Three-dimensional scanning laser action device and system

Abstract

The invention relates to a three-dimensional scanning laser action device, which is characterized by comprising a laser device for continuously emitting initial light beams with certain intensity; the first galvanometer reflects the initial light beam to form a light beam to be locked; the locking lens focuses the light beam to be locked to form a locking light beam; the second galvanometer reflects the locking light beam to form an acting light beam which irradiates the surface of the target object and generates a laser effect on the surface of the target object; wherein the first galvanometer is rotatable, and a first galvanometer rotating shaft of the first galvanometer is located in the plane where the first galvanometer is located and is perpendicular to the plane where the initial light beam and the light beam to be locked are located; the second galvanometer is rotatable, and a rotating shaft of the second galvanometer is located in the plane where the second galvanometer is located and is parallel to the direction of the initial light beam. By adopting the three-dimensional scanning laser action system, the action direction and position of the three-dimensional scanning laser can be stably and accurately controlled.

Description

Technical Field

[0001] The invention relates to the field of optical measurement, in particular to a three-dimensional scanning laser action system. Background Art

[0002] 3D scanning refers to a high-tech technology that integrates optical, mechanical, electrical and computer technologies. It is mainly used to scan the spatial shape, structure and color of an object to obtain the spatial coordinates of the object's surface. Its significance lies in the ability to convert the three-dimensional information of the object into a digital signal that can be directly processed by the computer, providing a very convenient and fast means for the digitization of the object. 3D scanning technology can achieve non-contact measurement, and has the advantages of fast speed and high precision. It can be used as a fast three-dimensional measurement device. It is increasingly used due to its advantages of fast measurement speed, high precision, non-contact and easy use. Using a 3D scanner to scan a hand plate, target object, model, etc., you can quickly and accurately obtain its three-dimensional size data.

[0003] The existing 3D scanning laser action system uses 3D scanning technology to perform laser action on the target. The processing of the target is mainly achieved by rotating the target or the laser head after the camera captures the actual image of the target. For example, in the laser processing industry, laser processing is to move the target object through the machine tool and realize five-axis laser processing by coordinating the rotation of the laser head; among them, the laser head in the laser machine tool is a fiber head, which can be flexibly rotated, and it is easy to realize software control of the laser head to control the laser action point.

[0004] However, when the target object cannot cooperate with the rotation of the laser head, the camera synchronously bound to the laser head cannot identify the laser action position required by the target object, and the laser head cannot accurately act on the required position of the target object. Therefore, the existing three-dimensional scanning laser action system cannot achieve stable and accurate three-dimensional scanning of the target object. Summary of the invention

[0005] Based on this, the object of the present invention is to provide a three-dimensional scanning laser action system that can achieve stable three-dimensional scanning of a target object when the laser is fixed.

[0006] A three-dimensional scanning laser action device, characterized in that:

[0007] The laser continuously emits an initial beam of a certain intensity;

[0008] A first galvanometer, reflecting an initial light beam to form a light beam to be locked;

[0009] A locking lens focuses the light beam to be locked to form a locking light beam; and

[0010] The second galvanometer reflects the locking beam to form an action beam and irradiates the target surface, thereby generating a laser effect on the target surface.

[0011] Among them, the first galvanometer is rotatable, and its first galvanometer rotation axis is in the plane where the first galvanometer is located, and is perpendicular to the plane where the initial light beam and the light beam to be locked are located; the second galvanometer is rotatable, and its second galvanometer rotation axis is in the plane where the second galvanometer is located, and is parallel to the direction of the initial light beam.

[0012] Furthermore, the initial light beam is reflected at point M1 on the surface of the first galvanometer, the locking light beam is reflected at point M2 on the surface of the second galvanometer, and the axis of the locking lens intersects the first galvanometer rotation axis perpendicularly at point M1 and intersects the second galvanometer rotation axis perpendicularly at point M2.

[0013] Furthermore, the first galvanometer mirror and the second galvanometer mirror are respectively arranged at twice the focal length of both sides of the locking lens.

