Line laser camera and molten pool monitoring device

Abstract

The utility model discloses a line laser camera and a molten pool monitoring device.The line laser camera is provided with at least two laser emitters capable of emitting lasers with different wavelengths and at least two optical filters with the filtering wavelengths consistent with the wavelengths of the lasers emitted by the laser emitters, and the multiple optical filters are installed on a first installation plate; and the first driving assembly drives the first mounting plate to move, so that the optical filter with the same wavelength as the laser emitted by the laser emitter moves to the front of the image sensor. According to the scheme, the multiple laser emitters and the multiple optical filters share one image sensor, integration of the multiple laser emitters and the multiple optical filters on one line laser camera is achieved, and compared with the mode that at least two independent line laser cameras need to be arranged near a welding machine in the prior art, the multiple laser emitters and the multiple optical filters are integrated on the same line laser camera; the line laser camera disclosed by the scheme is suitable for at least two different working conditions, and is small in size and small in occupied space.

Description

Technical Field

[0001] The present application relates to the field of automated welding technology, and in particular to a line laser camera and a molten pool monitoring device. Background Art

[0002] Welding technology is widely used in aerospace, machinery manufacturing, energy, transportation, and defense industries, and has a decisive influence on the manufacturing quality and performance of products.

[0003] Traditional welding methods mainly rely on manual operation, which has problems such as unstable welding quality, low efficiency and high labor intensity. With the rapid development of science and technology, automated welding technology has emerged. Automated welding technology can ensure the consistency, reliability and efficiency of welding quality, solving the problems of traditional welding.

[0004] Automated welding technology requires the use of 3D cameras for weld guidance and weld quality inspection. Weld guidance is to scan the workpiece with a 3D camera before welding, guide the welding gun position in real time, guide the weld, correct the offset, and ensure that the welding robot of the automated welding technology works accurately along the weld to ensure the accuracy of welding. Weld quality inspection is to scan the welded workpiece with a 3D camera after welding, conduct weld inspection, promptly discover problems that may occur in the welding process, and inspect and evaluate the weld quality.

[0005] The 3D camera commonly used in the process of weld guidance and weld quality inspection is a line laser camera, which includes a laser emitter 01 and an image sensor 02. The laser emitter 01 emits a laser, which is projected onto the surface of the workpiece to form a reflection. The reflected light is captured by the image sensor 02, and the surface contour information of the workpiece is reconstructed to obtain the surface contour image of the workpiece. In order to reduce stray light interference, a filter 03 corresponding to the wavelength of the laser emitted by the laser emitter 01 needs to be set in front of the image sensor 02, so that the image sensor 02 can only recognize lasers of a single wavelength.

[0006] Due to the above structural limitations, line laser cameras can only emit and capture monochromatic lasers. However, when guiding the weld, due to the strong arc light during the welding process, the line laser camera needs to emit a red laser with strong penetration (the laser color in this article refers to the wavelength of the laser line generated by the laser). When inspecting weld quality, due to the need to identify the details of the metal surface, the line laser camera needs to provide a blue laser with a shorter wavelength, weaker diffraction effect, and stronger ability to depict details. In order to meet the needs of the two working conditions, two line laser cameras with different laser wavelengths need to be installed around a welding gun, which takes up a large amount of space around the welding gun.

[0007] Therefore, how to reduce the space occupied by the line laser camera around the welding gun while meeting the laser wavelength requirements under different working conditions has become a technical problem that needs to be urgently solved by technical personnel in this field. Utility Model Content

[0008] The present application proposes a line laser camera, so that the line laser camera can reduce the space occupied by the line laser camera around the welding gun while meeting the requirements for laser wavelength under different working conditions.

[0009] In order to achieve the above-mentioned object, the present application provides a line laser camera, including an image sensor, a filter, a first mounting plate, a laser transmitter and a first driving component.

[0010] The number of the laser emitters is at least two, and the wavelengths of the lasers emitted by each of the laser emitters are different from each other.

[0011] The first mounting plate is provided with the same number of filters as the number of the laser emitters, and the filtering wavelengths of the multiple filters are consistent with the wavelengths of the lasers emitted by the multiple laser emitters.

[0012] The first driving assembly is connected to the first mounting plate, and is used to drive the first mounting plate to move so that the filter having the same wavelength as the laser emitted by the laser emitter moves in front of the image sensor.

