Profile measurement system, driving system, image capturing method, apparatus, and medium
The linearly driven optical module obtains contour information, which solves the problems of low measurement efficiency and complex structure in the prior art, and realizes an efficient and simplified contour measurement system, which is suitable for industrial automation, electronic manufacturing and automotive parts and other fields.
Patent Information
- Application Number
- CN202510565206.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-29
- Publication Date
- 2025-08-08
AI Technical Summary
When the existing optical modules acquire two-dimensional or three-dimensional information of the object to be measured, the measurement efficiency is low and the structure is complex, and the structural complexity problems caused by rotary motion are difficult to productize.
The linear drive module is used to move the optical module linearly, including a laser emitter, camera and imaging lens to satisfy the Sham imaging optical path, obtaining contour information through linear translation, simplifying the mechanical structure.
It reduces the complexity of the contour measurement system, improves measurement efficiency and imaging quality, reduces productization difficulty, and is suitable for the detection of high-precision large-size objects.
Smart Images
Figure CN120445081A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of camera equipment, and in particular to a contour measurement system, a driving system, an image capturing method, an equipment, and a medium. Background Art
[0002] Existing optical modules can only obtain one piece of contour information at a time, and the object needs to be moved to obtain two-dimensional or three-dimensional information. This method has the problem of low measurement efficiency.
[0003] Based on the above problems, an integrated rotation method is currently used to drive the optical module to rotate in order to obtain two-dimensional or three-dimensional information of the object to be measured. However, the requirement of rotational motion will lead to a complex structure of the optical module. Summary of the Invention
[0004] Various aspects of the present disclosure provide a contour measurement system, a drive system, an image capturing method, a device, and a medium to obtain a contour measurement system capable of linearly moving an optical module, thereby reducing the complexity of the contour measurement system.
[0005] A first aspect of an embodiment of the present disclosure provides a contour measurement system, comprising: an optical module and a linear drive module;
[0006] The optical module includes: a laser emitter, a camera, and an imaging lens. The laser emitter, the camera, and the imaging lens meet the Sham imaging optical path and are fixedly connected to each other.
[0007] The linear drive module is used to move the optical module linearly.
[0008] A second aspect of the embodiments of the present disclosure provides a drive system, comprising: a bracket, a controller, and a linear drive module;
[0009] The bracket is used to carry the optical module;
[0010] The controller is used to control the linear drive module;
[0011] The linear drive module is used to drive the bracket to move linearly.
[0012] A third aspect of the present disclosure provides an image capturing method, which is applied to the contour measurement system of the first aspect. The image capturing method includes:
[0013] Controlling the linear drive module to drive the optical module to move linearly;
[0014] During the linear movement of the optical module, the optical module is controlled to emit a line laser toward the object to be measured and to capture an image of the object to be measured;
[0015] The first plane of the object to be measured is parallel to the direction of linear movement of the optical module.
[0016] A fourth aspect of the present disclosure provides an image capture device, which is applied to the contour measurement system of the first aspect. The image capture device includes:
[0017] A first control module is used to control the linear drive module to drive the optical module to move linearly;
[0018] A second control module is used to control the optical module to emit a line laser toward the object to be measured and to capture an image of the object to be measured during the linear movement of the optical module;
[0019] The first plane of the object to be measured is parallel to the direction of linear movement of the optical module.
[0020] A fifth aspect of an embodiment of the present disclosure provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the image capturing method of the third aspect is implemented when the processor executes the computer program.
[0021] A sixth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the image capturing method of the third aspect.
[0022] A seventh aspect of an embodiment of the present disclosure provides a computer program product, which includes: a computer program, which is stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the image capture method of the third aspect.
