Binocular laser sensor

Abstract

The invention provides a binocular laser sensor, and belongs to the technical field of laser sensors, and the binocular laser sensor comprises a laser generation assembly which emits mixed laser, and the mixed laser comprises first color light and second color light; the first receiving assembly and the second receiving assembly are symmetrically arranged about the light of the mixed laser, the first receiving assembly comprises a first sensor and a first optical filter, the second receiving assembly comprises a second sensor and a second optical filter, the first sensor receives first color light passing through the first optical filter, and the second sensor receives second color light passing through the second optical filter; the second sensor receives the second color light passing through the second optical filter; the adjusting module adjusts the intensity of the first color light emitted by the laser generating assembly according to the intensity of the light irradiated on the first sensor; the adjusting module adjusts the intensity of the second color light emitted by the laser generating assembly according to the intensity of the light irradiated on the second sensor. The measurement dead angles of the binocular laser sensor are reduced, the measurement precision of the binocular laser sensor is improved, and the service life of the binocular laser sensor is prolonged.

Description

Technical Field

[0001] This application relates to the field of laser sensors, and in particular to a binocular laser sensor. Background Art

[0002] When the existing single-lens displacement sensor performs measurements, there are likely to be measurement dead angles. That is, when the slope of the surface of the object to be measured is greater than the slope of the laser reflection optical path, the sensor will not receive a signal and cannot give measurement data; when there is an object blocking the laser reflection optical path, the sensor will not receive a signal and cannot give measurement data. Summary of the Invention

[0003] In view of this, this application provides a binocular laser sensor, which solves the problems in the prior art, reduces the measurement dead angle of the binocular laser sensor, improves the measurement accuracy of the binocular laser sensor, and increases the service life of the binocular laser sensor.

[0004] A binocular laser sensor provided by this application adopts the following technical solution:

[0005] A binocular laser sensor, comprising:

[0006] A laser generating component for emitting a mixed laser, the mixed laser including a first color light and a second color light;

[0007] A first receiving component and a second receiving component located on opposite sides of the laser generating component, the first receiving component and the second receiving component being symmetrically arranged with respect to the light rays of the mixed laser. The first receiving component includes a first sensor and a first filter, and the second receiving component includes a second sensor and a second filter. The receiving planes of the first sensor and the second sensor are inclined with respect to the light rays of the mixed laser. The first filter only allows the first color light to pass through, and the second filter only allows the second color light to pass through. After the mixed laser irradiates on the surface of the object to be measured, the first sensor and the second sensor are used to receive the reflected light rays after the mixed laser is reflected by the surface of the object to be measured, and the first sensor receives the first color light passing through the first filter, and the second sensor receives the second color light passing through the second filter;

[0008] An adjustment module, the adjustment module being electrically connected to the laser generating component. The adjustment module adjusts the intensity of the first color light emitted by the laser generating component according to the light intensity irradiated on the first sensor so that the light intensity received by the first sensor is within a preset range; the adjustment module adjusts the intensity of the second color light emitted by the laser generating component according to the light intensity irradiated on the second sensor so that the light intensity received by the second sensor is within a preset range.

[0009] Optionally, the laser generating assembly includes a first laser generator, a second laser generator, and a dichroic filter. The first laser emitted by the first laser generator and the second laser of the second laser generator are perpendicular to each other. The first laser is light of a first color, and the second laser is light of a second color. The angle between the plane of the dichroic filter and the first laser is 45°, and the angle between the plane of the dichroic filter and the second laser is 45°. The first laser passes through the dichroic filter, and the second laser is reflected after irradiating on the dichroic filter. The reflected second laser and the first laser passing through the dichroic filter are mixed.

[0010] Optionally, the first laser is a red laser, and the second laser is a blue laser.

[0011] Optionally, the laser generating assembly further includes a condenser lens. The condenser lens is located on the side of the dichroic filter facing away from the first laser generator. The condenser lens is used to condense the reflected second laser and the first laser passing through the dichroic filter and then emit them.

