104 results about "Laser triangulation" patented technology

The invention relates to the technical field of welding automation and robot visual perception, and discloses a robot intelligent welding method and system.The method comprises the steps that a three-dimensional point cloud image is constructed through a laser triangulation method; filtering and enhancing the point cloud image, and extracting a weld point cloud set by adopting a U-Net semantic segmentation model; carrying out space path identification and attitude regression based on the set to obtain a track element of a position-attitude pair; fitting a path by adopting a cubic B-spline curve and interpolating to generate a continuous welding track; and in the welding process, visual feedback is combined, and proportional differential control logic is introduced for closed-loop track error compensation. Compared with the technical problem that in the prior art, weld joint path recognition and accurate tracking cannot be stably achieved under complex structures such as curved surfaces and variable cross sections, a perception control closed loop based on visual servo is constructed, high-precision automatic welding of the complex weld joint structures is achieved, and the track fitting precision is improved.

The invention relates to the technical field of measuring devices, in particular to a glass thickness measuring instrument which comprises a workbench, the upper end of the workbench is fixedly connected with a first support, the upper end of the first support is provided with a first motor, and the lower end of the first support is provided with a first detection mechanism used for detecting an arc-shaped curved glass plate in a contact mode. A contact type laser micrometer is installed on the inner side of the first detection mechanism, a second detection mechanism used for non-contact type laser scanning detection of a glass plate is arranged on the inner side of the first detection mechanism, a plurality of sets of anti-reflection laser triangular sensors are arranged on the inner side of the second detection mechanism, and the anti-reflection laser triangular sensors are arranged on the inner side of the second detection mechanism for laser reflection interference caused by an arc-shaped curved surface. The anti-reflection laser triangular sensor is matched with the conical black velvet inner wall of the refraction plate and the 45-degree light barrier array to form an efficient optical trap, scattered light and transmission echoes are thoroughly absorbed, and the device is particularly suitable for high-precision measurement of high-power laser of 100 mW or above under an arc curved surface.

The invention discloses a smooth surface ring gauge automatic calibration device and method.The device comprises a clamping and positioning unit, a visual identification unit, a measuring unit and a computer control system, and the measuring unit comprises a metering type coordinate measuring machine, an automatic calibration module and a temperature acquisition unit; the visual identification unit comprises a line laser visual sensor and an image processing module, the computer control system is used for realizing data transmission and cooperation among the modules or units, and the line laser visual sensor adopts a laser triangulation method to scan the 3D contour of the smooth surface ring gauge to obtain point cloud data; the image processing module identifies and analyzes the point cloud data to obtain geometric feature information of the smooth surface ring gauge, the automatic calibration module adjusts a measurement scheme in real time according to the geometric feature information, and the metering type coordinate measuring machine measures all parameters of the smooth surface ring gauge according to the adjusted measurement scheme. According to the invention, full-parameter, high-efficiency, high-precision and integrated automatic calibration of the smooth surface ring gauge can be realized.

The invention discloses a carton board printing device, which relates to the technical field of package printing, and comprises a magneto-rheological dynamic impressing assembly, a self-calibration pressure sensing paper guide assembly and a bracket, and the magneto-rheological dynamic impressing assembly is arranged on one side of the outer wall of the bracket; according to the magnetorheological dynamic imprinting assembly, firstly, a laser triangulation range finder and an ultrasonic sensor are used for detecting tiny concave-convex and overall thickness difference of the surface of a paperboard in real time, a partitioned electromagnetic coil in an imprinting roller is driven, the magnetic field intensity is dynamically adjusted by means of the millisecond response characteristic of magnetorheological fluid so as to change the damping characteristic of the magnetorheological fluid in the imprinting roller, and then the paperboard surface is impressed. When the local part of the paperboard is detected to be thicker or bulged, the magnetic field of the electromagnetic coil in the corresponding subarea is weakened, and the magnetorheological fluid is in a low-viscosity state to avoid excessive pressure in the area, and when the local part of the paperboard is detected to be thinner or sunken, the magnetic field of the electromagnetic coil in the corresponding subarea is enhanced, and the magnetorheological fluid is in a high-hardness state to ensure sufficient pressure in the area; therefore, precise pressure compensation of the local area of the paperboard is achieved.

