CN1948896A - Dynamic 3D laser scanning testing head - Google Patents
Dynamic 3D laser scanning testing head Download PDFInfo
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- CN1948896A CN1948896A CN 200610134194 CN200610134194A CN1948896A CN 1948896 A CN1948896 A CN 1948896A CN 200610134194 CN200610134194 CN 200610134194 CN 200610134194 A CN200610134194 A CN 200610134194A CN 1948896 A CN1948896 A CN 1948896A
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Abstract
The invention relates to dynamic three-dimensional laser scanning gauge head. It is made up of semiconductor laser, laser intensity control circuit, CCD video camera, image collecting card, computer, collision avoidance sensor group. It uses double pick-up heads information matching to avoid scanning blind, gain whole work-piece interface information, adjusts laser intensity to collect data for work-piece surface with different material to avoid work-piece material limitation, uses collision avoidance to ensure the gauge head safety while dynamic scanning, make it can scan any way in space to accomplish the work-piece whole data collection. It is suited for on line detecting in dynamic environment, has great practicability and generalization potential.
Description
Technical field
The invention belongs to advanced measurement, detection technique field
Background technology
In today of computing machine high development, the manufactured industry of the geometric modeling technology of 3 D stereo is widely used in the each side such as design, scheme evaluation, robotization processing and manufacturing and management maintenance of tool and mould.And often we can run into such difficult problem, are exactly that the client pulls model for your have only a sample or hand, do not have drawing cad data archives, and the engineering staff cannot obtain size accurately, and mfg. moulding die is just more difficult.With traditional engraving process, long and poor effect of time, at this moment we just need to adopt various measurement means and 3 d geometric modeling method, and original material object is converted into three-dimensional digital model on the computing machine.
3-D scanning be light harvesting, mechanical, electrical and computer technology in the new and high technology of one, be mainly used in object space profile and structure scanned, to obtain the volume coordinate of body surface.Its significance is the steric information of material object to be converted to calculates the digital signal that function is directly handled, for digitizing in kind provides quite conveniently means.
Fast development along with infotech, modern measuring instrument has entered a brand-new period, submersible electric equipment is by based on the single instrument of surveying and mapping of optics, physical construction and purposes, changes, hardware soft based on computing machine and integrated comprehensive production and the applied information system of various sensor into.Late 1980s, the laser scanning measurement technology is as a kind of rapidly new technology of newly-developed, become a kind of important techniques means that spatial data obtains and obtained using widely.Such as, Machine Design and mfg. moulding die processing, electronics and electrical equipment, household electrical appliance, automobile, motorcycle, toy, medical recovery project, artistic ornament Design and Machining, the preservation of museum's historical relic three-dimensional data, network virtual reality system etc.
In three ten years in the past, the three-dimensional surface measurement technology has become a kind of important of aspect researchs such as scientific analysis, Industry Control, bioengineering, biomedicine and material science and fundamental method, various types of three-dimensional measurement instruments occurred, what wherein have the meaning represented is three coordinate measuring machine.3 D laser scanning testing head obtains the most important instrument of three-dimensional information as three coordinate measuring machine, and it is playing crucial effects aspect the body surface DATA REASONING.Three coordinate measuring machine in the past is fixed in the workpiece top with 3 D laser scanning testing head, obtain complete surface of the work three-dimensional data by the locus that changes workpiece for measurement, this equipment requirements measurand can be convenient to move, and is not adapted at processing site and detects in real time.
Based on the problems referred to above, in order to satisfy online detection and the quality evaluation demand of making manufacture field, the present invention has designed a kind of flexible, dynamic, high accuracy three-dimensional laser scanning testing head.This gauge head system can be installed in the space orientation mechanism such as robot and move freely at three dimensions, along pose arbitrarily workpiece is carried out omnibearing scanning, does the security that space free moves in order to guarantee gauge head, and we have designed the anticollision function.Simultaneously,, provide self-adaptation laser intensity control function, avoided the noise that produces owing to workpiece material reason at different surface of the work materials.This invention has the huge market potentiality on the measurement equipment.
Summary of the invention
Purpose of the present invention just provide a kind of can the implementation space high-precision three-dimensional laser scanning testing head movably.
Principle of the present invention is, based on optical triangulation method measuring principle.The ray cast that semiconductor laser sends forms striation to the testee surface, and the CCD camera is observed because surface configuration changes the skew at the striation center that causes from another angle, through calculating the degree of depth and the short transverse coordinate data that can obtain object.
