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CN-122015703-A - Laser sensor for rotary 3D profile measurement system

CN122015703ACN 122015703 ACN122015703 ACN 122015703ACN-122015703-A

Abstract

The invention discloses a laser sensor for a rotary 3D profile measuring system, and belongs to the technical field of 3D profile measuring sensors. Including the chamber seat, the inboard detection module that is fixed with of chamber seat, detection module includes laser emission module, contained angle execution module, light path folding module, imaging module and signal processing module, laser emission module includes laser semiconductor and focusing lens, contained angle execution module includes angle modulation unit, angle modulation unit's angle modulation end is fixed with adjustable angle speculum, adjustable angle speculum sets up on focusing lens's light-emitting path, signal processing module is connected with the linear array CMOS sensor electricity. The laser sensor for the rotary 3D contour measurement system provided by the invention can meet the requirements of the three-dimensional contour measurement system on measurement of different height ranges and high-efficiency detection of multiple welding seam characteristics under different measurement distances while guaranteeing that the diameter of a rotary scanning circle is adjustable along with the distance and the volume is compact.

Inventors

  • LIU SHUAI
  • WANG RUIDONG
  • LIU JINGGEN

Assignees

  • 山东水泊智能装备股份有限公司

Dates

Publication Date
20260512
Application Date
20260413

Claims (10)

  1. 1. A laser sensor for a rotary 3D profile measurement system is characterized by comprising a cavity seat, wherein a detection module is fixed on the inner side of the cavity seat, and the detection module comprises: the laser emission module comprises a laser semiconductor and a focusing lens, and the focusing lens is arranged on the light-emitting path of the laser semiconductor; the included angle executing module comprises an angle adjusting unit, an angle adjusting end of the angle adjusting unit is fixedly provided with an angle adjustable reflecting mirror, the angle adjustable reflecting mirror is arranged on the light emitting path of the focusing lens, and the included angle adjusting range of the axis of the angle adjustable reflecting mirror and the cavity seat is 5-20 degrees; The optical path folding module is arranged on the light emitting path of the angle-adjustable reflecting mirror and used for reflecting the laser beam to the object to be measured; The imaging module comprises an aspheric imaging lens and a linear array CMOS sensor, wherein the linear array CMOS sensor is arranged on the image surface of the aspheric imaging lens; and the signal processing module is electrically connected with the linear array CMOS sensor.
  2. 2. The laser sensor for a rotary 3D profile measuring system as set forth in claim 1, wherein the top of the cavity base is fixed to and coaxially disposed with the rotating end of the rotating platform, and the optical path folding module forms a circle with the locus of the point laser in space due to an angle formed between the adjustable angle mirror and the axis when the cavity base rotates around the axis, the diameter of the circle varying with the measuring distance.
  3. 3. The laser sensor for a rotary 3D profile measuring system according to claim 1, wherein the signal processing module is composed of an FPGA, the signal processing module receives an electrical signal of the linear array CMOS sensor, converts the analog signal into a digital signal through A/D conversion, and calculates displacement D, d= (x-x 0) xM x tan (θ_tri) of the object to be measured according to a triangulation formula, wherein x is a position of a light spot on the linear array CMOS, x0 is a reference position, M is an imaging magnification, and θ_tri is a triangulation angle.
  4. 4. The laser sensor for the rotary 3D profile measurement system of claim 1, wherein the angle adjusting unit comprises a backup plate fixed on the inner side of the cavity seat, an angle adjusting plate is attached to the front end of the backup plate, an angle adjusting mirror is fixed at the front end of the angle adjusting plate, a plurality of arc-shaped guide grooves are formed in the angle adjusting plate, limit bolts or guide posts are arranged on the inner side of the arc-shaped guide grooves, the limit bolts are connected with the backup plate in a screwed mode, the angle adjusting mirror is fixed through the limit bolts after the angle of the angle adjusting mirror is manually adjusted, the guide posts are fixed with the backup plate and are connected with an angle adjusting driver, and the angle adjusting driver is a worm gear manual adjusting mechanism.
  5. 5. The laser sensor for a rotary 3D profile measuring system as set forth in claim 4, wherein the angle adjusting driver comprises a rotating shaft fixed at the center of the angle adjusting plate, the rotating shaft is rotatably mounted with the backup plate through a bearing, the rotating shaft is in transmission connection with a driving motor on the backup plate through a transmission mechanism, and the transmission mechanism is a transmission mechanism formed by a synchronous wheel and a synchronous belt or a transmission mechanism formed by a gear transmission box.
  6. 6. The laser sensor for the rotary 3D contour measurement system of claim 1, wherein the optical path folding module comprises one or more fixed reflectors, the optical path folding module is of a transceiving optical path sharing structure, the laser emitting module emits light beams which are reflected by the angle-adjustable reflectors, enter the optical path folding module to complete optical folding, then are reflected to a tested object, and the received light beams reflected by the tested object return along an original folding optical path.
  7. 7. The laser sensor for the rotary 3D contour measurement system of claim 4, further comprising a coupling error compensation module, wherein the coupling error compensation module is internally provided with an angle, an optical path and an imaging coupling error model, the rotating end of the angle modulation unit is integrated with an angle sensor, the angle sensor and the angle modulation driver form closed loop control, the angle sensor synchronizes real-time angle data to the coupling error compensation module, the coupling error compensation module is connected with the signal processing module, the input quantity of the coupling error model comprises a real-time included angle, a measurement distance and an internal temperature of the angle-adjustable reflecting mirror, the output quantity is an optical path compensation value, a triangulation reference parameter correction value and a facula centroid offset compensation value, and the coupling error compensation module dynamically compensates a displacement calculation result according to the real-time input quantity to eliminate the coupling error caused by the change of the included angle, the change of a folded optical path and the temperature drift.
  8. 8. The laser sensor for the rotary 3D contour measurement system of claim 7, further comprising a receiving-transmitting common-path matching module, wherein the receiving-transmitting common-path matching module comprises a polarization beam splitting unit and an optical axis follow-up calibration unit, the polarization beam splitting unit comprises a polarization beam splitting prism and a 1/4 wave plate, the polarization beam splitting prism is arranged between the laser emitting module and the included angle executing module, the 1/4 wave plate is arranged between the polarization beam splitting prism and the included angle executing module, a group of beam constraint adaptation units are fixed at the head end and the tail end of the optical path folding module, and the beam constraint adaptation units are composed of diaphragms and beam constraint adaptation units.
  9. 9. The laser sensor for a rotational 3D profilometry system of claim 1, wherein the optical path folding module is a Z-type multi-stage folded optical path, an M-type multi-stage folded optical path, or a U-type folded optical path.
  10. 10. The laser sensor for a rotary 3D contour measurement system as set forth in claim 2, wherein said signal processing module is built-in with a rotary linkage scan control module, said rotary linkage scan control module is in hardware synchronization with an angle encoder of a rotary platform, said rotary linkage scan control module comprises a fixed angle rotary scan and a dynamic linkage variable diameter scan.