[0013] Preferably, in the above-mentioned line laser camera, the plurality of filters are arranged in a straight line, the first driving assembly is used to drive the first mounting plate to perform linear motion, the first driving assembly includes a rotating motor and a transmission assembly, and the rotating motor is connected to the first mounting plate through the transmission assembly.

[0014] Preferably, in the above-mentioned line laser camera, the transmission assembly includes a gear and a rack, the rack is meshed with the gear, the gear is connected to the rotating motor, and the rack is connected to the first mounting plate.

[0015] Preferably, in the above-mentioned line laser camera, the transmission assembly includes a lead screw and a nut, the lead screw is threadedly connected to the nut, the lead screw is connected to the rotary motor, and the nut is connected to the first mounting plate.

[0016] Preferably, in the above-mentioned line laser camera, the plurality of filters are arranged in a straight line, the first driving assembly comprises a linear motor, and a slider of the linear motor is connected to the first mounting plate.

[0017] Preferably, in the above-mentioned line laser camera, the plurality of filters are arranged in an arc shape, and the first driving assembly includes a rotating motor and a connecting shaft, and the rotating motor is connected to the first mounting plate through the connecting shaft to drive the first mounting plate to rotate around the connecting shaft.

[0018] Preferably, in the above-mentioned line laser camera, a limit switch is also provided on the housing of the line laser camera, for detecting whether the filter has moved into place.

[0019] Preferably, in the above-mentioned line laser camera, the plurality of laser emitters are arranged in a straight line or in an arc shape.

[0020] Preferably, in the above-mentioned line laser camera, it also includes a second mounting plate for mounting a plurality of the laser emitters, and the second mounting plate is connected to the housing of the line laser camera through a second driving assembly;

[0021] The second drive assembly may be the same as or different from the first drive assembly.

[0022] A molten pool monitoring device comprises a line laser camera and an external light source, wherein the line laser camera is the line laser camera described in any one of the above schemes.

[0023] The camera of the image sensor of the line laser camera is a molten pool monitoring camera.

[0024] The line laser camera provided in the embodiment of the present application has at least two laser emitters capable of emitting lasers of different wavelengths and at least two filters whose filtering wavelengths are consistent with the wavelength of the laser emitted by the laser emitters. The multiple filters are mounted on the first mounting plate, and the first driving assembly drives the first mounting plate to move so that the filters with the same wavelength as the laser emitted by the laser emitters move in front of the image sensor. The multiple laser emitters and multiple filters disclosed in the present solution share one image sensor, realizing the integration of multiple laser emitters and multiple filters on one line laser camera. Compared with the method in the prior art that at least two independent line laser cameras need to be arranged near the welding machine, the line laser camera disclosed in the present solution not only meets the requirements of being applicable to at least two different working conditions, but also has a small size and occupies little space.

[0025] The present application also discloses a molten pool monitoring device, including a line laser camera and an external light source, wherein the line laser camera is a line laser camera described in any one of the above schemes, and the camera of the image sensor of the line laser camera is a molten pool monitoring camera. Since the line laser camera has the above technical effects, the molten pool monitoring device having the line laser camera also has the same technical effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work, and the present application can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0027] Figure 1 It is a schematic diagram of the structure of a prior art line laser camera;

[0028] Figure 2 is a schematic structural diagram of a line laser camera disclosed in the first embodiment of the present application;

[0029] Figure 3 It is a structural schematic diagram of the cooperation between the first driving assembly and the first mounting plate of the line laser camera disclosed in the first embodiment of the present application;

[0030] Figure 4 is a schematic structural diagram of a line laser camera disclosed in a second embodiment of the present application;

[0031] Figure 5 It is a structural schematic diagram of the cooperation between the first driving assembly and the first mounting plate of the line laser camera disclosed in the second embodiment of the present application.

[0032] The accompanying drawings are as follows:

[0033] 01-Laser emitter; 02-Image sensor; 03-Filter;

[0034] 1-image sensor; 2-filter; 3-first mounting plate; 4-laser emitter; 5-first drive assembly; 6-limit switch. DETAILED DESCRIPTION

[0035] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It will be understood that the specific embodiments described herein are only used to explain the related application, rather than to limit the application. The described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0036] It should be noted that, for ease of description, only the parts related to the relevant applications are shown in the accompanying drawings. In the absence of conflict, the embodiments in this application and the features in the embodiments can be arbitrarily combined with each other, as long as the combined technical features are not contradictory. All feasible feature combinations are technical contents clearly recorded in this article. Any of the multiple sub-features contained in the same sentence can be applied independently, and does not have to be applied together with other sub-features.

