor swings to each swing angle, the first detection range in the line laser module coordinate system includes the maximum detection distance and the minimum detection distance on the x-axis, y-axis, and r-axis. That is to say, the first detection range actually includes the first maximum detection range and the first minimum detection range. The first maximum detection range is composed of the maximum detection distances on the x-axis, y-axis, and r-axis, and the first minimum detection range is composed of the minimum detection distances on the x-axis, y-axis, and r-axis. The maximum detection distance on the x-axis and the y-axis depends on the position of the laser line and the length of the laser line when the distance between the laser emission port and the reference surface in the laser emission direction is the maximum detection distance. Fig.15 for Figure 4a An example diagram of the maximum detection range in the embodiment shown in the figure shows that the maximum detection distance on the r axis and minimum detection distance Depends on the performance parameters of the line laser profile sensor itself.

[0187] In a possible implementation, each first detection range in the line laser module coordinate system when the line laser profile sensor swings to each swing angle is calculated by the following formula:

[0188] ;

[0189] ;

[0190] in, is the first maximum detection range, is the first minimum detection range.

[0191] Through the method of the embodiment of the present application, the actual measurement range of the line laser profile sensor is determined by obtaining the first detection ranges in the line laser module coordinate system when the line laser profile sensor swings to each swing angle, so that the line laser profile sensor can be flexibly applied to different application scenarios.

[0192] In the actual measurement process, when measuring non-circular or non-annular objects, the length of the object in the x-axis direction is limited. Therefore, the line laser profile sensor actually only swings within a certain angle range during the measurement process and usually does not rotate 360° around the rotation axis.

[0193] Based on this, in a possible implementation manner, the aforementioned step S10 controls the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to the reference plane where the measured object is located, including:

[0194] Controlling the driving motor to drive the line laser profile sensor to swing from a first angle to a second angle around the rotation axis in a direction perpendicular to a reference plane where the measured object is located;

[0195] The first angle and the second angle are the angles of rotation of the rotation axis when the distance between the laser emission port and the reference surface in the laser emission direction is the maximum detection distance. For example, Fig.15 Where θ is the first angle and the second angle.

[0196] Through the method of the embodiment of the present application, the line laser profile sensor is swung within the first angle and the second angle range to scan the object to be measured, thereby reducing unnecessary data volume and improving scanning efficiency.

[0197] In a second aspect of the embodiments of the present application, a line laser profile measurement device is provided, such as Figure 2 As shown, the line laser profile measurement device includes a line laser profile sensor 100 and a drive motor 400;

[0198] During the swinging process of the line laser profile sensor 100, a line laser is emitted and image data is collected in real time, and the swinging angle corresponding to the line laser profile sensor 100 when image data is collected each time is recorded;

[0199] The driving motor 400 is fixedly connected to the line laser profile sensor 100 via a rotating shaft 410, and is used to drive the line laser profile sensor 100 to swing in a direction perpendicular to the reference plane 300 where the measured object 200 is located by rotating the driving motor 400;

[0200] The line laser profile sensor 100 is used to control the rotation of the driving motor 400, and when the line laser profile sensor 100 swings, it emits a line laser and collects image data in real time, records the corresponding swing angle of the line laser profile sensor 100 each time the image data is collected; and performs data processing based on each collected image data and the corresponding swing angle to obtain the profile information of the object 200 being measured.

[0201] Through the device of the embodiment of the present application, the driving motor fixedly connected to the line laser contour sensor can drive the line laser contour sensor to swing and scan around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located. The contour information of the object to be measured can be obtained without the aid of external movement such as a conveyor belt or sliding track, thereby reducing dependence on external motion mechanisms.

[0202] In order to improve the swing accuracy of the line laser profile sensor, in a possible implementation, the rotating shaft is the motor output shaft of the driving motor. Fig.16 As shown, Fig.16 The second structural schematic diagram of the line laser profile measurement device provided in the embodiment of the present application, the driving motor 400 also includes a motor body 420 and a mounting platform 430; the motor output shaft 440 is located on the axis of the motor body 420; the mounting platform 430 is located at one end of the motor body 420, and is perpendicular to the motor output shaft 440 and rotates with the motor output shaft 440; the line laser profile sensor 100 is fixedly installed on the mounting platform 430, so that the line laser profile sensor 100 can swing around the motor output shaft 440 in a direction perpendicular to the reference plane 300 where the object 200 to be measured is located.

[0203] When the driving motor is a direct drive motor, the motor output shaft 440 is the rotating shaft 410 mentioned above.

