CN109143253A - A kind of laser ranging module and distance measuring method - Google Patents
A kind of laser ranging module and distance measuring method Download PDFInfo
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- CN109143253A CN109143253A CN201810941224.0A CN201810941224A CN109143253A CN 109143253 A CN109143253 A CN 109143253A CN 201810941224 A CN201810941224 A CN 201810941224A CN 109143253 A CN109143253 A CN 109143253A
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- 230000003287 optical effect Effects 0.000 claims abstract description 17
- 238000007639 printing Methods 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 230000003760 hair shine Effects 0.000 claims abstract description 4
- 238000010023 transfer printing Methods 0.000 claims abstract description 4
- 238000003384 imaging method Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 5
- 238000000691 measurement method Methods 0.000 claims description 5
- 241001310793 Podium Species 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 4
- 238000005286 illumination Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000010438 heat treatment Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of laser ranging module and distance measuring method, belong to 3D printer technical field, in order to solve the accuracy requirement that range unit is unable to satisfy print head, and most equipment is larger to be not easy to installation print head, a kind of method for providing laser ranging includes, 1, obtain the displacement relation formula between the displacement and image of printer object, 2, print platform is obtained in the Z axis coordinate position of current coordinate system, 3, pc control procedure thinks the coordinate processing for carrying out Z axis when printing and transfer printing file to it, 4, printer prints the file received, realization is printed on print platform, laser ranging module is installed on printer extruder head, laser ranging module has laser, camera and optical filter, laser can issue light beam, light beam at laser hair shines directly on the print platform of printer, it takes the photograph The hot spot in laser illumination to print platform can be captured as head, optical filter is installed on camera, ensure that the demand of print head precision.
Description
Technical field
The present invention relates to 3D printer technical field more particularly to a kind of laser ranging module and distance measuring methods.
Background technique
What existing 3D printer was applied mostly is the method to return to zero downwards, but current adjusting zero effect is not to manage very much
To think, fusion sediment rapid shaping technique (FDM) is one of main 3D printing technique, and FDM technology also known as heats accumulation technology,
The technology is to squeeze out after heating moulding mixture silk heating and melting from spray head, is deposited on print job platform or the cured material of preceding layer
On material, starts curing molding after temperature is lower than material silk solidification temperature, be finally printed as entity, therefore, model first layer is beaten
Print situation directly affects subsequent model forming effect, and prints the spacing of extruder head and print platform and squeeze out doses (printing
The layer of first layer is high) cooperation directly affect the printing effect of first layer, so the zeroing technology of machine is very important, needle
The case where zeroing is the limit switch Z axis maximum value of Z axis in opposite direction realizes that the important step of automatic zero set function is exactly closely
It accurately measures, the precision of measurement and the demand of cost are larger, and current existing method is the side of ultrasonic wave and laser radar mostly
Method, but this distance mearuring equipment high-precision cost is all very high, the precision that inexpensive range unit is unable to satisfy print head again needs
It asks, and most equipment is not easy to be installed to print head.
Summary of the invention
The present invention in view of the above shortcomings of the prior art, provides a kind of laser ranging module and distance measuring method.
A kind of laser ranging module of the invention does not solve the technical solution that the above problem is taken and is；Including Laser Measuring
Away from cabinet and laser ranging system, the laser ranging cabinet is square box structure, and laser ranging system is mounted on Laser Measuring
Inside away from cabinet, the laser ranging cabinet include upper coverboard, lower coverboard, the first support plate and the second support plate, upper casing
Plate is arranged in the top of lower coverboard, and the surrounding between upper coverboard and lower coverboard is supported by the first support plate and the second support plate, on
Four vertex processing of coverboard offers ranging hole, right side in the second support plate there are four screw hole on the left of the first support plate
Offer outlet hole.