[0012] Optionally, the first receiving assembly further includes a first lens, and the second receiving assembly further includes a second lens. The first lens and the second lens are symmetrically arranged with respect to the light beam of the mixed laser. The first lens is used to receive the reflected light of the mixed laser, focus it, and then irradiate it on the first sensor. The second lens is used to receive the reflected light of the mixed laser, focus it, and then irradiate it on the second sensor.

[0013] Optionally, both the first sensor and the second sensor are image sensors.

[0014] Optionally, the binocular laser sensor further includes a housing. The laser generating assembly, the first sensor, and the second sensor are installed in the housing. The housing is provided with a through hole for the mixed laser to exit the housing and through holes for the reflected light of the mixed laser to pass through the housing and irradiate on the first sensor and the second sensor.

[0015] In summary, the present application includes the following beneficial technical effects:

[0016] In the present application, a first receiving assembly and a second receiving assembly are respectively arranged on both sides of the laser generating assembly. The light reflected on the right side is blocked by the boss, and the laser reflected on the left side will not be blocked and can be received by the first receiving assembly on the left side. The first sensor receives the reflected laser to complete data acquisition. The processor inside the binocular laser sensor processes the received laser data, thereby measuring the surface of the object to be measured and reducing the measurement dead corners of the laser sensor.

[0017] In the present application, the first sensor only receives the reflected light of the first color light and does not receive the emitted light of the second color light; the second sensor only receives the emitted light of the second color light and does not receive the reflected light of the first color light. According to the light intensity received by the first sensor, the emission intensity of the first color light is adjusted, and according to the light intensity received by the second sensor, the emission intensity of the second color light is adjusted to ensure that when the first sensor and the second sensor can receive the reflected light, they can receive an appropriate light intensity, ensuring the measurement accuracy. At the same time, when the emission intensity of the first color light is increased, it will not cause the light intensity received by the second sensor to be too high, and when the emission intensity of the second color light is increased, it will not cause the light intensity received by the first sensor to be too high, ensuring the service life of the first sensor and the second sensor. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 It is the overall structural block diagram of the binocular laser sensor of the present application;

[0020] Figure 2 It is a schematic diagram of the binocular laser sensor of the present application for measuring a measured object with a boss;

[0021] Figure 3 It is the structural block diagram of the data processing of the processor, adjustment module, laser generation component, first sensor, and second sensor of the present application.

[0022] Description of the reference numerals: 1. First laser generator; 11. First laser; 2. Second laser generator; 21. Second laser; 3. Dichroic filter; 4. Condensing lens; 5. First sensor; 51. First filter; 6. Second sensor; 61. Second filter; 7. Housing; 8. Processor; 9. Adjustment module; 100. Laser generation component; 101. Mixed laser; 110. Measured object; 120. Boss; 130. Reflected light ray. Detailed Embodiment

[0023] The embodiments of the present application will be described in detail below with reference to the drawings.

[0024] The following describes the implementation modes of the present application through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation modes. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope protected by the present application.

[0025] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of the aspects described herein can be used to implement the device and / or practice the method. Additionally, this device and / or this method can be implemented using other structures and / or functionality in addition to one or more of the aspects described herein.

[0026] It should also be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application schematically. The diagrams only show the components related to the present application, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0027] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0028] An embodiment of the present application provides a binocular laser sensor.

[0029] As Figures 1 - 3As shown in the figure, a binocular laser sensor includes: a laser generating component 100, a first receiving component and a second receiving component located on opposite sides of the laser generating component 100. The laser generating component 100 is used to emit laser light. The first receiving component and the second receiving component are symmetrically arranged with respect to the light beam of the laser. The first receiving component includes a first sensor 5, and the second receiving component includes a second sensor 6. The receiving planes of the first sensor 5 and the second sensor 6 are inclined with respect to the light beam of the laser. After the laser irradiates the surface of the object to be measured 110, the first sensor 5 and the second sensor 6 are used to receive the reflected light beam 130 after the laser is reflected by the surface of the object to be measured 110. The included angle between the receiving planes of the first sensor 5 and the second sensor 6 and the laser emitted by the laser generating component 100 can be 30-60°.