[0037] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The elements defined by the sentence "includes a..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0038] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0039] The line laser camera emits a line of laser light downward. After diffuse reflection from the workpiece, light in one direction enters the reflector, passes through the reflector and passes through the filter 2 to enter the image sensor 1.

[0040] See also Figure 1-Figure 5 .

[0041] Some embodiments of the present application disclose a line laser camera, including an image sensor 1, a filter 2, a first mounting plate 3, a laser emitter 4, and a first driving assembly 5. The line laser camera also includes a housing, in which the image sensor 1, the filter 2, the first mounting plate 3, the laser emitter 4, and the first driving assembly 5 are integrated and mounted. The housing provides an installation space for the image sensor 1, the filter 2, the first mounting plate 3, the laser emitter 4, and the first driving assembly 5, and at the same time protects the image sensor 1, the filter 2, the first mounting plate 3, the laser emitter 4, and the first driving assembly 5.

[0042] The number of image sensors 1 of the line laser camera disclosed in this scheme is one, the number of filters 2 and the number of laser emitters 4 are both at least two, and the number of filters 2 is equal to the number of laser emitters 4, that is, at least two laser emitters 4 and at least two filters 2 share one image sensor 1.

[0043] The wavelength of the laser emitted by each laser emitter 4 is different. Assuming that the number of laser emitters 4 is two, the wavelength of the laser emitted by one of the laser emitters 4 is the first wavelength, and the wavelength of the laser emitted by the other laser emitter 4 is the second wavelength, and the first wavelength and the second wavelength are not equal; assuming that the number of laser emitters 4 is three, the wavelengths of the lasers emitted by the three laser emitters 4 are the first wavelength, the second wavelength and the third wavelength respectively, and the first wavelength, the second wavelength and the third wavelength are not equal.

[0044] The number of filters 2 is equal to the number of laser emitters 4, and the filtering wavelengths of the multiple filters 2 are consistent with the wavelengths of the lasers emitted by the multiple laser emitters 4. Specifically, assuming that the number of laser emitters 4 is two, the number of filters 2 is also two, the wavelengths of the lasers emitted by the two laser emitters 4 are the first wavelength and the second wavelength, respectively, and the filtering wavelengths of the two filters 2 are the first wavelength and the second wavelength, respectively; assuming that the number of laser emitters 4 is three, the wavelengths of the lasers emitted by the three laser emitters 4 are the first wavelength, the second wavelength and the third wavelength, respectively, the number of filters 2 is also three, and the filtering wavelengths of the three filters 2 are the first wavelength, the second wavelength and the third wavelength, respectively.

[0045] A plurality of filters 2 are mounted on the first mounting plate 3 , and the arrangement of the plurality of filters 2 on the first mounting plate 3 may be a linear arrangement, an arc arrangement, or other arrangements.

[0046] In some embodiments, a mounting hole matching with the filter 2 is provided on the first mounting plate 3, and a slot for clamping the filter 2 is provided on the hole wall of the mounting hole. After the filter 2 is installed in the mounting hole, it is fixed in the mounting hole of the first mounting plate 3 through the slot.

[0047] The first driving assembly 5 is connected to the first mounting plate 3, and is used to drive the first mounting plate 3 to move so that the filter 2 with the same wavelength as the laser emitted by the laser emitter 4 moves to the front of the image sensor 1. Assuming that the laser emitter 4 that generates laser light of the first wavelength emits laser light, the first driving assembly 5 drives the first mounting plate 3 to move so that the filter 2 that filters the first wavelength is located in front of the image sensor 1.

[0048] Specifically, during operation, a laser emitter can be selected according to the requirements of the working conditions for the laser wavelength, and the first driving component 5 is used to drive the first mounting plate 3 to move, so that the filter 2 whose filtering wavelength is consistent with the wavelength of the laser emitted by the selected laser emitter 4 is located in front of the image sensor 1, so that the filter 2 and the laser emitter are used in coordination to realize the design of a multi-color line laser camera.

[0049] When one of the laser emitters 4 emits laser light, the other laser emitters do not emit laser light.

[0050] The line laser camera disclosed in the present application has at least two laser emitters 4 capable of emitting lasers of different wavelengths and at least two filters 2 whose filtering wavelength is consistent with the wavelength of the laser emitted by the laser emitter 4. Multiple laser emitters 4 and multiple filters 2 share one image sensor 1, thereby realizing the integration of multiple laser emitters 4 and multiple filters 2 on one line laser camera. Compared with the prior art method of setting at least two independent line laser cameras near the welding machine, the line laser camera disclosed in the present solution not only meets the requirements of being applicable to at least two different working conditions, but also has a small size and occupies little space.