[0014] The present invention also provides a three-dimensional scanning laser action system, including the above-mentioned three-dimensional scanning laser action device, a scanning detection device and an industrial control computer; the three-dimensional scanning laser action device emits laser to the surface of a target object to produce an effect, the scanning detection device detects the result of the laser acting on the surface of the target object, and the industrial control computer controls the angle and intensity of the laser emitted by the three-dimensional scanning laser action device according to the result of the laser acting on the surface of the target object.

[0015] Furthermore, the scanning detection device includes a half-mirror and a camera; the half-mirror reflects the action light beam to the surface of the target object and transmits a light beam with a wavelength different from that of the action light beam; the camera is arranged in the opposite direction of the action light beam reflected by the half-mirror to capture the actual image of the surface of the target object, and at this time the target object, the half-mirror and the camera are on the same axis.

[0016] Furthermore, the scanning detection device includes a half-mirror and a camera; the half-mirror transmits the action light beam to the surface of the target object and reflects a light beam with a wavelength different from that of the action light beam; the camera is arranged in the direction of the light beam reflected by the half-mirror with a wavelength different from that of the action light beam to capture an actual image of the surface of the target object, at which time the target object, the half-mirror and the camera are on different axes.

[0017] Furthermore, the distance between the camera and the axis of the half-mirror is the same as the distance that the action light beam propagates from point M2 to the surface of the half-mirror.

[0018] Furthermore, the industrial computer receives the actual image taken by the camera, identifies the target object and the laser action point in the actual image through an algorithm, controls the first galvanometer and the second galvanometer to rotate according to the angle correspondence after determining the required position, and controls the laser intensity according to the target object's own required intensity and the intensity correspondence.

[0019] Furthermore, when the first galvanometer rotates along the first galvanometer rotation axis, the position of the action light beam irradiated on the surface of the target object changes accordingly; when the second galvanometer rotates along the second galvanometer rotation axis, the position of the action light beam on the surface of the target object changes accordingly; and the directions of change of the irradiation position of the action light beam caused by the rotation of the first galvanometer and the second galvanometer are different. By continuously rotating the first galvanometer and the second galvanometer so that the action light beam is irradiated on any point on the surface of the target object, the rotation angles of the first galvanometer rotation axis and the second galvanometer rotation axis correspond one-to-one to the irradiation position of the action light beam, and all corresponding results are recorded to obtain the angle correspondence relationship.

[0020] Furthermore, when the intensity of the laser emitted by the laser remains unchanged, the larger the light spot on the target surface is, the farther the laser is from the target, and the lower the laser intensity per unit area on the target surface is, thereby obtaining the intensity correspondence relationship.

[0021] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the three-dimensional scanning laser action system of the present invention.

[0023] Figure 2 It is a schematic structural diagram of the three-dimensional scanning laser action device of the present invention.

[0024] Figure 3 It is a schematic structural diagram of a first embodiment of the scanning detection device of the present invention.

[0025] Figure 4 It is a schematic structural diagram of a second embodiment of the scanning detection device of the present invention. DETAILED DESCRIPTION

[0026] Since both the laser head and the target object cannot rotate, in order to enable the laser to act on the required position of the target object, the applicant uses two rotatable galvanometers to change the final emission direction of the laser. However, with only this setting, the final laser emission angle will diverge, and the area of ​​the second galvanometer needs to be set much larger than the first galvanometer to receive the reflected light from the first galvanometer, and the laser irradiation point cannot be controlled stably and accurately; therefore, the applicant tried to add a convex lens between the two identical galvanometers, and set the two galvanometers at the same distance on both sides of the convex lens, so as to lock the rotation axes of the two galvanometers in different directions, ensuring that the galvanometer has a small size while achieving stable and accurate three-dimensional scanning laser action control.

[0027] See also Figure 1The three-dimensional scanning laser action system of the present invention comprises a three-dimensional scanning laser action device and a scanning detection device and an industrial control computer (not shown) arranged on different planes. The three-dimensional scanning laser action device emits laser light to the surface of the target object to produce an effect. The scanning detection device detects the result of the laser light acting on the surface of the target object. The industrial control computer controls the angle and intensity of the laser light emitted by the three-dimensional scanning laser action device according to the result of the laser light acting on the surface of the target object. The three-dimensional scanning laser action system of the present invention is described below from multiple embodiments.