The invention provides a laser detection device for detecting the inner diameter of a quartz tube, which relates to the technical field of laser detection and comprises a bearing plate, a vertical column, a fixed frame, a moving mechanism, a clamping and positioning mechanism, a detection mechanism, a lifting mechanism and a laser detection system, the mechanical structure realizes stable clamping and position adjustment of the quartz tube through the moving mechanism, the lifting mechanism and the clamping and positioning mechanism; the laser detection system comprises a laser detection module, a storage module and an output display module, and the inner diameter is calculated by preprocessing light spot images, extracting features, dynamically monitoring parameter stability and combining the laser triangulation principle. Through collaborative design of a mechanical structure and a laser detection system, the problems that a traditional device is unstable in positioning and insufficient in precision are solved, adaptability, high precision and intelligence of quartz tube inner diameter detection are achieved, detection efficiency and data reliability are improved, and the device is suitable for strict detection requirements of various precision fields for quartz tube quality.

The application relates to the technical field of welding automation and robot visual perception, and discloses a robot intelligent welding method and system, wherein the method comprises the following steps: constructing a three-dimensional point cloud image by adopting a laser triangulation method; filtering and enhancing the point cloud image, and extracting a weld point cloud set by adopting a U-Net semantic segmentation model; identifying a space path and regressing a pose based on the set to obtain a position-pose pair trajectory primitive; fitting the path by adopting a cubic B-spline curve and generating a continuous welding trajectory by interpolation; and combining visual feedback in the welding process, introducing proportional differential control logic to compensate for closed-loop trajectory errors. Compared with the technical problem that the existing technology cannot stably realize weld path identification and accurate tracking under complex structures such as curved surfaces and variable cross sections, the application realizes high-precision automatic welding of complex weld structures by constructing a perception control closed loop based on visual servoing, and improves trajectory fitting precision.

This utility model discloses a laser triangulation ranging device and system; relating to the field of laser ranging technology; including a laser for emitting laser light towards the object being measured; a light-receiving lens assembly for receiving the reflected laser light from the object being measured and correcting and focusing the reflected laser light spot; the light-receiving lens assembly includes a focusing lens and multiple correction elements; the light spot of the reflected laser light from each correction element is corrected in different properties and falls onto the light-receiving element; this solution improves the structure of the traditional laser triangulation ranging optical path by correcting the light spot of the reflected laser light spot in different properties through the light-receiving lens assembly, ensuring measurement accuracy, reducing costs, and effectively accelerating assembly efficiency; by increasing the light spot size in the laser transmission direction at the position of the light-receiving element through the light-receiving lens assembly, the center of the light spot does not need to be aligned with the center of the light-receiving element to be detected, reducing the structural accuracy of the laser triangulation ranging device and improving assembly efficiency.

The utility model discloses a fin thickness online detection device, belongs to the technical field of fins, solves the problem of inconvenience in heat dissipation of a sodium ion battery, and comprises a base, and the upper surface of the base is fixedly connected with a moving mechanism, a cleaning mechanism and a laser triangulation measurer. The moving mechanism comprises a supporting rod fixedly connected to the upper surface of the base. A water pump can be started, cleaning liquid in a cleaning water tank can be pumped into a fixed pipeline through the water pump, then the cleaning liquid is sprayed out from a spray head, oil dirt impurities on the outer surface of a fin can be dissolved conveniently, meanwhile, a second servo motor is started, and an output shaft of the second servo motor drives an eccentric wheel to rotate; the eccentric wheel rotates to extrude the outer surface of the moving frame, so that the moving frame drives the two cleaning brushes to reciprocate, the outer surface of the fin is conveniently rubbed and cleaned, then the fin passes through the lower part of the laser triangulation measurer, and the accuracy of fin thickness detection is conveniently improved.

The invention provides a groove cutting method, device and system. The groove cutting method comprises the steps that S1, laser triangulation measurement data and flight time data of a target workpiece at multiple visual angles are obtained; s2, acquiring mixed resolution point cloud data of the target workpiece based on the laser triangulation data and the flight time data; s3, acquiring visual information data of the target workpiece, and performing real-time alignment on the target workpiece based on the mixed resolution point cloud data and the visual information data; s4, after the target workpiece is aligned in real time, a three-dimensional model of the target workpiece is reconstructed based on the mixed resolution point cloud data; and S5, cutting demand information is obtained, a cutting track is planned based on the cutting demand information and the three-dimensional model, and groove cutting is conducted on the target workpiece based on the cutting track and the three-dimensional model. According to the groove cutting method, the groove cutting efficiency can be improved.