A kind of laser distance measurement method；Laser is perpendicular to platform, that is, the laser beam axis and camera imaging axis that issue
The angle of line is α,
Step a, record object moves the Δ y such as figure along laser beam direction；
Step b, the picture of object correspondingly moves Δ x in the receiving plane of recording camera；
If step c, object moves the Δ y such as figure along laser beam direction, the picture of object is corresponding in the receiving plane of camera
Ground moves Δ x, and the measurement range of general laser ranging is much larger than the effective length of camera receiving surface, thus lens system institute at
Picture be the picture reduced, the relational expression between the displacement of object and the displacement of picture is
Further, described
Step 1, obtain printer object displacement and image between displacement relation formula；
Step 2 obtains print platform in the Z axis coordinate position of current coordinate system；
Step 3, pc control procedure think the coordinate processing for carrying out Z axis when printing and transfer printing file to it；It is upper
Machine control program is transferred to printer after handling according to podium level mimeograph documents；
Step 4, printer print the file received, and realization is printed on print platform；
Further, the method that printer current coordinate system Z axis coordinate height is obtained in the step 2 is using semi-automatic
The method of mode, semi-automatic adjusting is；
Step 1 installs laser ranging module on printer extruder head；
Laser ranging module is installed on printer extruder head, laser ranging module has laser, camera and optical filtering
Piece, laser can issue light beam, and the light beam at laser hair shines directly on the print platform of printer, form hot spot,
Camera can capture the hot spot in laser illumination to print platform, be equipped with optical filter on camera；
Step 2, the staking-out work for carrying out laser module；
Printer movement is controlled by pc control procedure first, extruder head and laser module is allowed to lean on to print platform
Closely；Secondly, when laser module apart from print platform to certain distance after, hot spot is begun to appear in camera picture, corresponding to swash
The matched light spot image processing routine of optical module carry out image acquisition, image red channel pixel extraction, median filter process, as
Plain threshold calculations, spot location, sub-pix point calculate, and then utilize the mass center of hot spot according to the most value of pixel come threshold value
Spot location is carried out, then pc control procedure is inquired the coordinate of hot spot coordinate and machine Z axis and stored, and then controls
The extruder head of printer is moved with certain moving step sizes to print platform, after moving certain step-length, PC control
Program carries out a hot spot coordinate and the inquiry of machine Z axis coordinate stores work, until the extruder head and print platform of printer
When contacting with each other, pc control procedure matches the hot spot coordinate obtained before and machine Z axis coordinate in order
After storage, the staking-out work of the ranging reference table of laser module is completed.
Further, the laser ranging system includes laser, camera and optical filter, and laser is vertically arranged in down
The marginal position of coverboard, camera are inclined on lower coverboard, the arranged direction and the intersection of laser transmitting terminal of camera, filter
Mating plate is mounted on the camera lens of camera.
The invention has the benefit that the present invention uses principle of triangulation, the measurement scheme of low-cost and high-precision is realized,
The structure of range finder module is more small-sized simultaneously, the simple installation of low cost may be implemented, while can be fine by laser ranging
The limitation of zeroing is eliminated, there is no the errors generated when mechanical wear, and change the height of print platform, increase printing
The application scalability of machine realizes automatic zero set function, makes process simplerization of zeroing.
Detailed description of the invention
Fig. 1 is the working principle of the invention schematic diagram；
Fig. 2 is laser ranging module overall structure diagram of the present invention；
Fig. 3 is laser ranging module schematic diagram of internal structure of the present invention；
Fig. 4 is the flow chart for the calibration reference table that the present invention obtains printing machine platform；
Fig. 5 is the flow chart of key zeroing of the invention.
In figure: 1- laser ranging cabinet；2- laser ranging system；The upper coverboard of 3-；Coverboard under 4-；The first support plate of 5-；6-
Second support plate；7- screw hole；8- ranging hole；9- outlet hole；10- laser；11- camera；12- optical filter.
Specific embodiment
Specific embodiment one, below with reference to attached drawing 1-5, the present invention is described in detail:
The technical solution that a kind of laser ranging module of the invention is taken in order to solve the above problem is；Including Laser Measuring
Away from cabinet 1 and laser ranging system 2, laser ranging cabinet 1 is square box structure, and laser ranging system 2 is mounted on Laser Measuring
Inside away from cabinet 1, laser ranging cabinet 1 include upper coverboard 3, lower coverboard 4, the first support plate 5 and the second support plate 6, upper casing
Plate 3 is arranged in the top of lower coverboard 4, and the surrounding between upper coverboard 3 and lower coverboard 4 is by the first support plate 5 and the second support plate 6
Support, there are four screw hole 7, the left side of the first support plate 5 offers ranging hole 8, the second support for four vertex processing of upper coverboard 3
Right side offers outlet hole 9 on plate 6, and optical range finding apparatus 2 includes laser 10, camera 11 and optical filter 12, and laser 10 is perpendicular
The marginal position of lower coverboard 4 is directly set, and camera 11 is inclined on lower coverboard 4, the arranged direction of camera 11 and is swashed
The 10 transmitting terminal intersection of light device, optical filter 12 are mounted on the camera lens of camera 11.