[0028] Example 1

[0029] See also Figure 2 The three-dimensional scanning laser action device of the present invention includes: a laser 1, a first galvanometer 2, a locking lens 3, and a second galvanometer 4.

[0030] The laser 1 can be a single-wavelength laser 1 or a multi-wavelength laser 1, which emits an initial light beam of a corresponding wavelength. Preferably, a single-wavelength semiconductor laser 1 is used. It can be understood by those skilled in the art that the wavelength of the laser 1 to be used can be selected according to the actual application requirements. For example, when laser is used for weeding, if the weeds targeted are of a single variety, the use of a single-wavelength laser 1 can avoid the waste of other wavelength lasers to achieve maximum efficiency, wherein a 405nm continuous laser can be used for effective weeding; if the weeds targeted are of multiple varieties, the energy intensity required for weeding is different, and the use of a multi-wavelength laser 1 can meet the needs of removing different weeds to achieve a comprehensive weeding effect.

[0031] The first galvanometer 2 is a single-sided mirror, which is arranged in the emission direction of the laser 1. It completely reflects the initial light beam from the laser 1 at a certain angle at its surface point M1, and forms a light beam to be locked. The front of the first galvanometer 2 is an ordinary plane first galvanometer 2, and the back is coated with a silver film or other material film to make it reflect the incident light as completely as possible; in particular, since the optical scale in the three-dimensional scanning laser action system of the present invention is large and is a macroscopic scale visible to the naked eye, the optical path difference problem caused by the two surfaces of the first galvanometer 2 has no substantial effect on the actual effect and can be ignored. The first galvanometer 2 can be rotated, and its first galvanometer rotation axis L1 is coplanar with the first galvanometer 2. The direction of the first galvanometer rotation axis L1 is perpendicular to the plane where the initial light beam and the light beam to be locked are located. As the first galvanometer rotation axis L1 rotates, the angle between the first galvanometer 2 and the initial light beam can be changed. It is understandable that the change in the angle needs to ensure that after the first galvanometer 2 reflects the initial light beam, the light beam to be locked can be irradiated to the locking lens 3, ensuring that the initial light beam can be completely focused to the next component after reflection without diverging and consuming energy and causing laser leakage to threaten damage to surrounding instruments or the environment.

[0032] The locking lens 3 is a convex lens, which is arranged in the direction of the light beam to be locked, and focuses the light beam to be locked to form a locking light beam. Specifically, the locking lens 3 is arranged between the first galvanometer 2 and the second galvanometer 4, and the first galvanometer 2 and the second galvanometer 4 are respectively located at the same distance on both sides of the locking lens 3, so as to ensure that the relative position of the first galvanometer 2 and the second galvanometer 4 is stable. Preferably, since the laser beam has a certain beam diameter, the first galvanometer 2 and the second galvanometer 4 are respectively arranged at twice the focal length on both sides of the locking lens 3, so that the laser irradiation points on the surfaces of the first galvanometer 2 and the second galvanometer 4 have the same size of light spots.

[0033] The second galvanometer 4 is a single-sided mirror, and its structure is exactly the same as that of the first galvanometer 2. It is set in the emission direction of the locking beam, and completely reflects the locking beam at a certain angle at its surface point M2 to form an action beam. The action beam is irradiated on the surface of the target to produce a laser effect. The second galvanometer 4 is rotatable, and its second galvanometer axis L2 is coplanar with the second galvanometer 4. The direction of the second galvanometer axis L2 is parallel to the initial beam, and the second galvanometer axis L2 is in the plane where the initial beam and the beam to be locked are located. The axis of the locking lens 3 intersects the first galvanometer axis L1 perpendicularly at point M1, and intersects the second galvanometer axis L2 perpendicularly at point M2. Point M1 on the first galvanometer axis L1 is imaged on point M2 on the second galvanometer axis L2 after passing through the locking lens 3. Therefore, under the locking action of the locking lens 3, no matter how the first galvanometer 2 and the second galvanometer 4 rotate, the relative position of the first galvanometer axis L1 and the second galvanometer axis L2 is always stable. Through the locking effect of the locking lens 3, the first galvanometer 2 and the second galvanometer 4 can and only complete the reflection of the light beam at one point on their respective surfaces. Therefore, the area of ​​the first galvanometer 2 and the second galvanometer can be greatly reduced, reducing the size of the entire three-dimensional scanning laser action system.