The invention discloses a correction device for carbon fiber badminton racket processing, which comprises a correction platform and a racket body, a correction structure and a detection structure are arranged on the top surface of the correction platform, a base is fixed on the bottom surface of the correction platform, a lifting piece is arranged on the front surface of the base, and rackets with different sizes can be adaptively clamped through a V-shaped racket frame and roller structures on the two sides; and the rotating shaft is kept stable during rotation. In combination with a laser detection end, a laser triangulation ranging principle is utilized to perform omnibearing scanning on a rotating racket body, and the physical form deviation of a racket rod and a racket frame is converted into a high-precision digital signal in real time, so that the bending point and the bending amount are automatically and accurately positioned in a non-contact manner, the traditional manual visual inspection is effectively replaced, and the detection efficiency and the reliability are remarkably improved.

A self-adhesive wire production repairing device comprises an operation table (1), the lower end face of the operation table (1) is fixedly connected with a supporting bottom frame (2), a conveying assembly (3) is arranged in the upper end face of the operation table (1), a caulking groove (11) is reserved in the upper end face of the operation table (1), one side of the upper end face of the operation table (1) is fixedly connected with an L-shaped supporting plate (4), and the lower end of the L-shaped supporting plate (4) is provided with a first electric telescopic rod (5). The free end of the first electric telescopic rod (5) is connected with a fixing seat (6) with a self-adhesive material, and a laser triangulation sensor (7) is installed on the side wall of the L-shaped supporting plate (4).

1. The name of this design product: Laser triangulation rangefinder (02). 2. Purpose of this design product: used for distance measurement. 3. The key design points of this product are the combination of shape, pattern and color. 4. The picture or photo that best illustrates the design points: Stereoscopic drawing 1. 5. The design for which protection is sought includes color.

SYSTEM AND METHOD FOR CALIBRATING A ROTATIONALLY DRIVEN PROFILOMETER Calibration system (100) for a profilometer (11) based on a laser triangulation sensor, called TLS, said system comprising an optical head (10) provided with a rotation plate (12) intended to receive the profilometer to communicate to it a rotational movement around any axis of rotation (A), and a frame (30) on which the optical head is slidably mounted, said system further comprising a calibration frame (20) positioned around the TLS sensor and comprising four shims (21) each having a determined geometric shape and relative positioning in the calibration frame, the shapes and positions of said shims being configured so that the traces (T) of the laser beam (L) of the profilometer on the calibration frame (20) allow maximized coverage of a measurement area of ​​said profilometer. Figure for abstract: Figure 2

This utility model discloses a brake disc testing device for new energy vehicles, including a platform. A control panel and a three-jaw chuck are respectively installed on the top of the platform. A transverse adjustment rail is rotatably mounted above the platform around the central axis of the three-jaw chuck. Laser triangulation sensors are fixed at equal intervals on the transverse adjustment rail via a fixing mechanism. A distance-fixing mechanism is provided on the transverse adjustment rail, equidistant from the bottom laser emission end of the laser triangulation sensor to the top of brake discs of different thicknesses. In this brake disc testing device for new energy vehicles, rotating a second rotating shaft causes the distance-fixing rod and several equally spaced laser triangulation sensors to move downwards simultaneously. When the lower end of the distance-fixing rod contacts the top of the brake disc, the distance from the top of the brake disc of different thicknesses to the bottom laser emission end of the laser triangulation sensor is equal, ensuring the accuracy of brake disc flatness detection.

The application discloses a kind of smooth ring gauge automatic calibration device and method, the device includes clamping positioning unit, visual identification unit, measuring unit and computer control system, measuring unit includes metrology coordinate measuring machine, automatic calibration module and temperature acquisition unit, visual identification unit includes line laser vision sensor and image processing module, computer control system is used to realize the data transmission and cooperation between each module or unit, line laser vision sensor is scanned to point cloud data using laser triangulation to smooth ring gauge 3D profile, image processing module identifies and analyzes point cloud data, obtains the geometric characteristic information of smooth ring gauge, automatic calibration module adjusts measurement scheme in real time according to geometric characteristic information, metrology coordinate measuring machine executes the full parameter measurement of smooth ring gauge according to adjusted measurement scheme.The application can realize the full parameter, high efficiency, high precision, integrated automatic calibration of smooth ring gauge.

