Three-dimensional scanning laser action system

Abstract

The invention relates to a three-dimensional scanning laser action system, which comprises a laser device for continuously emitting an initial light beam with certain intensity; the reflecting mirror reflects the initial light beam to form a light beam to be locked; the locking lens is used for focusing the light beam to be locked to form a locking light beam; the beam splitter reflects the locking light beam to form an acting light beam which irradiates the surface of a target object to generate a laser effect; wherein the reflecting mirror is rotatable, and the rotating shaft of the reflecting mirror is perpendicular to the direction of an initial light beam and coincides with the axis of the locking lens; the beam splitter is rotatable, and a rotating shaft of the beam splitter is parallel to the direction of the initial light beam. By adopting the three-dimensional scanning laser action system disclosed by the invention, the action direction and position of the three-dimensional scanning laser can be quickly controlled in a large range.

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] See also Figure 1 The existing three-dimensional scanning laser action system includes a laser 1, a first reflector 2, a second reflector 4, a camera 6 and an industrial computer (not shown). The laser 1 emits an initial light beam that irradiates the first reflector 2, is reflected by the first reflector 2 to the surface of the second reflector 4, and then is reflected by the second reflector 4 to the surface of the target X. The laser action point is X1. The laser produces a laser action on the target at X1 to form a light spot. The light spot emits a light beam and the ambient light reflected by the surface of the target X is reflected back to the first reflector 2 by the second reflector 4, and then is reflected by the first reflector 2 to the camera for reception. The first reflector 2 can rotate along a rotation axis H1 perpendicular to the optical path plane where its surface is located, and the second reflector 4 can rotate along a rotation axis H2 perpendicular to the optical path plane where its surface is located. The industrial computer is connected to the laser 1, the first reflector 2, the second reflector 4 and the camera 6, and adjusts the laser intensity emitted by the laser 1 and the angles of the first reflector 2 and the second reflector 4 according to the actual image of the target X received by the camera.

[0004] However, the range and speed of the laser emitted to the surface of the target object X by adjusting the rotating shaft H1 and the rotating shaft H2 are not high. In order to increase the range, the size of the spatial structure must be increased to extend the propagation distance of the light beam, but the speed cannot be increased, resulting in the inability of the existing three-dimensional scanning laser action system to achieve fast and large-scale three-dimensional scanning of the target object. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a three-dimensional scanning laser action system that can achieve rapid and large-scale three-dimensional scanning of a target object while keeping the spatial size of the laser fixed.

[0006] A three-dimensional scanning laser action system, comprising:

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

[0008] A reflector, reflecting the 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 beam splitter reflects the locked beam to form an action beam, which irradiates the surface of the target object to produce a laser effect;

[0011] The reflector is rotatable, and its axis of rotation is perpendicular to the direction of the initial light beam and coincides with the axis of the locking lens; the beam splitter is rotatable, and its axis of rotation is parallel to the direction of the initial light beam.

[0012] Furthermore, the reflector axis is perpendicular to the beam splitter axis and intersects at the axis center of the beam splitter axis. The initial light beam is reflected at the axis center of the reflector axis to form a beam to be locked, and the locking light beam is reflected at the axis center of the beam splitter axis to form an action light beam.

[0013] Furthermore, the locking lens is a convex lens, the reflector and the beam splitter are respectively arranged at the same distance L on both sides of the locking lens, and the initial light beam forms a light spot of the same size as that on the surface of the target object on the surface of the reflector.

[0014] Furthermore, the reflecting mirror and the beam splitter are respectively arranged at two times the focal length of the locking lens on both sides of the locking lens.

[0015] Furthermore, a semi-transparent membrane is provided on the beam splitter, and the wavelength selection range of the semi-transparent membrane matches the laser, reflecting the light beam with the same wavelength as the initial light beam emitted by the laser, and transmitting the light beams with other wavelengths.

[0016] Furthermore, it also includes a camera, which is arranged on the beam splitter in the opposite direction of the action light beam and 2L away from the beam splitter. The beam splitter transmits the spot light beam and ambient light reflected from the surface of the target object, and the camera continuously receives and captures the actual image of the surface of the target object.