[0034] In particular, the target object A is arranged in the direction of the action beam, and the action beam irradiates the surface of the target object A to produce a laser effect, burn or melt the target object A, etc. The irradiation point of the action beam on the surface of the target object A is the laser action point, and a light spot is formed at the laser action point.

[0035] See also Figure 3, the scanning detection device includes: a half-mirror 5, a focusing lens 6 and a camera 7. A semi-transparent membrane is provided on the surface of the half-mirror 5, and the semi-transparent membrane reflects the light beam of the corresponding wavelength of the laser 1 and transmits the light beams of the remaining wavelengths. The focusing lens 6 is arranged between the half-mirror 5 and the camera 7, and focuses the light beam from the surface of the target A, so that the subsequent camera 7 can better take pictures to obtain the actual image of the target A. At this time, the target A, the half-mirror 5 and the camera are on the same axis. Specifically, the camera 7 is set at the rear focus of the focusing lens 6, and the distance between the camera 7 and the axis of the half-mirror 5 is the same as the distance of the action light beam propagating from point M2 to the surface of the half-mirror 5, so that the shooting angle of the camera 7 is equivalent to the angle of directly shooting the laser 1, and the spot size in the actual image captured is the same as the laser irradiation point on the surface of the first galvanometer 2 and the second galvanometer 4.

[0036] The industrial computer receives the actual image captured by the camera 7, identifies the target object A and the laser action point in the actual image through an algorithm, determines the required position A1, controls the first galvanometer 2 and the second galvanometer 4 to rotate according to the angle correspondence, and controls the laser intensity according to the required intensity and spot size of the target object A. Specifically, for different targets A, the required laser action positions are also different. For example, weeds need to be burned at the stems, while ice and snow need to be melted at the center. It can be understood that although different targets A have different required laser action positions A1, the required position A1 matches the type, shape and size of the target A, that is, the information can be directly obtained when the three-dimensional scanning laser action system of the present invention is used to process the target A. In addition, when the first galvanometer 2 rotates along the first galvanometer rotation axis L1, the position of the action light beam irradiated on the surface of the target object A will also change. Similarly, when the second galvanometer 4 rotates along the second galvanometer rotation axis L2, the position of the action light beam on the surface of the target object A will also change. The directions of change of the irradiation position of the action light beam caused by the rotation of the first galvanometer 2 and the second galvanometer 4 are different. Therefore, by continuously rotating the first galvanometer 2 and the half-mirror 4, the action light beam can be irradiated on any point on the surface of the target object A in the two-dimensional projection, and the rotation angles of the first galvanometer rotation axis L1 and the second galvanometer rotation axis L2 correspond one-to-one to the irradiation position of the action light beam, so that the angle correspondence can be recorded. For different targets A, the required laser action intensity is also different. Similarly, the required intensity matches the type, shape and size of the target A, that is, the information can be directly obtained when the three-dimensional scanning laser action system of the present invention is used to process the target A; when the laser intensity emitted by the laser 1 is maintained, the larger the light spot on the surface of the target A, the farther the laser 1 is from the target A, and the lower the laser intensity per unit area on the surface of the target A. Therefore, combined with the intensity correspondence, the laser intensity of the laser 1 can be controlled to meet actual needs.

[0037] The complete operation process of the three-dimensional scanning laser action system of the present invention is described in detail below.

[0038] The laser 1 continuously emits an initial light beam of a certain intensity, which is reflected by point M1 on the first galvanometer rotation axis L1 of the first galvanometer 2 to form a beam to be locked, and is focused by a locking lens 3 to form a locking beam, and is irradiated at point M2 on the second galvanometer rotation axis L2 of the second galvanometer 4. The second galvanometer 4 reflects the locking beam to form an action beam, and the action beam is reflected by a half-mirror 5 and irradiated on the surface of the target object A, thereby concentrating laser energy to burn or ablate the target object A.