[0051] Taking the application of line laser camera in automated welding technology as an example, the line laser camera includes an image sensor 1, two laser emitters 4 and two filters 2, the two filters 2 are mounted on a first mounting plate 3, and a first driving assembly 5 drives the first mounting plate 3 to move. One of the two laser emitters 4 is a red light (or near-infrared light) laser, wherein the wavelength of the red laser is generally between 630nm and 680nm (the wavelength of the near-infrared light is generally between 750nm and 1400nm, and mid-infrared and far-infrared light cannot be used because the general image acquisition module does not recognize light in the band above 1400nm), the other of the two laser emitters 4 is a blue light laser, and the wavelength of the blue laser is generally between 400nm and 500nm, one of the two filters 2 is a red light (or near-infrared light) narrow-band filter 2, and the other is a blue light narrow-band filter 2, and the image sensor 1 is the image sensor 1 of the existing line laser camera.

[0052] When guiding the weld, the first driving component 5 drives the first mounting plate 3 to move, so that the filter 2 for filtering the red laser moves to the front of the image sensor 1, the laser emitter 4 emitting the red laser wavelength is turned on, the image sensor 1 collects images of the workpiece surface, and the camera of the image sensor 1 takes pictures at a low resolution and a high frame rate to meet the welding speed requirements, and guides the weld; when inspecting the weld quality, the first driving component 5 drives the first mounting plate 3 to move, so that the filter 2 for filtering the blue laser moves to the front of the image sensor 1, the laser emitter 4 emitting the blue laser wavelength is turned on, the image sensor 1 collects images of the workpiece surface, and the camera of the image sensor 1 takes pictures at a high resolution and a low frame rate to generate a high-precision point cloud image, and inspects the weld. The line laser camera also includes a control unit for controlling the laser emitter 4 (to realize the active switching of different laser emitters 4) and the first driving component 5, and storing the images collected by the image sensor 1 in the industrial computer (host computer) in chronological order through the data interface.

[0053] The line laser camera further comprises a limit switch 6 for detecting whether the filter 2 has moved into place.

[0054] During operation, the industrial computer (host computer) controls the first driving component 5 to work according to the working condition requirements, so that the filter 2 that meets the working condition requirements moves to the front of the image sensor 1, and then the industrial computer (host computer) controls the laser emitter 4 to emit laser according to the working condition requirements.

[0055] In an embodiment where multiple filters 2 are arranged in a linear manner, the first mounting plate 3 needs to be linearly driven by the first driving assembly 5 to adjust the position of the filter 2, wherein the direction of the linear drive is consistent with the linear arrangement direction of the multiple filters 2.

[0056] In some embodiments, the first drive assembly 5 includes a rotating motor and a transmission assembly. The rotating motor provides rotational power. The transmission assembly transmits the power of the rotating motor to the first mounting plate 3. The transmission assembly converts the rotational motion of the motor into linear motion to drive the first mounting plate 3 to perform linear motion.

[0057] The transmission assembly can be a gear rack assembly, a lead screw assembly, a synchronous belt assembly, or other transmission assembly that can convert the rotation of a rotary motor into linear motion. The first drive assembly 5 in this solution can realize the reciprocating motion of the first mounting plate 3 in the arrangement direction of the multiple filters 2.

[0058] In the embodiment where the transmission assembly is a gear and rack assembly, the transmission assembly includes a gear and a rack, the gear meshes with the rack, wherein the gear is connected to the rotating motor, and the rack is connected to the first mounting plate 3. During operation, the rotating motor drives the gear to rotate, the gear drives the rack to move, and then the rack drives the first mounting plate 3 to move. In this embodiment, the length direction of the rack is parallel to the arrangement direction of the multiple filters 2 on the first mounting plate 3.

[0059] In the embodiment where the transmission assembly is a lead screw assembly, the transmission assembly includes a lead screw and a nut, the lead screw is connected to the rotary motor, the nut is threadedly matched with the lead screw, and the nut is connected to the first mounting plate 3. The rotary motor drives the lead screw to rotate, so that the nut moves linearly along the axis direction of the lead screw, and finally the nut drives the first mounting plate 3 to move. In this embodiment, the axis direction of the lead screw is parallel to the arrangement direction of the multiple filters 2 on the first mounting plate 3.