[0204] It is understandable that in order to maintain the stability of the line laser profile sensing device, in a possible implementation manner, Fig.16 As shown, the line laser profile measurement device further includes a motor support seat 500; the motor body 420 of the drive motor 400 is mounted on the motor support seat 500, and the mounting platform 430 of the drive motor 400 extends out of the motor support seat 500;

[0205] The line laser profile sensor 100 includes a line laser module 110 , an image acquisition module 120 and a sensor mounting bracket 130 ; the line laser profile sensor 100 is fixedly mounted on the mounting platform 430 of the driving motor through the sensor mounting bracket 130 .

[0206] In order to ensure that the image acquisition component of the line laser profile sensor can capture the laser line, in a possible implementation, the line laser module includes a line laser emitter; the image acquisition module includes: a lens assembly; the line laser module and the image acquisition module are installed in parallel and spaced apart along the length direction of the sensor mounting frame, wherein the line laser emitter and the lens assembly are installed toward the reference plane where the object to be measured is located, and the laser line projected by the line laser module onto the reference plane is completely within the shooting field of view of the lens assembly.

[0207] It is understandable that in order to prevent the line laser profiling device from being physically damaged by external impact, collision, extrusion, etc., thereby extending the service life of the device, in a possible implementation manner, as Fig.17The figure shows a cross-sectional schematic diagram of the line laser profile measurement device provided by the embodiment of the present application, and the device further includes a housing 600; the housing 600 is disposed outside the line laser profile sensor 100 and the drive motor 400. The laser emitted by the line laser module 110 can be projected onto the surface of the object to be measured through the laser outlet, and the image acquisition component can capture the laser profile of the surface of the object to be measured through the optical window.

[0208] According to a third aspect of the embodiment of the present application, a line laser profile measuring device is provided, which is applied to a line laser profile sensor in a line laser profile measuring device, and the line laser profile measuring device also includes a drive motor; the line laser profile sensor is fixedly connected to the drive motor through a rotating shaft, so that the line laser profile sensor can swing around the rotating shaft in a direction perpendicular to the reference plane where the measured object is located under the drive of the drive motor;

[0209] Fig.18 The schematic diagram of the structure of the line laser profile measurement device provided in the embodiment of the present application is as follows: Fig.18 As shown, the device comprises:

[0210] The first control module 1801 is used to control the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to the reference plane where the measured object is located;

[0211] The second control module 1802 is used to control the line laser profile sensor to emit a line laser during the swinging process of the line laser profile sensor, collect image data in real time, and record the swing angle corresponding to the line laser profile sensor when collecting image data each time;

[0212] The data processing module 1803 is used to perform data processing based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

[0213] Through the device of the embodiment of the present application, the controller sends a first instruction to the drive motor and a second instruction to the laser profile sensor, so that the drive motor rotates, driving the line laser profile sensor to swing around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located, and emits a line laser during the swinging process and collects image data in real time, and records the swing angle corresponding to the line laser profile sensor each time the image data is collected. Finally, the controller performs data processing based on each collected image data and the corresponding swing angle to obtain the profile information of the object to be measured. During the measurement process, the profile information of the object to be measured can be obtained without the help of external movements such as conveyor belts or sliding tracks, reducing the dependence on external motion mechanisms.

[0214] In a possible implementation manner, the present application embodiment further provides a controller, the structure of the controller is as follows: Fig.19 As shown, including:

[0215] Memory 1901, used for storing computer programs;

[0216] The processor 1902 is used to implement the following steps when executing the program stored in the memory 1901:

[0217] Control the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to the reference plane where the measured object is located;

[0218] During the swinging process of the line laser profile sensor, the line laser profile sensor is controlled to emit a line laser, and image data is collected in real time, and the swinging angle corresponding to the line laser profile sensor when the image data is collected each time is recorded;

[0219] Data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

[0220] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0221] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0222] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned line laser profile measurement methods are implemented.

[0223] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the line laser profile measurement methods in the above embodiments.

[0224] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0225] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0226] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0227] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A line laser profile measurement method, characterized in that: A line laser profile sensor used in a line laser profile measuring device, the line laser profile sensor comprising: a line laser module and an image acquisition module; the line laser profile measuring device further comprising a drive motor; the line laser profile sensor is fixedly connected to the drive motor via a rotating shaft, so that the line laser module and the image acquisition module of the line laser profile sensor are driven by the drive motor to swing around the rotating shaft in a direction perpendicular to a reference plane where the object to be measured is located; The method comprises: Controlling the driving motor to drive the line laser module and the image acquisition module of the line laser profile sensor to swing in a direction perpendicular to the reference plane where the object to be measured is located; During the swinging of the line laser module and the image acquisition module of the line laser profile sensor, the line laser module of the line laser profile sensor is controlled to emit a line laser, and the image acquisition module is used to acquire image data in real time, and the swinging angle corresponding to the line laser profile sensor is recorded each time the image data is acquired; Data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured; The data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured, including: For each image data, the image data is converted into first point cloud data of a line laser module coordinate system; the line laser module coordinate system is a coordinate system with the laser emission port of the line laser module as the origin at any time; Based on a preset conversion matrix, the first point cloud data is converted into reference point cloud data of a reference axis coordinate system, wherein the reference axis coordinate system is: a rotation axis coordinate system when the line laser profile sensor is located at a specified angle; the specified angle is a swing angle of the line laser profile sensor relative to an initial state; the preset conversion matrix is ​​determined based on an offset between an origin of a preset line laser module coordinate system and the rotation axis and a swing angle; Based on the reference point cloud data corresponding to each image, all the reference point cloud data are spliced ​​to obtain the contour information of the object to be measured.