[0039] The laser acting on the surface of the target object A presents a certain spot size. The target object A within the spot range is heated and emits a spot light beam with continuous multi-wavelengths. The semi-reflective mirror 5 reflects part of the action light beam reflected back by the surface of the target object A to prevent the high-intensity laser from damaging the light-sensitive camera 7, and transmits part of the spot light beam with a wavelength different from the initial light beam and ambient light. The transmitted light beam is focused by the focusing lens 6 to form a detection light beam, which is irradiated on the photosensitive surface of the camera 7. The camera 7 continuously captures to obtain an actual image of the surface of the target object A.

[0040] The industrial computer determines the required position A1 and required intensity of the target object A according to the actual image, and changes the first galvanometer rotation axis L1 and the second galvanometer rotation axis L2 in combination with the angle correspondence so that the light spot always remains at the required position A1 of the target object A, and changes the laser intensity of the laser 1 in combination with the intensity correspondence so that the laser can complete the action requirements on the target object A.

[0041] Example 2

[0042] The scanning detection device in the three-dimensional scanning laser action system of this embodiment includes a semi-reflective mirror 5, a focusing lens 6 and a camera 7. A semi-transparent membrane is provided on the surface of the semi-reflective mirror 5, and the semi-transparent membrane transmits the light beam of the corresponding wavelength of the laser 1 and reflects the light beams of the remaining wavelengths. The focusing lens 6 is arranged between the semi-reflective mirror 5 and the camera 7, and focuses the light beam from the surface of the target A, so that the subsequent camera 7 can better take pictures to obtain the actual image of the target A, at which time the target A and the semi-reflective mirror 5 and the camera are on different axes. Specifically, the camera 7 is set at the rear focus of the focusing lens 6, and the distance between the camera 7 and the axis of the semi-reflective mirror 5 is the same as the distance of the action light beam propagating from point M2 to the surface of the semi-reflective mirror 5, so that the spot size in the actual image captured by the camera 7 is the same as the laser irradiation point on the surface of the first galvanometer 2 and the second galvanometer 4.

[0043] The three-dimensional scanning laser action system in this embodiment is different from the three-dimensional scanning laser action system in Example 1 only in the structure of the scanning detection device. The rest of the structure is exactly the same and will not be described again here.

[0044] The complete operation process of the three-dimensional scanning laser action system of the present invention is described in detail below.

[0045] The laser 1 continuously emits an initial light beam of a certain intensity, which is reflected by point M1 on the first galvanometer rotation axis L1 of the first galvanometer 2 to form a beam to be locked, and is focused by a locking lens 3 to form a locking beam, and is irradiated at point M2 on the second galvanometer rotation axis L2 of the second galvanometer 4. The second galvanometer 4 reflects the locking beam to form an action beam, and the action beam is transmitted by a half-mirror 5 and irradiated on the surface of the target object A, thereby concentrating laser energy to burn or ablate the target object A.

[0046] The laser acting on the surface of the target object A presents a certain spot size. The target object A within the spot range is heated and emits a spot light beam with continuous multi-wavelengths. The semi-reflective mirror 5 transmits part of the action light beam reflected back by the surface of the target object A to prevent the high-intensity laser from damaging the light-sensitive camera 7, and reflects part of the spot light beam with a wavelength different from the initial light beam and the ambient light. The reflected light beam is focused by the focusing lens 6 to form a detection light beam, which is irradiated on the photosensitive surface of the camera 7. The camera 7 continuously captures the actual image of the surface of the target object A.

[0047] The industrial computer determines the required position A1 and required intensity of the target object A according to the actual image, and changes the first galvanometer rotation axis L1 and the second galvanometer rotation axis L2 in combination with the angle correspondence so that the light spot always remains at the required position A1 of the target object A, and changes the laser intensity of the laser 1 in combination with the intensity correspondence so that the laser can complete the action requirements on the target object A.

[0048] The three-dimensional scanning laser action system of the present invention can achieve stable and accurate three-dimensional scanning of the target object through the coordinated processing of the three-dimensional scanning laser action device, the scanning detection device and the industrial control computer.