Specific embodiment two, below with reference to attached drawing 1-5, the present invention is described in detail:
For laser 10 perpendicular to platform, that is, the angle of laser beam axis and camera 11 the imaging axis issued is α,
Step a, record object moves the Δ y such as figure along laser beam direction；
Step b, the picture of object correspondingly moves Δ x in the receiving plane of recording camera 11；
If step c, object moves the Δ y such as figure along laser beam direction, the picture phase of object in the receiving plane of camera 11
Move Δ x with answering, the measurement range of general laser ranging is much larger than the effective length of 11 receiving surface of camera, therefore lens system
Imaging is the picture reduced, and the relational expression between the displacement of object and the displacement of picture is
The distance of the corresponding object of certain distance of the receiving surface different location of corresponding camera is different, the two at
Non-linear relation is found, folder by the relationship that above formula analyzes the angle α of range accuracy and laser axis and camera imaging axis
The precision that angle α increases ranging can increase, but due to the limitation of measurement range and setting angle, effective angle of installing is
30 °~50 °.
Specific embodiment three, below with reference to attached drawing 1-5, the present invention is described in detail:
A kind of laser distance measurement method,
Step 1, obtain printer object displacement and image between displacement relation formula；
Step 2 obtains print platform in the Z axis coordinate position of current coordinate system；
Step 3, pc control procedure think the coordinate processing for carrying out Z axis when printing and transfer printing file to it, upper
Machine control program is transferred to printer after handling according to podium level mimeograph documents；
Step 4, printer print the file received, and realization is printed on print platform；
The staking-out work for the laser module that pc control procedure will realize semi-automation, allows extruder head and installation first
Laser module on extruder head is close to print platform by the speed of programming, when hot spot appears in the visual field model of camera
Illustrate that the acquisition of the ranging reference table of laser module starts in enclosing, the ranging of laser module has certain range, therefore laser
After the installation site of module is fixed, pc control procedure can control machine Z axis autokinetic movement a distance and be marked automatically
Then fixed work carries out the operation of pc control procedure manually to realize control extruder head and print platform precise contact in turn
The staking-out work for completing laser module, in this section of close move distance of pc control procedure control extruder head and print platform
In, machine can carry out relevant moving step sizes adjustment to realize the quickening of calibration process, when hot spot just appears in camera picture
When middle, the moving step sizes that pc control procedure controls machine Z axis can be appropriate larger, because the hot spot that this part obtains is sat
The correspondence reference table of the height of mark and machine Z axis, which is primarily used to provide, allows machine to enter accurate zeroing in a key automatic zero set
Mark, in the ranging reference table of this part adjacent Z axis coordinate can differ far, when extruder head from print platform away from
From it is closer when, control machine Z axis moving step sizes come high accuracy positioning when realizing a key automatic zero set.
Specific embodiment four, below with reference to attached drawing 1-5, the present invention is described in detail:
It is to use semiautomatic fashion by the method for obtaining printer current coordinate system Z axis coordinate height in step 2, it is semi-automatic
The method of adjusting is；
Step 1 installs laser ranging module on printer extruder head；
Laser ranging module is installed on printer extruder head, laser ranging module has laser 10,11 and of camera
Optical filter 12, laser 10 can issue light beam, and the light beam at 10 hair of laser shines directly on the print platform of printer,
Hot spot is formed, camera can capture the hot spot that laser 10 is irradiated on print platform, be equipped with optical filter on camera, swash
It, can be automatic using a key in the height of replacement print platform every time after optical module has carried out the elevation references table calibration of module
The function of zeroing obtains the coordinate of current print platform Z axis, and pc control procedure first issues a command to the control mainboard of machine
And then control extruder head and print platform are adjacent to each other, while pc control procedure is constantly to the mating hot spot figure of laser module
As processing routine inquiry hot spot coordinate, when hot spot occurs, pc control procedure obtains the coordinate of hot spot at this time and calibration
Ranging reference table in the coordinate of the farthest hot spot of distance compare because as extruder head and print platform are constantly close,
Hot spot is being moved in the picture that camera is presented with straight line, the motion profile approximation straight line of mass center, therefore logical
The data in hot spot ranging reference table are crossed, the distance of current machine extruder head and print platform is most in our available reference tables
