CN1511676A - Laser Structured Light Vision Sensing Device - Google Patents

Abstract

The laser structure light vision sensor includes two video cameras to acquire image; and laser to produce laser structure light plane in the angle of 30-60 deg to the plane comprising the optical axes of these two video cameras. The two video cameras have optical filer added and the difference in position and angle makes no mirror reflection simultaneously produced by these two video cameras, avoiding subsequent failed image processing. At all times, the present invention provides two frames of visual image synchronously acquired in different visual angles. By utilizing these two images and the parameters of the laser, three sets of 3D coordinate information of the identical structural light characteristic point relatively to the senor unit may be obtained via subsequent processing.

Description

Laser Structured Light Vision Sensing Device

technical field

The invention relates to a visual measurement sensing device in the field of robots, in particular to a laser structured light visual sensing device.

Background technique

The laser structured light vision sensing device uses a laser beam to pass through a cylindrical mirror to form a laser plane, which is projected onto the workpiece to generate laser stripes, and a camera is used to collect the laser stripes to obtain a visual image with distinctive features. The current sensing device adopts a camera for image acquisition (for its typical structure, see "Wu Lin, Chen Shanben, Intelligent Welding Technology, pp. 209-210, Beijing: National Defense Industry Press, 2000."). The disadvantage of this sensor device is that when the structured light is irradiated on the surface of the aluminum plate or other metal plate that has been removed by steel wire brush or ground, it will produce strong reflection, which will greatly reduce the quality of the collected image , which tends to cause subsequent processing to fail.

Contents of the invention

The object of the present invention is to provide a laser structured light visual sensing device that can overcome the above-mentioned shortcomings and improve usability.

In order to achieve the above purpose, the laser structured light visual sensing device includes:

camera for image acquisition;

Lasers that generate laser structured light planes,

There are two cameras, and the plane formed by the laser structure plane generated by the laser and the optical axes of the two cameras is at an angle of 30°-60°.

The present invention adopts two CCD cameras equipped with filter lenses to collect images, and the difference in position and angle can prevent the mirror reflections of the two CCD cameras at the same time, thereby avoiding the problem of subsequent image processing failure. The present invention provides two synchronously collected visual images under different viewing angles at any time. Using the laser parameters and these two images, three sets of three-dimensional coordinate information of the same structured light feature point relative to the sensing device can be obtained after subsequent processing.

Description of drawings

1 is a schematic diagram of a laser structured light vision sensing device;

Figure 2 is the collected visual image of the V-groove workpiece;

Figure 3 is the collected visual image of a single side slope workpiece.

Detailed ways

As shown in Figure 1, the camera 1 is installed on the bracket 4 after adding a filter lens 3, and its optical axis centerline 5 is parallel to the bottom surface of the bracket 4; the camera 7 is installed on the bracket 6 after adding a filter lens 8, and its light The shaft centerline 9 is parallel to the bottom surface of the bracket 6 . The bottom surfaces of the brackets 4 and 6 are installed on the bracket 2, and the direction can be adjusted. The angle between the centerlines of the optical axes of the cameras 1 and 7 can be adjusted as required. The laser 11 is installed on the support 13 with the plano-convex cylindrical mirror 12 , and the laser light emitted by the laser is parallel to the bottom surface of the support 13 . Support 13 is installed on support 10, and support 10 is installed on support 2, is in the middle of support 4 and 6. The plane formed by the optical axis centerlines 5 and 9 forms an angle of 30° to 60° with the laser surface 14, which is 45° in this embodiment. At the same time, the line connecting the intersection of any plane and the optical axis centerlines 5 and 9 is not parallel to the straight line formed by the intersection of the plane and the laser surface 14 . Laser surface 14 irradiates workpiece 16 to form laser stripes 15 . The cameras 1 and 7 collect the stripes 15 synchronously at any time, so as to provide two visual images under different viewing angles which are collected synchronously at any time.

In this embodiment, both cameras use WATEC505 black-and-white industrial cameras, the laser uses semiconductor lasers, the main transmitted light wavelength of the filter lens is 670nm, and the plano-convex cylindrical mirror uses GCL-11. In the experiment, the image acquisition card adopts MC-30, and the computer adopts industrial control computer ADVANTECH-610. Experiments were carried out on typical V-groove and single-side slope workpieces. Figure 2 shows the structured light vision images of V-groove workpieces collected by cameras 1 and 7 at the same time, and Figure 3 shows the images collected by cameras 1 and 7 at the same time. A structured light vision image of a single slope artifact. It can be seen that the present invention can obtain high-quality laser structured light visual images.

Claims (9)

1. A laser structured light vision sensing device, comprising: camera for image acquisition; Lasers that generate laser structured light planes, It is characterized in that there are two cameras, and the plane formed by the laser structure plane generated by the laser and the optical axes of the two cameras is at an angle of 30°-60°. 2. The device according to claim 1, characterized in that the line connecting the intersection point of any plane with the centerline of the optical axis is not parallel to the straight line formed by the intersection of the plane and the laser surface. 3. The device according to claim 1, characterized in that the angle between the centerlines of the optical axes of the two cameras can be adjusted. 4. The device according to claim 1, wherein the centerline of the optical axis of the camera is parallel to the bottom surface of the bracket on which the camera is installed. 5. The device according to claim 1, wherein the laser light emitted by the laser is parallel to the bottom surface of the bracket on which the laser is installed. 6. The device according to claim 1, wherein the laser is a semiconductor laser, and the wavelength of the main transmitted light wave of the filter lens is 670nm. 7. The device according to claim 1, characterized in that the plane formed by the laser structure plane generated by the laser and the optical axes of the two cameras is at an angle of 45°. 8. The device according to claim 1, wherein a filter lens is added to the camera lens. 9. The apparatus of claim 1, wherein said laser further comprises a plano-convex cylindrical mirror.

Images