[0023] The embodiments of the present disclosure are applied in the scenario of object contour measurement. The present disclosure provides a contour measurement system, including: an optical module and a linear drive module; the optical module includes: a laser emitter, a camera and an imaging lens, the laser emitter, the camera and the imaging lens meet the Sham imaging optical path, and the laser emitter, the camera and the imaging lens are fixedly connected to each other; the linear drive module is used to make the optical module move linearly. The contour measurement system provided by the present disclosure has a simple structure and can make the optical module move linearly. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:
[0025] Figure 1A schematic structural diagram of a contour measurement system provided by an exemplary embodiment of the present disclosure;
[0026] Figure 2 A schematic structural diagram of another contour measurement system provided by an exemplary embodiment of the present disclosure;
[0027] Figure 3 A schematic structural diagram of an optical module provided by an exemplary embodiment of the present disclosure;
[0028] Figure 4 A schematic structural diagram of a drive system provided by an exemplary embodiment of the present disclosure;
[0029] Figure 5 A flowchart of a method for capturing an image provided by an exemplary embodiment of the present disclosure;
[0030] Figure 6 A schematic diagram of a relative relationship between a linear movement direction and a first plane provided by an exemplary embodiment of the present disclosure;
[0031] Figure 7 A schematic diagram of a line laser width provided for an exemplary embodiment of the present disclosure;
[0032] Figure 8 A structural block diagram of an image capturing device provided by an exemplary embodiment of the present disclosure;
[0033] Figure 9 A schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION
[0034] To make the objectives, technical solutions, and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the specific embodiments of the present disclosure and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present disclosure.
[0035] Related technologies use a module to drive the rotation of an optical module, achieving line scanning with a wide field of view. However, because the optical module moves along a rotational path, an algorithmic correction mapping is required. Furthermore, the rotational motion of the optical module results in high-speed laser beam emission and a complex module structure, making the module difficult to commercialize.
[0036] Based on the above problems, the present disclosure provides a contour measurement system, in which a linear drive module can make the optical module move linearly. The linear movement of the optical module can avoid high-speed emission of laser lines and reduce the structural complexity of the contour measurement system, thereby reducing the difficulty of productization of the contour measurement system.
[0037] Among them, the present disclosure can be applied to detection scenarios of large-sized objects that require high-precision contour scanning, such as industrial automation detection, electronic manufacturing, automotive parts, and semiconductor packaging.
[0038] In the present disclosure, a contour measurement system includes: an optical module and a linear drive module;
[0039] The optical module includes: a laser emitter, a camera and an imaging lens. The laser emitter, the camera and the imaging lens meet the Sham imaging optical path and are fixedly connected to each other; the linear drive module is used to make the optical module move linearly.
[0040] In one embodiment, referring to Figure 1 , is a structural schematic diagram of a contour measurement system 10 provided in the present disclosure, the contour measurement system also includes a shell, an optical module 11 and a linear drive module 12 are arranged in the shell; the linear drive module 12 is connected to the shell; the linear drive module 12 is used to drive the optical module 11 to move linearly.
[0041] Understandably, Figure 1 In the embodiment, the linear drive module 12 is disposed in the housing and is fixedly connected to the housing, that is, the relative relationship between the linear drive module 12 and the housing is fixed, and the linear drive module 12 directly drives the optical module 11 to move.
[0042] In one embodiment, an opening is provided on one side of the shell, and the opening is used for the line laser emitted by the laser emitter to pass through, and for the camera to photograph the object to be measured outside the shell.
[0043] In the present disclosure, the opening can be set on the side where the linear laser passes. The present disclosure can set one or more openings as needed, which is not limited here.
[0044] The optical module 11 and the linear drive module 12 are both disposed in the housing, so that the structure of the overall contour measurement system is simple.
[0045] In one embodiment, referring to Figure 2 , a structural schematic diagram of another contour measurement system 20 provided by the present disclosure, the contour measurement system 20 includes an optical module 11, a linear drive module 12 and a bracket (not shown), the optical module 11 is fixed on the bracket; the bracket is connected to the linear drive module 12; the linear drive module 12 is used to drive the bracket to move linearly, thereby driving the optical module 11 to move linearly.
[0046] exist Figure 2 In the figure, the bracket (not shown) is connected to the linear driving module 12, which drives the bracket to move linearly. Since the bracket is used to fix the optical module 11, the optical module 11 will move linearly when the bracket moves.
[0047] The bracket may be a rigid bracket, which is used to support the optical module, wherein the relative relationship between the bracket and the optical module is fixed. In the present disclosure, the structure of the bracket is not limited.
[0048] In the present disclosure, the optical module is fixedly mounted on the bracket. When the linear drive module drives the bracket to move linearly, the bracket drives the optical module to move linearly. For example, when the linear drive module 13 drives the bracket to move linearly in the X direction, the optical module also moves linearly in the X direction.