[0017] Furthermore, it also includes an industrial computer, which determines the required position of the target object based on the actual image, and changes the rotation axis of the reflector and the rotation axis of the beam splitter in combination with a certain angle correspondence so that the light spot always remains at the required position of the target object, and changes the intensity of the laser according to the required intensity of the target object in combination with a certain intensity correspondence, wherein the required position is the position on the surface of the target object where the laser action is required, and the required intensity is the intensity of the laser action required on the surface of the target object, which is determined by the actual situation of the target object.

[0018] Furthermore, when the reflector rotates along the reflector axis, the position of the action light beam irradiated on the surface of the target object changes accordingly; when the beam splitter rotates along the beam splitter 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 separate rotation of the reflector and the beam splitter are not the same. By continuously rotating the reflector and the beam splitter so that the action light beam is irradiated on any point on the surface of the target object, the rotation angles of the reflector axis and the beam splitter 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.

[0019] 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.

[0020] Furthermore, it also includes a focusing lens, which is arranged between the beam splitter and the camera to focus the spot light beam and the ambient light after passing through the beam splitter, so that the camera can clearly capture the actual image.

[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 a three-dimensional scanning laser action system in the prior art.

[0023] Figure 2 It is a schematic diagram of the structure of the three-dimensional scanning laser action system of the present invention. DETAILED DESCRIPTION

[0024] The applicant carefully analyzed the problem of the prior art in changing the range and low speed of the laser emission to the surface of the target object X, and found that this was because under the setting of the rotation axis H1, the reflection angle of the initial light beam by the first reflector 2 and the rotation angle of the rotation axis H1 showed a one-to-one relationship; therefore, the applicant tried to change the rotation axis direction of the two reflectors to increase the ratio of the reflection angle of the light beam by the reflector to the rotation angle of the rotation axis. After the ratio increased, it was difficult to accurately correspond the rotation angle of the rotation axis and the laser emission direction, and the second reflector needed to have a very large surface to meet the irradiation of the reflected light of the first reflector. For this reason, the applicant added a locking lens between the two reflectors so that the reflected light of the first reflector can be completely irradiated on a point on the surface of the second reflector.

[0025] See also Figure 2 The three-dimensional scanning laser action system of the present invention comprises: a laser 1, a reflector 2, a locking lens 3, a beam splitter 4, a focusing lens 5, a camera 6 and an industrial computer (not shown).

[0026] 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.

[0027] The reflector 2 is a single-sided mirror, which is arranged in the emission direction of the laser 1, and completely reflects the initial light beam from the laser 1 at a certain angle, and forms a light beam to be locked. The front of the reflector 2 is an ordinary plane reflector 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, it is a macroscopic scale visible to the naked eye, and the optical path difference problem caused by the two surfaces of the reflector 2 has no substantial effect on the actual effect and can be ignored. The reflector 2 can be rotated, and the direction of its reflector axis H1 is perpendicular to the initial light beam and coincides with the axis of the locking lens 3. As the reflector axis H1 rotates, the angle between the reflector 2 and the initial light beam can be changed. As the reflector axis H1 rotates, the point on the surface of the locking lens 3 where the initial light beam is reflected moves in an arc, and the ratio of the reflection angle of the reflector 2 to the light beam to the rotation angle of the reflector axis H1 is two to one. It is understandable that the change in the angle needs to ensure that after the reflector 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 on the beam splitter 4 after reflection without diverging and consuming energy and causing laser leakage to threaten damage to surrounding instruments or the environment.

[0028] 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 beam. Specifically, the locking lens 3 is arranged between the reflector 2 and the beam splitter 4, coaxially and at the same height as the reflector rotation axis H1 of the reflector 2, and the reflector 2 and the beam splitter 4 are respectively located at the same distance L on both sides of the locking lens 3, ensuring that the relative position of the reflector 2 and the beam splitter 4 is stable. Preferably, since the laser beam has a certain beam diameter, the reflector 2 and the beam splitter 4 are respectively arranged at twice the focal length 2h on both sides of the locking lens 3, where L=2h, so that the laser irradiation points on the surfaces of the reflector 2 and the beam splitter 4 have equal light spots.