Technical solution of the present invention is, as Fig. 1, shown in Figure 2, native system is by semiconductor laser 1, laser intensity control circuit 2, ccd video camera 3, ccd video camera 4, collision prevention sensor 5, collision prevention sensor 6, image pick-up card 7 and computing machine 8 are formed, wherein semiconductor laser 1 links to each other with laser intensity control circuit 2, laser control circuit links to each other with computing machine 8 by data cable again, CCD camera 3, ccd video camera 4 links to each other with image pick-up card 7 by data cable, image pick-up card 7 links to each other collision prevention sensor 5 by the PCI groove with computing machine 8, collision prevention sensor 6 links to each other with computing machine 8 by communication cable.Workpiece for measurement 9 places the below of semiconductor laser 1.
The laser intensity control circuit is adjusted laser intensity by the mode of width modulation.
The collision prevention sensor is the PSD photoelectrical position sensor, is installed on the left and right sides of gauge head.
The self-adaptation of laser intensity is regulated by the width and the continuation degree of detection laser striped in the image of taking at CCD and is realized.
Principle of work is as follows:
Semiconductor laser is used to launch laser to the workpiece for measurement surface, ccd video camera and laser instrument are angled, photograph laser striation information within the specific limits, and be transferred to computing machine by image pick-up card, computing machine extracts striation information by corresponding image processing method, calculates actual body surface information by calibrated camera model again.
In data acquisition, single for fear of the monocular cam visual angle, be easy to generate the drawback of blind spot, native system adopts the binocular camera shooting head, when a side camera collection during, with the information of opposite side camera collection by way of compensation, thereby obtain complete surface of the work information less than information.
Because be subjected to the influence of measured workpiece Facing material, the different workpieces surface is different to the degree of absorption of laser, and in the image of catching, too bright laser stripe carries too much noise, effect characteristics extracts, and too dark laser stripe can not extract the surface information of workpiece again completely.By a large amount of experiments, we sum up a series of indexs that characterize striped continuation degree and confidence level thereof, and the PWM output signal by software control light intensity control circuit, finish the FEEDBACK CONTROL of noise spectra of semiconductor lasers intensity, thereby obtain more complete, believable laser stripe information, see Fig. 3
In addition, collided owing to misoperation for fear of the 3-D scanning gauge head, native system has been installed 2 PSD collision prevention sensors before gauge head, the PSD sensor is monitored the position of gauge head in real time, when gauge head moves to when excessively closely exceeding allowed band apart from workpiece for measurement, system has guaranteed the safety of gauge head with the emergent stop signal of triggered location mechanism; Simultaneously, the data that PSD records have directive significance for the path planning of gauge head, the position when gauge head scanning can be weighed according to these data by system.
The gauge head technical parameter:
The 100mm that fathoms measures length 50mm, measuring accuracy 0.05mm, scanning resolution 0.1mm, repetitive positioning accuracy 1 μ m-10 μ m.
For achieving the above object, solution of the present invention (flow process) comprising:
1) requires according to measurement range and the distance and the angle of two ccd video cameras of range of triangle principle design and linear laser source.
2) video camera being carried out inside and outside parameter demarcates.
3) Flame Image Process is extracted laser striation information, by calibrated Model Calculation actual coordinate, obtains the object surfaces data.
4) workpiece of unlike material is measured, utilized the intensity of the suitable adjustment lasing light emitter of light intensity controlling unit, the picture that line source is become on ccd video camera meets the requirements of width.
5), utilize software to judge the position of gauge head, to prevent collision by the data of collision prevention sensor measurement.
The beneficial effect that the present invention reached is: the present invention adopts the dual camera information matches to avoid scanning blind spot, obtains complete surface of the work information; Utilize the adjustment of laser intensity, finish data acquisition, avoided the limitation that in the past the workpiece material was required the unlike material surface of the work; Collision prevention function in the system can be guaranteed the security of gauge head when dynamic surface sweeping, makes gauge head can do the scanning of any paths flexibly in the space, finishes the overall data collection of workpiece.As a kind of novel at testing tool, this system will have powerful competitive power on huge domestic and international market.This equipment will promote the development of automated manufacturing.
Description of drawings
The present invention is further described below in conjunction with the drawings and specific embodiments.
Fig. 1 is a system construction drawing of the present invention.
Fig. 2 is a sensor distribution schematic diagram of the present invention.
Fig. 3 is the image comparison figure before and after laser intensity of the present invention is regulated.
Embodiment
Claims (4)
1. dynamic 3 D laser scanning testing head, it is characterized in that, by semiconductor laser (1), laser intensity control circuit (2), ccd video camera 1 (3), ccd video camera 2 (4), collision prevention sensor 1 (5), collision prevention sensor 2 (6), image pick-up card (7) and computing machine (8) are formed, wherein semiconductor laser (1) links to each other with laser intensity control circuit (2), laser control circuit links to each other with computing machine (8) by data cable again, CCD camera 1 (3), ccd video camera 2 (4) links to each other with image pick-up card (7) by data cable, image pick-up card (7) links to each other collision prevention sensor 1 (5) by the PCI groove with computing machine (8), collision prevention sensor 2 (6) links to each other with computing machine (8) by communication cable.