[0049] Further, in Figure 2 In the embodiment, it also includes a shell, the optical module 11 is arranged in the shell, the shell is fixedly connected to the bracket, and the linear drive module 12 drives the bracket to move linearly. When the bracket moves, it will drive the shell to move linearly, and then also drive the optical module 11 to move.
[0050] exist Figure 2 An opening is also provided on one side of the shell, and the opening is used for the line laser emitted by the laser transmitter and for the camera to photograph the object to be measured outside the shell.
[0051] It can be understood that the present disclosure adopts a linear translation method, which can simplify the mechanical structure of the contour measurement system, reduce the structural complexity of the contour measurement system, and facilitate the maintenance of the contour measurement system.
[0052] In the embodiment of the present disclosure, it also includes: a controller, which is communicatively connected to the linear drive module and is used to control the linear drive module.
[0053] In addition, the controller is also used to control the optical module to image the object to be measured. The controller can control the optical module imaging and the linear drive module to synchronously trigger the linear movement of the optical module, perform equidistant sampling on the object to be measured, and obtain complete contour data of the object to be measured.
[0054] Among them, Figure 1 In the embodiment, the controller can be arranged inside the housing or outside the housing, and there is no limitation on this. Figure 2 The controller can be set at any position as needed and there is no limitation on this.
[0055] In the embodiments of the present disclosure, refer to Figure 3The optical module 11 includes: a laser emitter 31, a camera 32 and an imaging lens 33; wherein, the laser emitter 31, the camera 32 and the imaging lens 33 satisfy the Sham imaging optical path, the relative geometric relationship between the laser emitter 31, the camera 32 and the imaging lens 33 is fixed, and the direction of linear movement of the optical module is perpendicular to the laser surface, and the laser surface is a plane composed of laser lines emitted by the laser emitter.
[0056] exist Figure 3 In the image processing, the plane where the laser plane is located is the YZ plane, and the direction of linear movement of the optical module is the X direction. Under the condition of using the Sham imaging optical path, the intersection line of the laser plane, the plane where the imaging lens is located (lens plane), and the camera plane is the Sham intersection line, and the intersection relationship between the laser plane, lens plane, and camera plane remains constant, which can ensure that the captured image is clear and distortion-free throughout the entire scanning range. This further prevents the situation where moving the laser emitter or lens alone will disrupt the Sham imaging optical path and cause the captured image to be blurred.
[0057] It can be understood that the laser emitter, camera and imaging lens are integrated into one through the bracket. The laser emitter, camera and imaging lens move linearly with the bracket as a whole, avoiding the change in optical relationship caused by the laser emitter or camera alone, thereby eliminating the imaging distortion problem.
[0058] Furthermore, the linear drive module drives the bracket to drive the optical module to move linearly, thereby avoiding the effects of rotational dynamic distortion, motion nonlinearity, acceleration fluctuation, etc. in rotational scanning. The present disclosure can further improve imaging quality and measurement consistency.
[0059] In an embodiment of the present disclosure, the linear drive module includes: a drive component, a guide component and a feedback device, wherein the drive component is used to move the optical module linearly along the guide component, and the feedback device is used to feedback the position of the optical module on the guide component.
[0060] In some embodiments, the drive assembly includes a ball screw or linear motor drive mechanism. A high-precision ball screw can be selected. This ensures the precise and fast movement of the bracket and optical module, thereby meeting the requirements for high-speed inspection of the object under test.
[0061] In addition, the driving component may also have other structures, which is not limited.
[0062] The guide assembly includes a linear guide rail. Figure 1 The optical module is set on a linear guide rail for linear movement. Figure 2 The middle bracket is arranged on the linear guide rail to move linearly, thereby driving the optical module to move linearly.
[0063] Among them, the linear guide rail can provide smooth guidance to ensure that the optical module or bracket moves smoothly without shaking.
[0064] In the present disclosure, the linear guide rail may be a sliding guide rail, a roller guide rail, an air-floating guide rail, or other guide rails, which are not limited here.
[0065] In the present disclosure, the length of the guide component can be customized according to needs, thereby achieving flexible expansion of the scanning range and adapting to the detection needs of objects of different specifications.