The application provides a multi-category plastic automatic reflow sorting method and system and a storage medium. The method comprises the following steps: obtaining point cloud data of a bottle body, processing the point cloud data by using a laser triangulation method to obtain bottle body shape characteristics of the bottle body; obtaining initial spectral information of the bottle body and working temperature and humidity of a working environment, determining whether compensation of the spectrum is needed based on the working temperature and humidity and the initial spectral information, if needed, substituting the working temperature and humidity and / or the initial spectral information into a preset compensation model to obtain spectral compensation information, and determining actual spectral information of the bottle body based on the initial spectral information and the spectral compensation information; substituting the bottle body shape characteristics and the actual spectral information into a hybrid neural network model to obtain a plastic type of the bottle body and a corresponding confidence degree, determining a confidence level corresponding to the confidence degree, and generating a corresponding sorting instruction based on the confidence level to realize sorting of the bottle body. The application can efficiently and accurately realize multi-category plastic sorting work.

The gravel pile grouting amount monitoring method comprises a vibratory hammer, a feeding opening, a pile pipe, a pile tip and gravel, the vibratory hammer is arranged at the top of the pile pipe, the feeding opening is formed in one side of the outer wall of the middle of the pile pipe, the bottom of the pile pipe is connected with the pile tip, and the gravel is poured into a gravel pile through the feeding opening; the device further comprises a distance measuring module, the distance measuring module comprises a laser, a camera, an installation mechanism and a differential GNSS module, the laser and the camera are arranged in the pile pipe, the light beam direction of the laser and the optical axis of the camera are located near the measured object and intersect, and the differential GNSS module is arranged at the top end of the outer side of the pile pipe. The relative height change of the end face of the gravel in the pile pipe is achieved through wireless distance measurement, direct measurement of the gravel filling amount is achieved, and errors caused by indirect measurement are avoided. Aiming at serious dust and rainwater shielding caused by a gravel dumping process in the pile pipe, a light beam image edge formed by a Tyndall effect can be acquired through a laser triangulation method, and the anti-interference capability is remarkable.

The invention discloses an automatic detection device for surface defects of synthetic leather, and belongs to the technical field of synthetic leather production lines. The front cleaning mechanism is arranged on the synthetic leather body for cleaning before the detection process, so that defects are exposed; the defect detection and recognition assembly is erected above the conveying mechanism and comprises a linear array camera directly facing the to-be-detected synthetic leather body, a thermal infrared imager arranged side by side with the linear array camera and a laser triangulation 3D sensor located on one side of the linear array camera and the thermal infrared imager and capable of adjusting the angle according to measurement requirements; and the flattening mechanism is arranged above the synthetic leather body, and the flattening mechanism can flatten elastic wrinkles and curls generated due to self elasticity or internal stress release of the synthetic leather body so as to assist identification and detection of the defect detection and identification assembly. Through the design of the front cleaning mechanism, the surface of the synthetic leather is cleaned more thoroughly, and the detection accuracy is improved.

The application discloses a laser ranging four-roller micro-foaming calender and a calendering method thereof, and belongs to the technical field of plastic foamed plate processing equipment. The calender comprises a four-roller calendering unit, a laser ranging unit, a servo adjusting unit and a control system. The plate thickness is detected in a non-contact real-time mode by a laser triangulation ranging sensor, and the servo motor is linked with the PLC control system to realize closed-loop dynamic adjustment of the roll gap. The calendering method adopts multi-channel symmetrical calendering of the upper roller group and the lower roller group and gradient temperature control, so that the plate sequentially completes surface skinning, internal foaming and thickness setting calendering, and the thickness uniformity and the surface quality are effectively improved.

The application relates to the technical field of building construction formwork monitoring, in particular to a high-formwork displacement monitoring system and a monitoring method, which comprise a collection controller, a laser emitter and a CCD sensor connected with the collection controller; a positioning sheet is installed on a monitored point; the laser emitter emits laser to the monitored point; light is projected to the positioning sheet to form a light spot; the light spot is projected to the CCD sensor; the CCD sensor transmits a signal to the collection controller and then transmits the signal to a main server of a smart construction site management platform through a total station communication module; the main server is connected with a database, a display large screen and an alarm module; the application adopts a laser triangulation imaging principle, laser emitting angles can be adjusted by construction personnel, the problem that a CCD device is not convenient to install and debug due to a small light receiving area is solved, laser lines emitted by the laser emitter are formed into light spots through the positioning sheet, and then the light spots are projected to the CCD sensor, so that the service life of the CCD sensor is prolonged.