[0030] As Figure 2 shown in the figure, when the laser emitted by the laser generating component 100 irradiates the left bottom of the boss 120, if there is only the second receiving component on the right side, then the laser emitted by the surface of the object to be measured 110 will be blocked by the boss 120, and the second receiving component on the right side cannot receive the reflected laser, and the measurement of the surface of the object to be measured 110 cannot be completed. In this application, the first receiving component and the second receiving component are respectively arranged on both sides of the laser generating component 100. The light beam reflected on the right side is blocked by the boss 120, and the laser reflected on the left side will not be blocked and can be received by the first receiving component on the left side. The first sensor 5 receives the reflected laser to complete the acquisition of data. The processor 8 inside the binocular laser sensor processes the received laser data, thereby measuring the surface of the object to be measured 110. When the laser emitted by the laser generating component 100 irradiates the right bottom of the boss 120, the first receiving component on the left side cannot receive the reflected laser, but the second receiving component on the right side can receive the reflected laser, and the second sensor 6 can complete the acquisition of data. The processor 8 inside the binocular laser sensor processes the received laser data, thereby measuring the surface of the object to be measured 110.

[0031] For a laser sensor with only one receiving component, the laser generating component adjusts the intensity of the emitted laser according to the intensity of the light received by the sensor. When the intensity of the light received by the sensor is weak, the laser generating component emits laser light with a higher intensity, so that a stronger light is reflected from the surface of the object to be measured, and the sensor receives a stronger light, providing a basis for obtaining light data and improving the measurement accuracy. When the intensity of the light received by the sensor is large, the laser generating component emits laser light with a weaker intensity, reducing the intensity of the light irradiating on the sensor and avoiding the long-term reflection of strong light on the sensor, thereby increasing the lifespan of the sensor.

[0032] However, for a binocular laser sensor, the solution of adjusting the intensity of the laser emitted by the laser generating component according to the light intensity received by the sensor is no longer applicable. Specifically, taking Figure 2 as an example, after the surface of the object 110 to be measured reflects the laser emitted by the laser generating component 100, when the second sensor 6 on the right cannot receive the reflected light, the result feedback by the second sensor 6 is that the received light intensity is weak, and the intensity of the emitted laser needs to be increased. However, the first sensor 5 on the left can receive the reflected light normally, and the result feedback by the first sensor 5 may be that the received light intensity is normal or strong, so the intensity of the emitted laser does not need to be changed or needs to be decreased. The signals feedback by the two sensors are not unified, resulting in the inability to adopt the solution of changing the intensity of the emitted laser according to the intensity of the reflected light received by the sensor for the binocular laser sensor, which affects the measurement accuracy of the laser sensor and the service life of the sensor.

[0033] As Figure 1 and Figure 3 shown, to solve the above problems, the laser generating component 100 of the present application is used to emit a mixed laser 101, and the mixed laser 101 includes a first color light and a second color light. The first color light and the second color light are irradiated onto the surface of the object 110 to be measured at the same angle. The first receiving component further includes a first filter 51, and the second receiving component further includes a second filter 61. The first filter 51 only allows the first color light to pass through, and the second filter 61 only allows the second color light to pass through. After the mixed laser 101 is irradiated onto the surface of the object 110 to be measured, the first sensor 5 and the second sensor 6 are used to receive the reflected light 130 after the mixed laser 101 is reflected by the surface of the object 110 to be measured, and the first sensor 5 receives the first color light passing through the first filter 51, and the second sensor 6 receives the second color light passing through the second filter 61.