Description

Laser sensor for rotary 3D profile measurement system Technical Field The invention particularly relates to a laser sensor for a rotary 3D profile measurement system, and belongs to the technical field of 3D profile measurement sensors. Background The laser displacement sensor is non-contact measuring equipment and is widely applied to the fields of industrial detection, quality control and the like; the traditional laser displacement sensor generally adopts a fixed light path design, laser is focused through a lens after being emitted, directly irradiates on a measured object, and then images reflected light on a CMOS sensor through an imaging system; the 3D laser imaging system comprises a 3D laser displacement sensor, a transfer protector, a photoelectric sensor, a power supply and a computer, wherein the 3D laser imaging system is simple in structure and has temperature compensation and high-speed measurement functions, and a laser beam or a light spot at a fixed position is formed through focusing of a fixed lens after laser emission by the laser displacement sensor adopting a fixed light path, a scanning range is fixed by a light path structure and cannot be adjusted, a linear light path design is adopted, the volume is large, typical representatives are a Kihnshi LK series and an ohm ZX series, an area array CMOS3D profilometer is adopted, 3D profile measurement is carried out by adopting an area array CMOS sensor, the cost is high, the data processing is complex, the volume is large, the area array CMOS sensor is not suitable for compact application, typical representatives are Gocator series, in addition, the diameter of a circle formed by a traditional rotary scanning laser profilometer is fixed and does not change along with the measurement distance, when the measurement distance is changed, the diameter of the fixed circle cannot adapt to the measurement requirements of different height ranges, for example, the height characteristics of the diameter of the circle diameter cannot be measured at a small circle diameter, the measurement height is not required, the characteristic of the diameter cannot be measured, the diameter of the circle diameter cannot be measured at a small circle diameter, the measurement distance is required to be changed along with the distance, the distance of the existing distance measurement technology cannot be changed, the distance measurement technology is required to be applied to the distance, and the distance measurement device is suitable for the distance is long, and the distance measurement distance is not suitable for the distance is suitable for the distance to the distance, and the object is suitable for the distance measurement has long distance measurement characteristics, for example, typical laser displacement sensors are 80-120mm long and the volume limitation becomes a bottleneck when integration into compact equipment (e.g., robot tip, automated production line) is required. Disclosure of Invention In order to solve the problems, the invention provides a laser sensor for a rotary 3D contour measurement system, which can meet the requirements of a three-dimensional contour measurement system for measuring different height ranges and efficiently detecting multiple welding seam characteristics under different measurement distances while ensuring that the diameter of a rotary scanning circle is adjustable along with the distance, the volume is compact and the cost is lower. The invention discloses a laser sensor for a rotary 3D profile measurement system, which comprises a cavity seat, wherein a detection module is fixed on the inner side of the cavity seat, and the detection module comprises: The laser emission module comprises a laser semiconductor and a focusing lens, wherein the focusing lens is arranged on an emergent light path of the laser semiconductor, the laser semiconductor is used for emitting laser beams, the laser power is 5-20mW, the wavelength is 650nm or 780nm, the focusing lens is arranged on the emergent light path of the laser semiconductor and used for focusing the laser beams, the focal length is 8-15mm, and the diameter of a focusing light spot is 0.05-0.2mm; The angle adjusting device comprises an included angle executing module, wherein the included angle executing module comprises an angle adjusting unit, an angle adjusting reflecting mirror is fixed at the angle adjusting end of the angle adjusting unit, the angle adjusting reflecting mirror is arranged on the light emergent path of a focusing lens and used for reflecting focused laser beams to a measured object, the angle of the angle adjusting reflecting mirror can be adjusted through the angle adjusting unit and then fixed, the angle alpha between the angle adjusting mirror and the axial lead of a cavity seat is adjusted to be 5-20 degrees, the change of the diameter of a circle formed during rotary scanning along with the measuring distance can be controlled through adjusting