The embodiment of the invention provides a lens for improving laser triangulation ranging precision. In one specific implementation mode, the lens comprises a first negative meniscus lens with the concave surface side facing the object side, a second negative meniscus lens with the concave surface side facing the object side and a biconvex positive lens which are sequentially arranged from the object side to the image side along the optical axis of the lens; and the first negative meniscus lens and the second negative meniscus lens are glued and fixed. According to the embodiment, the first negative meniscus lens and the second negative meniscus lens are glued and fixed. The first negative meniscus lens and the second negative meniscus lens are glued and fixed to obtain the doublet lens, the lens adopts the design of the doublet lens and the single achromatic biconvex lens, the spherical aberration and the edge distortion of imaging can be effectively reduced, the mass center drift of light spots is inhibited, the size of the light spots is reduced, and the imaging definition is improved; therefore, the measurement precision of the laser triangulation ranging method is better improved.

The invention relates to a testing device for performing multi-dimensional comprehensive mechanical property evaluation on a bone and an external fixing device thereof. The device can simulate the stress state of a skeleton and a fixing device of the skeleton under the conditions of walking, supporting and loading in a multi-degree-of-freedom mechanical environment, and realizes high-precision loading of axial stretching, compression and bending loads and measurement of comprehensive mechanical characteristics such as static and dynamic properties. The device comprises a mechanical platform, a driving system, a force sensing system and a displacement measuring system. The mechanical platform adopts a structural form that double sliding tables are orthogonally arranged, and the two sliding tables can independently or cooperatively apply axial force and lateral force to realize multi-dimensional loading; the driving system comprises a servo motor and a ball screw transmission mechanism, rotation of the servo motor is converted into linear motion of the sliding table through a ball screw, and accurate control over loads is achieved. The force sensing system is composed of two sets of resistance strain type S-shaped force sensors, axial and bending loads are measured respectively, and force-displacement-time synchronous data collection is achieved. The displacement measurement system adopts a double-laser triangulation ranging structure, and high-precision measurement of angular displacement and linear displacement is realized by measuring micro displacement and dip angle change of a sample section through a reflection marking piece; data acquisition and control can be realized by controlling an acquisition system.

This invention discloses a device for detecting the flatness of building curtain walls, relating to the technical field of flatness detection. The device comprises a ball-jointed leveling platform, a servo-rotating conductive slide, a variable-distance dual laser, and an LED projection system with a replaceable perforated plate. The device establishes a planar reference through projection of a light spot array and uses laser triangulation to quickly determine the distance from each light spot to the laser line. Servo rotation and electric cylinder pitch enable full-width scanning in both horizontal and vertical directions, reducing measurement errors.

The invention relates to the technical field of metering and testing, in particular to a synchronism calibration device and method for a differential double-path laser triangular displacement sensor. The technical problem that an existing laser triangular length measurement system lacks a portable and easy-to-use synchronism calibration device is solved. The invention discloses a synchronization calibration device for a differential double-laser triangular displacement sensor. The synchronization calibration device comprises a supporting seat, a motor mounted on the supporting seat and a motor control box used for controlling the motor, a turntable is mounted on an output shaft of the motor; the turntable surface is uniformly and equally divided into m blades with the same thickness, and the m blades alternately fluctuate up and down relative to a reference surface by taking a radial surface passing through the center of the turntable as the reference surface, so that the turntable is in a square wave shape in the circumferential direction; and m is an even number for equally dividing the whole circle.

The invention discloses an iris lesion geometric parameter measurement system based on laser triangulation, and particularly relates to the technical field of optical measurement and geometric calculation, and the system comprises a laser projection module which is used for forming an iris surface topography modulation optical pattern; the image acquisition module is used for acquiring a modulated laser pattern on the surface of the iris; the data processing module is used for processing the laser pattern image and extracting sub-pixel coordinates of the lesion area of the laser pattern; the three-dimensional coordinate construction module is used for converting the sub-pixel coordinates of the lesion area into three-dimensional space coordinates; and the geometric parameter measuring module is used for calculating geometric parameters of the lesion area. The iris lesion geometric parameter measurement system based on laser triangulation is constructed through the laser projection module, the image acquisition module, the data processing module, the three-dimensional coordinate construction module and the geometric parameter measurement module, and the limitation of the prior art in the aspects of measurement dimension, precision, efficiency and automation is solved.