2. The method according to claim 1, characterized in that Convert the first point cloud data into reference point cloud data as follows: ; in, is the reference point cloud data, is the first point cloud data, is the preset transformation matrix, is the rotation vector, It is the offset of the origin of the line laser module coordinate system relative to the rotation axis when the line laser profile sensor swings to the i-th scanning position.

3. The method according to claim 2, characterized in that The preset transformation matrix It is obtained in advance according to the following method: ; in, is the preset first transformation matrix, To preset the second transformation matrix, , The preset first transformation matrix is ​​used to represent the transformation relationship between the line laser module coordinate system and the intermediate coordinate system, and the preset second transformation matrix is ​​used to represent the transformation relationship between the intermediate coordinate system and the reference axis coordinate system. The intermediate coordinate system is: the rotation axis coordinate system when acquiring the image data.

4. The method according to claim 3, characterized in that Said It is determined based on the rotation axis and the rotation angle of the rotation axis. The offset of the origin of the line laser module coordinate system relative to the rotation axis and the rotation axis are determined in advance in the following manner: Control the driving motor to drive the line laser profile sensor to swing around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located to scan the calibration object, and obtain calibration profile data in the line laser module coordinate system, wherein the surface equation of the surface of the calibration object facing the laser emission port is known; Calculating the first coordinates of each point on the surface of the calibration object in the reference axis coordinate system according to the surface equation of the calibration object and the position of the calibration object; Based on the corresponding relationship between the calibration profile data and the first coordinate, the offset of the origin of the line laser module coordinate system relative to the rotation axis and the rotation axis are obtained by fitting.

5. The method according to claim 4, characterized in that The method further comprises: Acquire each first detection range in the line laser module coordinate system when the line laser profile sensor swings to each swing angle; Projecting each of the detection ranges into the reference axis coordinate system to obtain each second detection range; The intersection of the second detection ranges is determined as the actual detection range of the line laser profile sensor.

6. The method according to claim 1, characterized in that The step of controlling the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located comprises: The driving motor is controlled to drive the line laser profile sensor to swing from a first angle to a second angle around the rotation axis in a direction perpendicular to the reference plane where the object to be measured is located, wherein the first angle and the second angle are the angles of rotation of the rotation axis when the distance between the laser emission port and the reference plane in the laser emission direction is the maximum detection distance.

7. The method according to claim 1, characterized in that The line laser module comprises: a line laser transmitter; the image acquisition module comprises: a lens assembly and a controller; the controller is electrically connected to the line laser transmitter, the lens assembly and the drive motor; The step of controlling the driving motor to drive the line laser profile sensor to swing in a direction perpendicular to a reference plane where the object to be measured is located comprises: The controller sends a first instruction to the drive motor to rotate the drive motor, thereby driving the line laser profile sensor to swing around the rotation axis in a direction perpendicular to a reference plane where the object to be measured is located; During the swinging process of the line laser profile sensor, a line laser is emitted and image data is collected in real time, and the swinging angle corresponding to the line laser profile sensor when the image data is collected each time is recorded, including: The controller sends a second instruction to the line laser emitter to make the line laser emitter emit a line laser, and sends a third instruction to the lens assembly to make the lens assembly collect image data in real time; each time the image data is collected, the rotation angle output by the drive motor is obtained and recorded as the corresponding swing angle; The data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured, including: The controller performs data processing based on each collected image data and the corresponding swing angle to obtain contour information of the object to be measured.