[0066] In the present disclosure, the feedback device includes an absolute encoder and a grating ruler, which can provide real-time feedback on the position of the optical module or the bracket on the guide assembly, wherein the position of the optical module can be determined based on the position of the bracket.
[0067] Furthermore, the use of a synchronous trigger and feedback device can ensure that the acquisition of image data is synchronized with the displacement of the optical module, thereby improving the stability and repeatability of the measurement.
[0068] The feedback device may also be other devices, which are not limited here.
[0069] In the embodiment of the present disclosure, it also includes: a first adjuster, which is used to adjust the pitch angle and / or yaw angle of the optical module on the guide assembly.
[0070] based on Figure 1 The first adjuster can be arranged in the housing, and the first adjuster is connected to the optical module, and can directly adjust the pitch angle and / or yaw angle of the optical module on the guide assembly.
[0071] based on Figure 2 The first adjuster can be set on the bracket, and the first adjuster can adjust the pitch angle and / or yaw angle of the optical module by adjusting the pitch angle and / or yaw angle of the bracket on the guide assembly.
[0072] In addition, the first adjuster can also adjust the pitch angle and / or yaw angle of the optical module on the guide assembly in other ways, which are not limited here.
[0073] In the present disclosure, the first adjuster can be a screw micrometer fine adjuster, wherein after adjusting the pitch angle and / or yaw angle of the bracket on the guide assembly, the first adjuster can make the laser surface of the optical module perpendicular to the linear movement direction.
[0074] In the embodiment of the present disclosure, it further includes: a second regulator, which is used to adjust the position of the optical module along the direction of the laser line.
[0075] based on Figure 1The second adjuster can be arranged in the housing, and the second adjuster is connected to the optical module for directly adjusting the position of the optical module along the direction of the laser line.
[0076] based on Figure 2 The second adjuster can be set on the bracket, and the second adjuster can adjust the position of the optical module along the direction of the laser line by adjusting the position of the bracket along the direction of the laser line.
[0077] In addition, the second adjuster can also adjust the position of the optical module along the laser line direction in other ways, which are not limited here.
[0078] Among them, the second regulator can be a height fine-tuner. After adjusting the position of the bracket along the laser line, the object to be measured can be within the target measurement range of the laser line, and a better measurement result can be obtained within the target measurement range.
[0079] In the embodiment of the present disclosure, it also includes: a locking component, which is used to lock the relative relationship between the optical module and the guide component.
[0080] based on Figure 1 , the locking assembly can be arranged in the housing. Figure 2 , the locking assembly can be set on the bracket.
[0081] The locking assembly may be a rigid locking structure.
[0082] It is understood that after the first adjuster or the second adjuster has adjusted the corresponding structure, the locking assembly can be used to lock the adjusted structure. Figure 1 After the first adjuster adjusts the pitch angle and / or yaw angle of the optical module on the guide assembly, the relative relationship between the optical module and the guide assembly is locked. Figure 2 After the first regulator adjusts the pitch angle and / or yaw angle of the bracket on the guide assembly, the relative relationship between the bracket and the guide assembly is locked, so that the bracket can maintain the adjusted pitch angle and / or yaw angle. Figure 1 After the second adjuster adjusts the position of the optical module, the relative relationship between the optical module and the guide assembly is locked. Figure 2 After the second adjuster adjusts the position of the bracket, the relative relationship between the bracket and the guide assembly is locked, so that the bracket can maintain the adjusted position.
[0083] In addition, the locking structure can also lock the relative relationship between other structures, which is not limited here.
[0084] In the embodiment of the present disclosure, the locking assembly can lock all degrees of freedom after the first adjuster and the second adjuster are adjusted, ensuring that the object to be measured has no displacement and no angle drift during batch measurement, thereby improving measurement accuracy.
[0085] In some embodiments, the linear drive module further includes: buffer limiters and / or mechanical limiters disposed at both ends of the guide assembly.
[0086] In the present disclosure, the buffer limiter and / or the mechanical limiter can limit the movement range of the bracket to ensure the safety of the bracket during movement.