[0060] In the embodiment where the transmission assembly is a synchronous belt assembly, the transmission assembly includes a first synchronous belt pulley, a synchronous belt, and a second synchronous belt pulley, the first synchronous belt pulley is connected to the rotating motor, the first synchronous belt pulley and the second synchronous belt pulley are arranged in a direction parallel to the arrangement direction of the plurality of optical filters 2 on the first mounting plate 3, the synchronous belt is sleeved on the first synchronous belt pulley and the second synchronous belt pulley, and the synchronous belt is connected to the first mounting plate 3. The rotating motor drives the first synchronous belt pulley to rotate, the first synchronous belt pulley drives the second synchronous belt pulley to move through the synchronous belt, and the first mounting plate 3 moves with the synchronous belt.

[0061] It should be noted here that after the transmission assembly is connected to the first mounting plate 3 , the filter 2 will not be blocked.

[0062] The transmission assembly may be arranged on only one side of the first mounting plate 3 , or may be arranged on both sides of the first mounting plate 3 at the same time.

[0063] In the embodiment where the plurality of filters 2 are arranged in a straight line, the first driving assembly 5 can also be a linear motor. The linear motor is a flat single-sided linear motor, which includes a slider and a guide rail, a permanent magnet is arranged on the guide rail, a winding is arranged in the slider, and the slider slides along the guide rail after power is turned on. In this embodiment, the slider is connected to the first mounting plate 3, and the slider drives the first mounting plate 3 to slide along the guide rail.

[0064] In the embodiment where the multiple filters 2 are arranged in an arc shape, the first mounting plate 3 needs to be driven in a circular motion so as to rotate the first mounting plate 3 around the center of the arc where the multiple filters 2 are located, so as to adjust the positions of the filters 2 .

[0065] The first driving assembly 5 includes a rotating motor and a connecting shaft, one end of the connecting shaft is connected to the rotating motor, the other end of the connecting shaft is connected to the first mounting plate 3, and the connecting shaft is coaxial with the center of the arc where the multiple filters 2 are located. The rotating motor drives the first mounting plate 3 to rotate along the circumference of the arc where the multiple filters 2 are located through the connecting shaft to adjust the position of the filters 2 on the first mounting plate 3.

[0066] In the embodiment where there are more than three filters 2 , the multiple filters 2 may also be arranged in a ring shape. In this embodiment, the first mounting plate 3 is circular, and the multiple filters 2 are evenly arranged around the center of the first mounting plate 3 .

[0067] In the embodiment where a plurality of filters 2 are arranged in an arc shape, the first mounting plate 3 may be a long strip plate or a fan-shaped plate, and the maximum arc of the fan-shaped plate may be 360°.

[0068] The plurality of filters 2 are evenly arranged on the first mounting plate 3 , that is, the distance between two adjacent filters 2 is equal.

[0069] The laser emitters 4 may be arranged in a straight line, in an arc shape, or in a ring shape.

[0070] The laser emitter 4 can be fixedly mounted on the housing of the online laser camera, or can be mounted on the housing of the online laser camera via a second driving assembly and a second mounting plate, and the second mounting plate is used to mount multiple laser emitters 4 .

[0071] In the embodiment in which the laser emitter 4 is fixedly mounted on the housing of the line laser camera, the position of the laser emitter 4 cannot be adjusted.

[0072] In the embodiment where the laser emitter 4 is mounted on the housing of the online laser camera via the second driving assembly, the position of the laser emitter 4 can be adjusted. During operation, the position of the laser emitter 4 can be adjusted according to the irradiation requirements.

[0073] The second driving component for driving the laser emitter 4 to move may be the same as or different from the first driving component 5 .

[0074] In an embodiment where the laser emitters 4 are arranged in a linear manner, the second driving assembly includes a rotating motor and a transmission assembly. The rotating motor provides driving force to the second mounting plate through the transmission assembly, so that the second mounting plate drives the laser emitters 4 to adjust their positions.

[0075] The transmission assembly can be a gear rack assembly, a lead screw assembly, a synchronous belt assembly, or other transmission assembly that can convert the rotation of a rotary motor into linear motion. The transmission assembly in this solution can realize the reciprocating motion of the second mounting plate in the arrangement direction of the multiple laser emitters 4.