[0034] The binocular laser sensor of this application further includes an adjustment module 9, which is electrically connected to the laser generating component 100. The adjustment module 9 adjusts the light intensity of the mixed laser 101 emitted by the laser generating component 100 according to the light intensity of the light irradiating on the first sensor 5 and the second sensor 6. The adjustment module 9 adjusts the intensity of the first color light emitted by the laser generating component 100 according to the light intensity irradiating on the first sensor 5, so that the light intensity received by the first sensor 5 is within a preset range; the adjustment module 9 adjusts the intensity of the second color light emitted by the laser generating component 100 according to the light intensity irradiating on the second sensor 6, so that the light intensity received by the second sensor 6 is within a preset range. Specifically, the first sensor 5 and the second sensor 6 send the intensity of the received reflected light to the processor 8. The processor 8 compares the brightness of the light received by the first sensor 5 and the second sensor 6 with the preset range respectively. The processor 8 controls the adjustment module 9 to adjust the emission intensities of the first color light and the second color light of the laser generating component 100 according to the comparison result. Figure 2 For example, when the second sensor 6 on the right side cannot receive the reflected light, it is necessary to increase the emission intensity of the second color light. After the emission intensity of the second color light is increased, it is reflected after irradiating on the surface of the measured object 110. During the process of the reflected light of the second color light being reflected to the first receiving component, the reflected light of the second color light is filtered by the first filter 51, and the reflected light of the second color light will not irradiate on the first sensor 5. Therefore, no matter how strong the second color light is, it will not damage the first sensor 5, ensuring the service life of the first sensor 5. Moreover, the first filter 51 only allows the reflected light 130 of the first color light to pass through. If the light intensity received by the first sensor 5 is weak, the emission intensity of the first color light is increased. If the light intensity received by the first sensor 5 is strong, the emission intensity of the first color light is decreased, so that the first sensor 5 receives the first color light with an appropriate intensity, improving the measurement accuracy and at the same time increasing the service life of the first sensor 5. Similarly, when the reflected light on the left side is blocked and the reflected light on the right side can irradiate on the second sensor 6, the emission intensity of the second color light can be adjusted according to the light intensity received by the second sensor 6, improving the measurement accuracy and at the same time increasing the service life of the second sensor 6.

[0035] In the present application, the first sensor 5 only receives the reflected light of the first color light and does not receive the emitted light of the second color light; the second sensor 6 only receives the emitted light of the second color light and does not receive the reflected light of the first color light. In the present application, the emission intensity of the first color light is adjusted according to the light intensity received by the first sensor 5, and the emission intensity of the second color light is adjusted according to the light intensity received by the second sensor 6, ensuring that when the first sensor 5 and the second sensor 6 can receive the reflected light, they can receive an appropriate light intensity, ensuring the measurement accuracy. At the same time, when increasing the emission intensity of the first color light, it will not cause the light intensity received by the second sensor 6 to be too high, and when increasing the emission intensity of the second color light, it will not cause the light intensity received by the first sensor 5 to be too high, ensuring the service life of the first sensor 5 and the second sensor 6.

[0036] The laser generating assembly 100 includes a first laser generator 1, a second laser generator 2, and a dichroic filter 3. The first laser 11 emitted by the first laser generator 1 is perpendicular to the second laser 21 of the second laser generator 2. The first laser 11 is the first color light, and the second laser 21 is the second color light. The plane of the dichroic filter 3 forms an angle of 45° with the first laser 11, and the plane of the dichroic filter 3 forms an angle of 45° with the second laser 21. The first laser 11 passes through the dichroic filter 3, and the second laser 21 is reflected after irradiating on the dichroic filter 3. The reflected second laser 21 and the second laser 21 passing through the dichroic filter 3 are mixed. The first laser 11 is a red laser, the wavelength of the first laser 11 is 625 - 740 nm, the second laser 21 is a blue laser, and the wavelength of the second laser 21 is 440 - 475 nm.

[0037] The laser generating assembly 100 further includes a condenser lens 4. The condenser lens 4 is located on the side of the dichroic filter 3 facing away from the first laser generator 1. The condenser lens 4 is used for condensing the reflected second laser 21 and the first laser 11 passing through the dichroic filter 3 and then emitting them.

[0038] The first receiving assembly further includes a first lens. The first lens is located between the first filter 51 and the first sensor 5. The second receiving assembly further includes a second lens. The second lens is located between the second filter 61 and the second sensor 6. The first lens and the second lens are symmetrically arranged with respect to the light rays of the mixed laser 101. The first lens is used for receiving the reflected light of the mixed laser 101, focusing it, and then irradiating it on the first sensor 5. The second lens is used for receiving the reflected light of the mixed laser 101, focusing it, and then irradiating it on the second sensor 6. Both the first lens and the second lens are convex lenses.