8. A line laser profile measuring device, characterized in that: It includes a line laser profile sensor and a driving motor, wherein the line laser profile sensor includes: a line laser module and an image acquisition module; The driving motor is fixedly connected to the line laser profile sensor via a rotating shaft, and is used to drive the line laser module and the image acquisition module of the line laser profile sensor to swing in a direction perpendicular to the reference plane where the object to be measured is located through the rotation of the driving motor; The line laser profile sensor is used to control the rotation of the driving motor, and during the swinging of the line laser module and the image acquisition module of the line laser profile sensor, control the line laser module to emit a line laser and control the image acquisition module to acquire image data in real time, record the swing angle corresponding to the line laser profile sensor each time the image data is acquired; and perform data processing based on each acquired image data and the corresponding swing angle to obtain the profile information of the object to be measured; The data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured, including: for each image data, converting the image data into the first point cloud data of the line laser module coordinate system; the line laser module coordinate system is a coordinate system with the laser outlet of the line laser module as the origin at any time; based on a preset conversion matrix, converting the first point cloud data into reference point cloud data of the reference axis coordinate system, the reference axis coordinate system is: the rotation axis coordinate system when the line laser contour sensor is located at a specified angle; the specified angle is the swing angle of the line laser contour sensor relative to the initial state; the preset conversion matrix is ​​determined based on the offset between the origin of the preset line laser module coordinate system and the rotation axis and the swing angle; based on the reference point cloud data corresponding to each image, all reference point cloud data are spliced ​​to obtain the contour information of the object to be measured.

9. The device according to claim 8, characterized in that The rotating shaft is the motor output shaft of the driving motor; the driving motor also includes: a motor body and a mounting platform; the motor output shaft is located on the axis of the motor body; the mounting platform is located at one end of the motor body, and is perpendicular to the motor output shaft and rotates with the motor output shaft; the line laser profile sensor is fixedly mounted on the mounting platform, so that the line laser profile sensor swings around the motor output shaft in a direction perpendicular to the reference plane where the object to be measured is located.

10. The device according to claim 9, characterized in that The line laser profile measuring device further comprises: a motor support seat; the motor body of the drive motor is mounted on the motor support seat, and the mounting platform of the drive motor extends out of the motor support seat; The line laser profile sensor comprises: a line laser module, an image acquisition module and a sensor mounting frame; the line laser profile sensor is fixedly mounted on the mounting platform of the drive motor through the sensor mounting frame.

11. The device according to claim 10, characterized in that The line laser module includes: a line laser transmitter; the image acquisition module includes: a lens assembly; The line laser module and the image acquisition module are installed in parallel and at intervals along the length direction of the sensor mounting frame, wherein the line laser emitter and the lens assembly are installed toward the reference plane where the object to be measured is located, and the laser line projected by the line laser module to the reference plane is completely within the shooting field of view of the lens assembly.

12. The device according to claim 11, characterized in that The image acquisition module further includes: a controller; The controller is electrically connected to the line laser emitter, the lens assembly and the drive motor; it is used to control the rotation of the drive motor, and during the swinging of the line laser contour sensor, control the line laser emitter to emit a line laser and control the lens assembly to collect image data in real time, record the swing angle output by the drive motor each time the image data is collected; and perform data processing based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured.

13. The device according to claim 8, characterized in that The laser emission port of the line laser profile sensor is located on the axis of the rotating shaft.

14. The device according to any one of claims 8 to 13, characterized in that: The device further comprises: a housing; The housing cover is arranged outside the online laser profile sensor and the driving motor.

15. A line laser profile measuring device, characterized in that: A line laser profile sensor used in a line laser profile measuring device, the line laser profile sensor comprising: a line laser module and an image acquisition module; the line laser profile measuring device further comprising a drive motor; the line laser profile sensor is fixedly connected to the drive motor via a rotating shaft, so that the line laser module and the image acquisition module of the line laser profile sensor are driven by the drive motor to swing around the rotating shaft in a direction perpendicular to a reference plane where the object to be measured is located; The device comprises: A first control module is used to control the driving motor to drive the line laser module and the image acquisition module of the line laser profile sensor to swing in a direction perpendicular to the reference plane where the object to be measured is located; A second control module is used to control the line laser module of the line laser profile sensor to emit a line laser during the swinging of the line laser module and the image acquisition module of the line laser profile sensor, and to control the image acquisition module to acquire image data in real time, and to record the swing angle corresponding to the line laser profile sensor each time the image data is acquired; A data processing module is used to process the data based on the collected image data and the corresponding swing angle to obtain the contour information of the object to be measured; The data processing is performed based on each collected image data and the corresponding swing angle to obtain the contour information of the object to be measured, including: for each image data, converting the image data into the first point cloud data of the line laser module coordinate system; the line laser module coordinate system is a coordinate system with the laser outlet of the line laser module as the origin at any time; based on a preset conversion matrix, converting the first point cloud data into reference point cloud data of the reference axis coordinate system, the reference axis coordinate system is: the rotation axis coordinate system when the line laser contour sensor is located at a specified angle; the specified angle is the swing angle of the line laser contour sensor relative to the initial state; the preset conversion matrix is ​​determined based on the offset between the origin of the preset line laser module coordinate system and the rotation axis and the swing angle; based on the reference point cloud data corresponding to each image, all reference point cloud data are spliced ​​to obtain the contour information of the object to be measured.

16. A controller, characterized in that: The controller comprises: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

Images