[0029] The beam splitter 4 is arranged perpendicular to the reflector 2, and the reflected locking beam forms an action beam that irradiates the surface of the target object X. The beam splitter 4 is rotatable, and the direction of its beam splitter axis H2 is parallel to the initial beam, that is, perpendicular to the reflector axis H1 of the reflector 2, and the reflector axis H1 passes through the axis of the beam splitter axis H2. The axis of the reflector axis H1 is imaged on the axis of the beam splitter axis H2 after passing through the locking lens 3. Therefore, under the action of the locking lens 3, no matter how the reflector 2 and the beam splitter 4 rotate, the relative position of the reflector axis H1 and the beam splitter axis H2 is always stable. Similarly, as the beam splitter axis H2 rotates, the point on the surface of the target object X where the locking beam is reflected moves in an arc, and the ratio of the reflection angle of the beam splitter 4 to the beam to the rotation angle of the beam splitter axis H2 is two to one.

[0030] In particular, after setting up the above structure, the applicant found that since the collimation and uniformity of the light beam emitted by the light spot on the surface of the target object X and the ambient light reflected by the surface of the target object X are too weak, it is impossible to directly reflect through two reflectors to the camera 6 to be received to obtain an actual image as in the prior art. Therefore, in this application, a beam splitter 4 is used to replace the second reflector in the prior art. A semi-transparent film is provided on the surface of the beam splitter 4, and the semi-transparent film reflects the light beam of the corresponding wavelength of the laser 1 and transmits the light beams of the remaining wavelengths.

[0031] The focusing lens 5 is arranged between the beam splitter 4 and the camera 6, and focuses the light beam from the surface of the target object, so that the subsequent camera 6 can better take pictures to obtain the actual image of the target object. Specifically, the camera 6 is arranged at the rear focus of the focusing lens 5 having the same focal length as the locking lens 3, and is four times the focal length 4h away from the beam splitter 4, and matches the reflector 2 and the beam splitter 4 at two times the focal length on both sides of the locking lens 3, so that the spot size in the actual image captured by the camera 6 is the same as the laser irradiation point on the surface of the reflector 2 and the beam splitter 4, and the shooting angle is equal to the laser emission position.

[0032] The industrial computer receives the actual image captured by the camera 6, identifies the target object and the laser action point in the actual image through an algorithm, and controls the reflector 2 and the beam splitter 4 to rotate according to the corresponding relationship after determining the required position. Specifically, for different targets, 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 have different required laser action positions, the required positions match the type, shape and size of the target, 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. In addition, when the reflector 2 rotates along the reflector axis H1, the position of the action beam irradiated on the surface of the target object will also change. Similarly, when the beam splitter 4 rotates along the beam splitter axis H2, the position of the action beam on the surface of the target object will also change. The directions of the changes in the irradiation position of the action beam caused by the rotation of the reflector 2 and the beam splitter 4 are not the same. Therefore, by continuously rotating the reflector 2 and the beam splitter 4, the action beam can be irradiated on any point on the surface of the target object, and the rotation angles of the reflector axis H1 and the beam splitter axis H2 correspond to the irradiation position of the action beam, thereby recording the angle correspondence. The industrial computer changes the intensity of the laser according to the required intensity of the target object combined with a determined intensity correspondence; it can be understood that when the laser intensity emitted by the laser remains unchanged, the larger the spot on the surface of the target object, the farther the laser is from the target object, and the lower the laser intensity per unit area on the surface of the target object, thereby obtaining the intensity correspondence.

[0033] The complete operation process of the three-dimensional scanning laser action system of the present invention is described in detail below.

[0034] The laser 1 continuously emits an initial beam of a certain intensity, the initial beam is reflected by the reflector 2 to form a beam to be locked, the beam to be locked is focused by the locking lens 3 to form a locking beam, and irradiates the axis of the beam splitter H2 of the beam splitter 4, the beam splitter 4 reflects the locking beam to form an action beam, the action beam is irradiated on the surface of the target object, and the laser energy is concentrated to burn or ablate the target object;

[0035] The laser acting on the surface of the target presents a certain spot size. The target within the spot range is heated and emits a spot light beam with a wavelength different from the initial light beam. The beam splitter 4 reflects part of the action light beam reflected back by the target surface to prevent the high-intensity laser from damaging the light-sensitive camera 6, and transmits the spot light beam and ambient light. The transmitted spot light beam and ambient light are focused on the photosensitive surface of the camera 6 by the focusing lens 5, and the camera 6 continuously captures and obtains an actual image of the target surface.