[0087] Reference Figure 4 , is a schematic diagram of the structure of a drive system 40 provided in the present disclosure, which includes: a bracket 41, a controller 31, and a linear drive module 12. The bracket 41 is used to support the optical module; the controller 31 is used to control the linear drive module; and the linear drive module 12 is used to drive the bracket to move linearly.
[0088] In addition, the drive system may further include at least one of a first regulator, a second regulator, and a locking structure. Specific descriptions may refer to the above embodiments and are not limited here.
[0089] It can be understood that the present disclosure adopts a linear translation method, which can simplify the mechanical structure of the drive system, reduce the structural complexity of the drive system, and facilitate the maintenance of the drive system.
[0090] Reference Figure 5 The present disclosure also provides an image capturing method, which is applied to the above-mentioned contour measurement system. The image capturing method specifically includes the following steps:
[0091] S501, controlling the linear drive module to drive the optical module to move linearly.
[0092] In the embodiment of the present disclosure, during the linear movement of the optical module, the relative relationship between the laser emitter, camera and imaging lens in the optical module is always fixed and satisfies the Sham imaging optical path.
[0093] Among them, based on Figure 1 , S501 includes: controlling the linear drive module to drive the optical module to move linearly. Figure 2 , S501 includes: controlling the linear drive module to drive the bracket to move linearly, so as to drive the optical module to move linearly.
[0094] S502 , during the linear movement of the optical module, controlling the optical module to emit a line laser toward the object to be measured and capturing an image of the object to be measured.
[0095] Specifically, the laser emitter is controlled to emit a line laser, and the camera is controlled to capture an image, wherein the captured image can be used for three-dimensional reconstruction of the object to be measured.
[0096] The first plane of the object to be measured is parallel to the direction of linear movement of the optical module.
[0097] Reference Figure 6 The line laser emitted by the laser transmitter forms a laser plane. When the optical module moves linearly along the X direction, the first plane of the object to be measured is always parallel to X. It can be understood that in the present disclosure, keeping a plane of the object to be measured always parallel to the linear movement direction can ensure the clarity of the captured image.
[0098] The intersection line between the laser plane and the surface of the object to be measured is the projection line. The camera collects the projection line and calculates the three-dimensional point cloud of the object to be measured.
[0099] In some embodiments, the first plane of the object to be measured is located at a position where the width of the line laser is the smallest, where the width refers to the width of the line laser in the linear moving direction.
[0100] Reference Figure 7 The width of the line laser at position a is 91 μm, the width at position b is 49 μm, and the width at position c is 91 μm. Among them, the width at position b is the smallest, so the first plane can be set at position b.
[0101] In the disclosed embodiment, after the drive system is fixed, the object to be measured can be placed at the position corresponding to position b. For example, the vertical distance (along the Z-axis) between the first plane and the laser transmitter can be adjusted to maintain at 64 mm. Alternatively, the object to be measured can be placed first, and then the position of the drive system can be adjusted according to position b, so that the first plane of the object to be measured is at position b.
[0102] It can be understood that the energy of the line laser is the strongest at the position where the line laser width is the smallest, and thus the clarity of the obtained image is higher. Therefore, the first plane can be located at the position where the line laser width is the smallest.
[0103] In the embodiment of the present disclosure, the first plane may also be set at other positions of the line laser to capture images of the object to be measured, which is not limited here.
[0104] In summary, the driving system provided by the present disclosure is used to drive the optical module to move linearly. The driving system can ensure that the optical module is free of jitter during movement, and the linear movement direction is always parallel to the first plane, thereby improving the quality of the image captured by the optical module.
[0105] Reference Figure 8 In an embodiment of the present disclosure, an image capturing device 60 is provided, and the image capturing device 60 includes:
[0106] The first control module 801 is used to control the linear drive module to drive the optical module to move linearly;
[0107] The second control module 802 is used to control the optical module to emit a line laser toward the object to be measured and to capture an image of the object to be measured during the linear movement of the optical module;
[0108] The first plane of the object to be measured is parallel to the direction of linear movement of the optical module.
[0109] In an optional embodiment, the first plane of the object to be measured is at a position where the width of the line laser is the smallest, where the width refers to the width of the line laser in the linear moving direction.
[0110] The image capturing device provided by the present disclosure can implement the above-mentioned image capturing method. Please refer to the above for details and will not be repeated here.