The invention belongs to the technical field of wind power equipment maintenance, and discloses a wind power precision bearing backlash measurement system, which comprises a laser ranging module, a data processing module and an auxiliary assembly, and is characterized in that the laser ranging module enhances a laser triangulation method. The method has the following advantages: the measurement efficiency is improved, the single measurement time is shortened from 2 hours to 3 minutes, the downtime is greatly reduced, and the usability of the fan is improved; the data reliability is improved, an encrypted report containing a timestamp, a GPS coordinate and an operator ID is automatically generated, human errors are reduced, and data traceability is ensured; the maintenance cost is reduced, the bearing replacement period is prolonged from 5 years to 7 years, the annual maintenance cost of a single fan is reduced by 120,000 yuan, and sudden faults are avoided through preventive maintenance; the safety performance is improved, the risk that workers enter the gearbox in a traditional method is avoided, the injury probability of operators is reduced, and the industrial safety standard is met.

The utility model relates to the related technical field of paint spraying robots, in particular to an efficient and accurate paint spraying robot which comprises a rack, a paint spraying mechanism is arranged at one end of the rack, in the using process, the module is externally connected with a control unit, and the control unit is connected with an external computer through a circuit. The module is mainly used for accurately identifying and positioning a workpiece before paint spraying, the surface of the workpiece can be rapidly scanned through the laser triangulation sensor, and shape, size and position information of the workpiece can be obtained. Then, an advanced image processing algorithm is used for analyzing and processing the information, the paint spraying area and path are accurately determined, the innovation point of the module is that a laser triangulation sensor and an accurate positioning algorithm of the module are used, paint spraying accuracy and efficiency can be greatly improved, paint spraying errors and waste are reduced, and in addition, the system is easy to popularize and use. The module can automatically adjust the paint spraying pressure according to different paint spraying requirements and workpiece surface characteristics, and the paint spraying quality is greatly improved.

The invention relates to a welding seam laser point cloud data acquisition and preprocessing technology, and provides a method for integrating multi-source data fusion and an AI enhancement algorithm, which comprises the following steps: S1, laser triangulation ranging: projecting a light band to the surface of a welding seam through a line laser, capturing a distortion image by combining a high-resolution camera, and carrying out laser triangulation; displacement sensor compensation and adaptive focal length adjustment functions are integrated, and the surface three-dimensional morphology is dynamically reconstructed; s2, multi-modal denoising: matching an optimal filtering strategy based on frequency domain analysis, fusing a deep learning model and improved bilateral filtering, and improving the image quality in a complex noise scene; s3, sub-pixel-level track extraction: a non-local mean-Hessian matrix fusion algorithm is combined with multi-scale eigenvalue decomposition to realize high-precision positioning of the center of the light band; s4, curvature-driven outliers are removed, specifically, a local curvature self-adaptive threshold value method is combined with a graph optimization algorithm, and weld edge feature points are prevented from being mistakenly deleted; and S5, layered resampling: preferentially reserving high-precision region points based on curvature importance, and optimizing space coverage uniformity. According to the method, the defects in the aspects of environmental adaptability, noise suppression and feature integrity in the prior art are overcome, high-speed, high-precision and high-robustness welding seam point cloud collection and preprocessing are achieved, and the method is suitable for special-shaped welding seam detection under complex working conditions.

The optical path symmetry type differential multi-reflection laser displacement sensor comprises a laser module, a mirror I, a lens group I, a lens group II, a mirror II, a lens group III, a mirror III, a diaphragm I, a diaphragm II and a photoelectric detector; the laser beam emitted by the laser module is shot to the mirror I, is collimated after being reflected through the lens group I, and is perpendicularly irradiated to a measured object; after being diffusely reflected by the measured object, one reflected laser beam is converged through the receiving lens group II to form reference light, and the other reflected laser beam is converged through the lens group III to form measurement light; the reference light is reflected by the mirror II, is focused and imaged on the photoelectric detector through the diaphragm I; the measurement light is reflected by the mirror III, is focused and imaged on the photoelectric detector through the diaphragm II; the mirror II and the mirror III are arranged in parallel and symmetry. The present application realizes high-precision displacement measurement by using the laser triangulation method, effectively suppresses the error caused by laser jitter, and improves the measurement stability.

The present invention relates to the field of machine vision measurement technology, and in particular to a laser triangulation method and sensor calibration structure. The optical axis of the imaging lens is positioned on the side of the board-level camera closest to the laser line. This overcomes the aforementioned shortcomings of the prior art, which lack universal, high-precision laser measurement systems. This method significantly improves the sensor's measurement performance under the same hardware conditions, reduces the sensor's nonlinear error, and provides more stable measurement results.