[0036] The industrial computer determines the required position of the target object according to the actual image, and changes the reflector axis H1 and the beam splitter axis H2 in combination with the angle correspondence so that the light spot always remains at the required position of the target object; and controls the intensity of the laser according to the required intensity of the target object in combination with a determined intensity correspondence.

[0037] In this way, the laser action function part and the image capture function part are integrated into one system through the beam splitter 4, thereby realizing rapid and large-scale three-dimensional scanning of the target object without increasing the system space, wherein the laser 1, the reflector 2, the locking lens 3 and the beam splitter 4 jointly realize the laser action function of the system, and the beam splitter 4, the focusing lens 5 and the camera 6 jointly realize the image capture function.

[0038] The above-mentioned embodiment only expresses one implementation mode of the present invention, and its 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 system, characterized in that: include The laser continuously emits an initial beam of a certain intensity; A reflector, reflecting the 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 beam splitter reflects the locked beam to form an action beam, which irradiates the surface of the target object to produce a laser effect; The reflector is rotatable, and its axis of rotation is perpendicular to the direction of the initial light beam and coincides with the axis of the locking lens; the beam splitter is rotatable, and its axis of rotation is parallel to the direction of the initial light beam.

2. The three-dimensional scanning laser action system according to claim 1, characterized in that: The reflector axis is perpendicular to the beam splitter axis and intersects at the axis of the beam splitter axis. The initial light beam is reflected at the axis of the reflector axis to form a beam to be locked, and the locking light beam is reflected at the axis of the beam splitter axis to form an action light beam.

3. The three-dimensional scanning laser action system according to claim 2, characterized in that: The locking lens is a convex lens, the reflector and the beam splitter are respectively arranged at the same distance L on both sides of the locking lens, and the initial light beam forms a light spot on the surface of the reflector with the same size as that on the surface of the target object.

4. The three-dimensional scanning laser action system according to claim 3, characterized in that: The reflecting mirror and the beam splitter are respectively arranged at two times the focal length of the locking lens on both sides of the locking lens.

5. The three-dimensional scanning laser action system according to claim 4, characterized in that: The beam splitter is provided with a semi-transparent membrane, the wavelength selection range of which matches the laser, reflecting the light beam with the same wavelength as the initial light beam emitted by the laser and transmitting the light beams with other wavelengths.

6. The three-dimensional scanning laser action system according to claim 5, characterized in that: It also includes a camera, which is arranged on the beam splitter in the opposite direction of the action light beam and 2L away from the beam splitter. The beam splitter transmits the spot light beam and ambient light reflected from the surface of the target object, and the camera continuously receives and captures the actual image of the surface of the target object.

7. The three-dimensional scanning laser action system according to claim 6, characterized in that: It also includes an industrial computer, which determines the required position of the target object according to the actual image, and changes the rotating axes of the reflector and the beam splitter in combination with a certain angle correspondence so that the light spot always remains at the required position of the target object, and changes the intensity of the laser according to the required intensity of the target object in combination with a certain intensity correspondence, wherein the required position is the position on the surface of the target object where the laser action is required, and the required intensity is the intensity of the laser action required on the surface of the target object, which is determined by the actual situation of the target object.

8. The three-dimensional scanning laser action system according to claim 7, characterized in that: When the reflector rotates along the reflector axis, the position of the action light beam irradiated on the surface of the target object changes accordingly; when the beam splitter rotates along the beam splitter 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 separate rotation of the reflector and the beam splitter are not the same. By continuously rotating the reflector and the beam splitter so that the action light beam is irradiated on any point on the surface of the target object, the rotation angles of the reflector axis and the beam splitter 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.

9. The three-dimensional scanning laser action system according to claim 8, 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.

10. The three-dimensional scanning laser action system according to claim 9, characterized in that: It also includes a focusing lens, which is arranged between the beam splitter and the camera to focus the spot light beam and the ambient light after passing through the beam splitter, so that the camera can clearly capture the actual image.

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