2. 3 D laser scanning testing head according to claim 1 is characterized in that: the laser intensity control circuit is adjusted laser intensity by the mode of width modulation.
3. 3 D laser scanning testing head according to claim 1 is characterized in that: the collision prevention sensor is the PSD photoelectrical position sensor, is installed on the left and right sides of gauge head.
4. 3 D laser scanning testing head according to claim 1 is characterized in that: the self-adaptation of laser intensity is regulated by the width and the continuation degree of detection laser striped in the image of taking at CCD and is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200610134194 CN1948896A (en) | 2006-11-04 | 2006-11-04 | Dynamic 3D laser scanning testing head |
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| CN 200610134194 CN1948896A (en) | 2006-11-04 | 2006-11-04 | Dynamic 3D laser scanning testing head |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305588A (en) * | 2011-07-18 | 2012-01-04 | 苏州天准精密技术有限公司 | Dual-laser combined image measurement system |
| CN102878924A (en) * | 2012-08-29 | 2013-01-16 | 苏州逸美德自动化科技有限公司 | Turntable type multi-station high-precision detection device based on multi-charge coupled device (CCD) and line laser |
| CN104385052A (en) * | 2014-10-23 | 2015-03-04 | 南京航空航天大学 | Skin self-adaptive processing method based on laser displacement sensor |
| CN104583715A (en) * | 2012-08-27 | 2015-04-29 | Inb视觉股份公司 | Method and device for detecting deviations of an object surface |
| CN106124172A (en) * | 2016-08-16 | 2016-11-16 | 台州市质量技术监督检测研究院 | Vehicle lamp light distribution performance device for fast detecting and method |
| CN106964907A (en) * | 2017-04-25 | 2017-07-21 | 重庆邮电大学 | A kind of method and apparatus of laser cutting |
| CN107193123A (en) * | 2017-05-25 | 2017-09-22 | 西安知象光电科技有限公司 | A kind of closed loop modulator approach of adaptive line-structured light |
| CN108132647A (en) * | 2017-11-29 | 2018-06-08 | 杭州亘元汽轮机叶片有限公司 | A kind of processing method of steam turbine arc shaped blade |
| CN108563084A (en) * | 2018-05-25 | 2018-09-21 | 深圳新亮智能技术有限公司 | Multi-structured light pattern three-dimensional sensing system |
| CN111947575A (en) * | 2020-08-12 | 2020-11-17 | 天津中德应用技术大学 | Multifunctional detection device and detection method based on laser triangulation |
-
2006
- 2006-11-04 CN CN 200610134194 patent/CN1948896A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102305588B (en) * | 2011-07-18 | 2015-07-22 | 苏州天准科技股份有限公司 | Dual-laser combined image measurement system |
| CN102305588A (en) * | 2011-07-18 | 2012-01-04 | 苏州天准精密技术有限公司 | Dual-laser combined image measurement system |
| US10101153B2 (en) | 2012-08-27 | 2018-10-16 | Inb Vision Ag | Method and device for detecting deviations of an object surface |
| CN104583715A (en) * | 2012-08-27 | 2015-04-29 | Inb视觉股份公司 | Method and device for detecting deviations of an object surface |
| CN102878924A (en) * | 2012-08-29 | 2013-01-16 | 苏州逸美德自动化科技有限公司 | Turntable type multi-station high-precision detection device based on multi-charge coupled device (CCD) and line laser |
| CN104385052A (en) * | 2014-10-23 | 2015-03-04 | 南京航空航天大学 | Skin self-adaptive processing method based on laser displacement sensor |
| CN104385052B (en) * | 2014-10-23 | 2016-07-13 | 南京航空航天大学 | Eyelid covering adaptive machining method based on laser displacement sensor |
| CN106124172A (en) * | 2016-08-16 | 2016-11-16 | 台州市质量技术监督检测研究院 | Vehicle lamp light distribution performance device for fast detecting and method |
| CN106964907A (en) * | 2017-04-25 | 2017-07-21 | 重庆邮电大学 | A kind of method and apparatus of laser cutting |
| CN107193123A (en) * | 2017-05-25 | 2017-09-22 | 西安知象光电科技有限公司 | A kind of closed loop modulator approach of adaptive line-structured light |
| CN108132647A (en) * | 2017-11-29 | 2018-06-08 | 杭州亘元汽轮机叶片有限公司 | A kind of processing method of steam turbine arc shaped blade |
| CN108563084A (en) * | 2018-05-25 | 2018-09-21 | 深圳新亮智能技术有限公司 | Multi-structured light pattern three-dimensional sensing system |
| CN111947575A (en) * | 2020-08-12 | 2020-11-17 | 天津中德应用技术大学 | Multifunctional detection device and detection method based on laser triangulation |
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