[0076] In the embodiment where the laser emitters 4 are arranged in a linear manner, the second driving component is a linear motor, which is a flat single-sided linear motor. The linear motor includes a slider and a guide rail, a permanent magnet is arranged on the guide rail, a winding is arranged in the slider, and the slider slides along the guide rail after power is turned on. In this embodiment, the slider is connected to the second mounting plate, and the slider drives the second mounting plate to slide along the guide rail.

[0077] The arrangement of the plurality of laser emitters 4 may be the same as or different from the arrangement of the plurality of filters 2. Two adjacent laser emitters 4 may be arranged in parallel or at an angle to each other.

[0078] During operation, the filter 2 needs to be parallel to the image sensor 1. In order to further optimize the above technical solution, it also includes a detector for detecting the parallelism between the filter 2 and the image sensor 1 and an adjustment component for adjusting the angle of the mounting plate so that the filter 2 is parallel to the image sensor 1.

[0079] The present application also discloses a molten pool monitoring device, including a line laser camera and an external light source. The line laser camera is a line laser camera recorded in any one of the above schemes, and the image sensor 1 of the line laser camera is a molten pool monitoring camera.

[0080] Since the line laser camera has the above-mentioned technical effects, the molten pool monitoring device having the line laser camera also has the same technical effects, which will not be repeated here.

[0081] The external light source can be powered by the power supply interface of the line laser camera. The external light source can be an infrared light source for filling light in the molten pool.

[0082] When observing the molten pool, the line laser camera can be driven by an external mechanism to rotate as a whole to a suitable posture for easy observation.

[0083] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used, and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. The scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned application concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in this application (but not limited to) to form a technical solution.

Claims

1. A line laser camera, characterized in that: It comprises an image sensor (1), a filter (2), a first mounting plate (3), a laser emitter (4) and a first driving component (5), The number of the laser emitters (4) is at least two, and the wavelengths of the lasers emitted by each of the laser emitters (4) are different from each other. The first mounting plate (3) is mounted with the same number of filters (2) as the number of laser emitters (4), and the filtering wavelengths of the plurality of filters (2) are consistent with the wavelengths of the lasers emitted by the plurality of laser emitters (4). The first driving component (5) is connected to the first mounting plate (3) and is used to drive the first mounting plate (3) to move so that the filter (2) having the same wavelength as the laser emitted by the laser emitter (4) moves to the front of the image sensor (1).

2. The line laser camera according to claim 1, characterized in that: The plurality of filters (2) are arranged in a straight line, the first drive assembly (5) is used to drive the first mounting plate (3) to perform linear motion, the first drive assembly (5) comprises a rotating motor and a transmission assembly, and the rotating motor is connected to the first mounting plate (3) via the transmission assembly.

3. The line laser camera according to claim 2, characterized in that: The transmission assembly comprises a gear and a rack, the rack meshes with the gear, the gear is connected to the rotating motor, and the rack is connected to the first mounting plate (3).

4. The line laser camera according to claim 2, characterized in that: The transmission assembly comprises a lead screw and a nut, the lead screw is threadedly connected to the nut, the lead screw is connected to the rotating motor, and the nut is connected to the first mounting plate (3).

5. The line laser camera according to claim 1, characterized in that: The plurality of filters (2) are arranged in a linear manner, and the first drive assembly (5) comprises a linear motor, wherein a slider of the linear motor is connected to the first mounting plate (3).

6. The line laser camera according to claim 1, characterized in that: The plurality of filters (2) are arranged in an arc shape, and the first drive assembly (5) comprises a rotating motor and a connecting shaft, and the rotating motor is connected to the first mounting plate (3) via the connecting shaft to drive the first mounting plate (3) to rotate around the connecting shaft.

7. The line laser camera according to claim 1, characterized in that: It also includes a limit switch (6) arranged on the housing of the online laser camera, which is used to detect whether the filter (2) has moved into place.

8. The line laser camera according to any one of claims 1 to 7, characterized in that: The plurality of laser emitters (4) are arranged in a straight line or in an arc shape.

9. The line laser camera according to claim 8, characterized in that: It also includes a second mounting plate for mounting a plurality of the laser emitters (4), wherein the second mounting plate is connected to the housing of the line laser camera via a second driving assembly; The second drive assembly is the same as or different from the first drive assembly (5).

10. A molten pool monitoring device, characterized in that: It comprises a line laser camera and an external light source, wherein the line laser camera is the line laser camera according to any one of claims 1 to 9, The camera of the image sensor (1) of the line laser camera is a molten pool monitoring camera.

Images