[0049] The above-mentioned embodiments only express two implementation modes of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. A three-dimensional scanning laser action device, characterized in that: include The laser continuously emits an initial beam of a certain intensity; A first galvanometer, reflecting an initial light beam to form a light beam to be locked; A locking lens focuses the light beam to be locked to form a locking light beam; as well as The second galvanometer reflects the locking beam to form an action beam and irradiates the target surface, thereby generating a laser effect on the target surface. Among them, the first galvanometer is rotatable, and its first galvanometer rotation axis is in the plane where the first galvanometer is located, and is perpendicular to the plane where the initial light beam and the light beam to be locked are located; the second galvanometer is rotatable, and its second galvanometer rotation axis is in the plane where the second galvanometer is located, and is parallel to the direction of the initial light beam.

2. The three-dimensional scanning laser action device according to claim 1, characterized in that: The initial light beam is reflected at point M1 on the surface of the first galvanometer, the locking light beam is reflected at point M2 on the surface of the second galvanometer, and the axis of the locking lens intersects perpendicularly with the first galvanometer rotation axis at point M1 and intersects perpendicularly with the second galvanometer rotation axis at point M2.

3. The three-dimensional scanning laser action device according to claim 2, characterized in that: The first galvanometer mirror and the second galvanometer mirror are respectively arranged at twice the focal length of both sides of the locking lens.

4. A three-dimensional scanning laser action system, characterized in that: It comprises the three-dimensional scanning laser action device, scanning detection device and industrial control computer as described in claims 1-3; the three-dimensional scanning laser action device emits laser to the surface of the target object to produce an effect, the scanning detection device detects the result of the laser acting on the surface of the target object, and the industrial control computer controls the angle and intensity of the laser emitted by the three-dimensional scanning laser action device according to the result of the laser acting on the surface of the target object.

5. The three-dimensional scanning laser action system according to claim 4, characterized in that: The scanning detection device includes a half-mirror and a camera; the half-mirror reflects an action light beam to the surface of a target object and transmits a light beam with a wavelength different from that of the action light beam; the camera is arranged in the opposite direction of the action light beam reflected by the half-mirror to capture an actual image of the surface of the target object, and at this time the target object, the half-mirror and the camera are on the same axis.

6. The three-dimensional scanning laser action system according to claim 4, characterized in that: The scanning detection device includes a half-mirror and a camera; the half-mirror transmits an action light beam to the surface of a target object and reflects a light beam with a wavelength different from that of the action light beam; the camera is arranged in the direction of a light beam with a wavelength different from that of the action light beam reflected by the half-mirror to capture an actual image of the surface of the target object, at which time the target object, the half-mirror and the camera are on different axes.

7. The three-dimensional scanning laser action system according to claim 5 or 6, characterized in that: The distance between the camera and the axis of the half-mirror is the same as the distance the action light beam propagates from point M2 to the surface of the half-mirror.

8. The three-dimensional scanning laser action system according to claim 7, characterized in that: The industrial computer receives the actual image taken by the camera, identifies the target object and the laser action point in the actual image through an algorithm, controls the first galvanometer and the second galvanometer to rotate according to the angle correspondence after determining the required position, and controls the laser intensity according to the target object's own required intensity and the intensity correspondence.

9. The three-dimensional scanning laser action system according to claim 8, characterized in that: When the first galvanometer rotates along the first galvanometer rotation axis, the position of the action light beam irradiated on the surface of the target object changes accordingly; when the second galvanometer rotates along the second galvanometer rotation axis, the position of the action light beam on the surface of the target object changes accordingly; and the directions of change of the irradiation position of the action light beam caused by the rotation of the first galvanometer and the second galvanometer are different. By continuously rotating the first galvanometer and the second galvanometer to make the action light beam irradiate any point on the surface of the target object, the rotation angles of the first galvanometer rotation axis and the second galvanometer rotation axis correspond one-to-one to the irradiation position of the action light beam, and all corresponding results are recorded to obtain the angle correspondence relationship.

10. The three-dimensional scanning laser action system according to claim 9, characterized in that: When the intensity of the laser emitted by the laser remains unchanged, the larger the spot on the target surface is, the farther the laser is from the target, and the lower the laser intensity per unit area on the target surface is, thereby obtaining the intensity correspondence relationship.

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