[0111] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or in parallel. They are only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that descriptions such as "second" and "first" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit "second" and "first" to different types.
[0112] Figure 9 This is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. Figure 9 As shown, the electronic device 90 includes: a processor 91, and a memory 92 communicatively connected to the processor 91, and the memory 92 stores computer-executable instructions.
[0113] Among them, the processor executes the computer-executable instructions stored in the memory to implement the image shooting method provided by any of the above method embodiments. The specific functions and technical effects that can be achieved are not repeated here.
[0114] An embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the image capture method provided by any of the above method embodiments.
[0115] An embodiment of the present disclosure also provides a computer program product, which includes: a computer program, which is stored in a readable storage medium, and at least one processor of an electronic device can read the computer program from the readable storage medium, and at least one processor executes the computer program so that the electronic device executes the image capture method provided by any of the above method embodiments.
[0116] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.
[0117] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.
[0118] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.
[0119] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the methods of various embodiments of the present disclosure. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code.
[0120] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.
[0121] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.
[0122] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims
1. A contour measurement system, characterized in that: include: Optical module and linear drive module; The optical module includes: a laser emitter, a camera and an imaging lens, wherein the laser emitter, the camera and the imaging lens meet the Sham imaging optical path and are fixedly connected to each other; The linear drive module is used to make the optical module move linearly.
2. The contour measurement system according to claim 1, characterized in that It also includes a housing, wherein the optical module and the linear drive module are arranged in the housing; The linear drive module is connected to the housing; The linear drive module is used to drive the optical module to move linearly.
3. The contour measurement system according to claim 2, characterized in that An opening is provided on one side of the shell, and the opening is used for the line laser emitted by the laser emitter to pass through, and for the camera to photograph the object to be measured outside the shell.
4. The contour measurement system according to claim 1, wherein: Also includes: a bracket, on which the optical module is fixed; The bracket is connected to the linear drive module; The linear drive module is used to drive the bracket to move linearly, so as to drive the optical module to move linearly.
5. The contour measurement system according to claim 4, characterized in that The optical module is fixed on the bracket and includes: The optical module is arranged in a housing, and the optical module is fixed on the bracket through the housing.
6. The contour measurement system according to any one of claims 1 to 5, characterized in that: Also includes: A controller is communicatively connected with the linear drive module, and is used to control the linear drive module.
7. The contour measurement system according to any one of claims 1 to 5, characterized in that: The linear drive module includes: a drive component, a guide component and a feedback device, wherein the drive component is used to drive the optical module to move linearly along the guide component, and the feedback device is used to feedback the position of the optical module on the guide component.
8. The contour measurement system according to claim 7, characterized in that Also includes: A first regulator is used to adjust the pitch angle and / or yaw angle of the optical module on the guide assembly.
9. The contour measurement system according to claim 8, characterized in that Also includes: A second regulator is used to adjust the position of the optical module along the direction of the laser line.
10. The contour measurement system according to claim 9, characterized in that Also includes: A locking assembly is used to lock the relative relationship between the optical module and the guide assembly.
11. The contour measurement system according to claim 7, wherein: The driving assembly includes: a ball screw or a linear motor driving mechanism.
12. The contour measurement system according to claim 7, wherein: The linear drive module further includes: buffer limiters and / or mechanical limiters arranged at both ends of the guide assembly.
13. A drive system, characterized in that: include: Bracket, controller and linear drive module; The bracket is used to carry the optical module; The controller is used to control the linear drive module; The linear drive module is used to drive the bracket to move linearly.
14. An image capturing method, characterized in that: Applied to the contour measurement system according to any one of claims 1 to 12, the image capturing method comprises: Controlling the linear drive module to drive the optical module to move linearly; During the linear movement of the optical module, controlling the optical module to emit a line laser toward the object to be measured and to capture an image of the object to be measured; Wherein, the first plane of the object to be measured is parallel to the direction of linear movement of the optical module.
15. The image capturing method according to claim 14, wherein: The first plane of the object to be measured is located at a position where the width of the line laser is the smallest, where the width refers to the width of the line laser in the linear moving direction.
16. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the computer program, the image capturing method according to claim 14 or 15 is implemented.
17. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the image capturing method according to claim 14 or 15 when executed by a processor.