Similar one group of coordinate, by the method for relative coordinate, the process of available key automatic zero set is by extruder head and printing
The distance of the Distance Shortened of platform to setting also needs to move how many distance, and according to the coordinate of post exercise hot spot come and reference
Data in table compare, and after matching in the coordinate and reference table of hot spot, the coordinate for obtaining the current Z axis of machine can
The height of print platform is obtained, pc control procedure first issues a command to the control mainboard of machine and then controls extruder head and printing
Platform is adjacent to each other, while pc control procedure is constantly sat to the mating light spot image processing routine inquiry hot spot of laser module
Mark, when hot spot occurs, pc control procedure by distance in the coordinate of hot spot at this time and ranging reference table obtained by calibrating most
The coordinate of remote hot spot compares, because as extruder head and print platform are constantly close, the picture that hot spot is presented in camera
It is being moved in face with straight line, the motion profile approximation straight line of mass center, therefore by hot spot ranging reference table
Data, the most similar one group of coordinate of the distance of current machine extruder head and print platform in our available reference tables, pass through
The method of relative coordinate, the process of available key automatic zero set is by the Distance Shortened of extruder head and print platform to setting
Distance how many distance also needed to move, and compared according to the coordinate of post exercise hot spot with the data in reference table,
After matching in the coordinate and reference table of hot spot, the coordinate for obtaining the current Z axis of machine can obtain the height of print platform.
Step 2, the staking-out work for carrying out laser module；
Printer movement is controlled by pc control procedure first, extruder head and laser module is allowed to lean on to print platform
Closely, secondly, when laser module apart from print platform to certain distance after, hot spot is begun to appear in camera picture, corresponding to swash
The matched light spot image processing routine of optical module carry out image acquisition, image red channel pixel extraction, median filter process, as
Plain threshold calculations, spot location, sub-pix point calculate, and then utilize the mass center of hot spot according to the most value of pixel come threshold value
Spot location is carried out, then pc control procedure is inquired the coordinate of hot spot coordinate and machine Z axis and stored, and then controls
The extruder head of printer is moved with certain moving step sizes to print platform, after moving certain step-length, PC control
Program carries out a hot spot coordinate and the inquiry of machine Z axis coordinate stores work, until the extruder head and print platform of printer
When contacting with each other, pc control procedure matches the hot spot coordinate obtained before and machine Z axis coordinate in order
After storage, the printer Z axis coordinate maximum value Z of settingmaxZ axis largest motion range more actual than machine is big, therefore print platform
To be located in the first quartile of printing coordinate system, the Z axis coordinate of print platform is no longer zero, but some is greater than zero value,
In order to allow the mimeograph documents of same printer model suitable for the processing of the print platform of all height, the unified printing generated is defaulted
The Z axis coordinate of print platform is zero in the G-code file of model, is being transmitted printer model file with pc control procedure
Incremental processing is carried out to relevant Z axis coordinate instruction is carried out before 3D printer, each layer of Z axis coordinate is enabled to beat plus what is measured
The Z axis coordinate of print platform obtains adapting to the mimeograph documents of current print platform, and pc control procedure first issues a command to machine
Control mainboard so that control extruder head and print platform is adjacent to each other, while pc control procedure is constantly to laser module
Mating light spot image processing routine inquires hot spot coordinate, and when hot spot occurs, pc control procedure is by the coordinate of hot spot at this time
The coordinate of farthest hot spot compares with distance in ranging reference table obtained by calibrating, because with extruder head and print platform
Constantly close, hot spot is being moved in the picture that camera is presented with straight line, and the motion profile approximation one of mass center is straight
Line, therefore pass through the data in hot spot ranging reference table, current machine extruder head and printing are flat in our available reference tables
The most similar one group of coordinate of the distance of platform, by the method for relative coordinate, the process of available key automatic zero set will be squeezed
Lift one's head with the distance of the Distance Shortened of print platform to setting also needs to move how many distance, and according to the seat of post exercise hot spot
Mark with the data in reference table to compare, and after matching in the coordinate and reference table of hot spot, obtains the current Z axis of machine
Coordinate can obtain the printing of the print platform of height treated mimeograph documents will be specific to this height of print platform
Work can be completed in machine.