[0039] Both the first sensor 5 and the second sensor 6 are image sensors.

[0040] The binocular laser sensor further includes a housing 7, the laser generating assembly 100, the first sensor 5 and the second sensor 6 are installed in the housing 7, and through holes for the mixed laser 101 to emit out of the housing 7 and for the reflected light of the mixed laser 101 to pass through the housing 7 and irradiate the first sensor 5 and the second sensor 6 are provided on the housing 7.

[0041] As mentioned above, the above is only the specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A binocular laser sensor, characterized in that, Including: A laser generating component (100) for emitting a mixed laser (101), the mixed laser (101) including a first color light and a second color light; A first receiving component and a second receiving component located on opposite sides of the laser generating component (100), the first receiving component and the second receiving component being symmetrically arranged with respect to the light of the mixed laser (101). The first receiving component includes a first sensor (5) and a first filter (51), and the second receiving component includes a second sensor (6) and a second filter (61). The receiving planes of the first sensor (5) and the second sensor (6) are inclined with respect to the light of the mixed laser (101). The first filter (51) only allows the first color light to pass through, and the second filter (61) only allows the second color light to pass through. After the mixed laser (101) irradiates the surface of the object to be measured (110), the first sensor (5) and the second sensor (6) are used to receive the reflected light (130) after the mixed laser (101) is reflected by the surface of the object to be measured (110), and the first sensor (5) receives the first color light passing through the first filter (51), and the second sensor (6) receives the second color light passing through the second filter (61); An adjustment module (9), the adjustment module (9) being electrically connected to the laser generating component (100). The adjustment module (9) adjusts the intensity of the first color light emitted by the laser generating component (100) according to the light intensity irradiated on the first sensor (5) so that the light intensity received by the first sensor (5) is within a preset range; the adjustment module (9) adjusts the intensity of the second color light emitted by the laser generating component (100) according to the light intensity irradiated on the second sensor (6) so that the light intensity received by the second sensor (6) is within a preset range.

2. The binocular laser sensor according to claim 1, characterized in that The laser generating component (100) includes a first laser generator (1), a second laser generator (2), and a dichroic filter (3). The first laser (11) emitted by the first laser generator (1) and the second laser (21) of the second laser generator (2) are perpendicular to each other. The first laser (11) is the first color light, and the second laser (21) is the second color light. The plane of the dichroic filter (3) forms an angle of 45° with the first laser (11), and the plane of the dichroic filter (3) forms an angle of 45° with the second laser (21). The first laser (11) passes through the dichroic filter (3), and the second laser (21) is reflected after irradiating on the dichroic filter (3), and the reflected second laser (21) is mixed with the second laser (21) passing through the dichroic filter (3).

3. The binocular laser sensor according to claim 2, wherein The first laser (11) is a red laser, and the second laser (21) is a blue laser.

4. The binocular laser sensor according to claim 2, characterized in that The laser generating assembly (100) further includes a condenser lens (4), which is located on the side of the dichroic mirror (3) facing away from the first laser generator (1). The condenser lens (4) is used to condense the reflected second laser (21) and the first laser (11) passing through the dichroic mirror (3) and then emit them.

5. The binocular laser sensor according to claim 1, wherein The first receiving assembly further includes a first lens, and the second receiving assembly further includes a second lens. The first lens and the second lens are symmetrically arranged with respect to the light of the mixed laser (101). The first lens is used to receive the reflected light of the mixed laser (101), focus it, and irradiate the first sensor (5). The second lens is used to receive the reflected light of the mixed laser (101), focus it, and irradiate the second sensor (6).

6. The binocular laser sensor according to claim 1, wherein Both the first sensor (5) and the second sensor (6) are image sensors.

7. The binocular laser sensor according to claim 1, wherein The binocular laser sensor further includes a housing (7). The laser generating assembly (100), the first sensor (5), and the second sensor (6) are installed in the housing (7). The housing (7) is provided with a through hole for the mixed laser (101) to emit from the housing (7) and through holes for the reflected light of the mixed laser (101) to pass through the housing (7) and irradiate the first sensor (5) and the second sensor (6).

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