Above embodiments are exemplary description of this patent, do not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (5)
1. a kind of laser ranging module, which is characterized in that the laser ranging cabinet (1) and laser ranging system (2), it is described to swash
Ligh-ranging cabinet (1) is square box structure, and laser ranging system (2) is mounted on the inside of laser ranging cabinet (1), described
Laser ranging cabinet (1) includes upper coverboard (3), lower coverboard (4), the first support plate (5) and the second support plate (6), upper coverboard (3)
It is arranged in the top of lower coverboard (4), the surrounding between upper coverboard (3) and lower coverboard (4) is supported by the first support plate (5) and second
Plate (6) support, there are four screw hole (7), the first support plate offers survey on the left of (5) for four vertex processing of upper coverboard (3)
Away from hole (8), right side offers outlet hole (9) in the second support plate (6).
2. a kind of laser distance measurement method according to claim 1, which is characterized in that laser (10) is perpendicular to platform, i.e.,
The angle of laser beam axis and camera (11) the imaging axis of sending is α,
Step a, record object is Δ y along the distance that laser beam direction is moved；
Step b, correspondingly moving distance is Δ x to the picture of object in the receiving plane of recording camera (11)；
If step c, object is Δ y along the distance that laser beam direction is moved, the picture phase of object in the receiving plane of camera (11)
The distance moved with answering is Δ x, and the distance of equivalent imaging len to laser beam is a, and equivalent imaging len to camera receives
The distance in face is b, and the measurement range of general laser ranging is much larger than the effective length of camera (11) receiving surface, therefore lens system
System imaging is the picture reduced, and the relational expression between the displacement of object and the displacement of picture is
。
3. a kind of laser distance measurement method according to claim 2, which is characterized in that
Step 1, obtain printer object displacement and image between displacement relation formula；
Step 2 obtains print platform in the Z axis coordinate position of current coordinate system；
Step 3, pc control procedure think the coordinate processing for carrying out Z axis when printing and transfer printing file to it；Host computer control
Processing procedure sequence is transferred to printer after handling according to podium level mimeograph documents；
Step 4, printer print the file received, and realization is printed on print platform.
4. a kind of laser distance measurement method according to claim 3, which is characterized in that obtain printer in step 2 and currently sit
The method of mark system Z axis coordinate height is using semiautomatic fashion, and the method for semi-automatic adjusting is；
Step 1 installs laser ranging module on printer extruder head；
Laser ranging module is installed on printer extruder head, laser ranging module have laser (10), camera (11) and
Optical filter (12), laser (10) can issue light beam, and the light beam at laser (10) hair shines directly into the printing of printer
On platform, hot spot is formed, camera can capture the hot spot that laser (10) is irradiated on print platform, be equipped on camera
Optical filter；
Step 2, the staking-out work for carrying out laser module；
Printer movement is controlled by pc control procedure first, makes extruder head and laser module close to print platform；Its
It is secondary, when laser module apart from print platform to certain distance after, hot spot is begun to appear in camera picture, corresponding laser module
Matched light spot image processing routine carries out image acquisition, image red channel pixel extraction, median filter process, pixel threshold
Calculating, spot location, sub-pix point calculate, and then according to the most value of pixel come threshold value, carry out light using the mass center of hot spot
Spot positioning, then pc control procedure is inquired the coordinate of hot spot coordinate and machine Z axis and is stored, and then controls printer
Extruder head moved with certain moving step sizes to print platform, after moving certain step-length, pc control procedure into
The inquiry of hot spot coordinate of row and machine Z axis coordinate stores work, until the extruder head and print platform of printer mutually connect
When touching, after the hot spot coordinate obtained before and machine Z axis coordinate are carried out pairing storage in order by pc control procedure,
The staking-out work of the ranging reference table of laser module is completed.
5. a kind of laser ranging module according to claim 1, which is characterized in that laser ranging system (2) packet
Laser (10), camera (11) and optical filter (12) are included, laser (10) is vertically arranged in the marginal position of lower coverboard (4),
Camera (11) is inclined on lower coverboard (4), the arranged direction and laser (10) transmitting terminal intersection of camera (11), filter
Mating plate (12) is mounted on the camera lens of camera (11).
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| CN117161413A (en) * | 2023-11-02 | 2023-12-05 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
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| CN109752709A (en) * | 2019-01-22 | 2019-05-14 | 武汉鸿瑞达信息技术有限公司 | A kind of distance measurement method and device based on image |
| CN117161413A (en) * | 2023-11-02 | 2023-12-05 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
| CN117161413B (en) * | 2023-11-02 | 2024-03-15 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
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Application publication date: 20190104 |