阅读说明：本技术 一种激光位置检测装置及设备 (Laser position detection device and equipment ) 是由 何志华 陈鹤令 潘传超 于 2021-01-19 设计创作，主要内容包括：本发明实施例公开了一种激光位置检测装置及设备。激光位置检测装置包括：成像模块、图像采集模块和处理模块；成像模块设置有坐标,坐标包括x轴坐标；成像模块用于根据激光发射模块发射出的线性激光,形成线性光斑；图像采集模块用于采集成像模块上的线性光斑,以形成线性光斑图像；处理模块用于将线性光斑图像进行处理,求取线性光斑图像的中心线,并根据中心线和y轴坐标确定线性激光的光斑位置。本发明实施例提供的激光位置检测装置,以实现位置检测精度较高,且结构简单,便于携带和安装的效果。(The embodiment of the invention discloses a laser position detection device and equipment. The laser position detection device includes: the system comprises an imaging module, an image acquisition module and a processing module; the imaging module is provided with coordinates, and the coordinates comprise x-axis coordinates; the imaging module is used for forming linear light spots according to the linear laser emitted by the laser emitting module; the image acquisition module is used for acquiring linear light spots on the imaging module to form linear light spot images; the processing module is used for processing the linear light spot image, solving the central line of the linear light spot image and determining the light spot position of the linear laser according to the central line and the y-axis coordinate. The laser position detection device provided by the embodiment of the invention has the advantages of higher position detection precision, simple structure and convenience in carrying and installation.)

1. A laser position detecting apparatus, comprising: the system comprises an imaging module, an image acquisition module and a processing module; the imaging module is provided with coordinates, and the coordinates comprise y-axis coordinates;

the imaging module is used for forming linear light spots according to linear laser emitted by the laser emitting module;

the image acquisition module is used for acquiring linear light spots on the imaging module to form linear light spot images;

the processing module is used for processing the linear light spot image, solving a central line of the linear light spot image, and determining the light spot position of the linear laser according to the central line and the y-axis coordinate.

2. The laser position detection device of claim 1, wherein the coordinates further include an x-axis coordinate perpendicular to a y-axis coordinate, and the processing module is further configured to determine a horizontal tilt angle of the centerline and the x-axis coordinate according to the centerline and the x-axis coordinate, and determine intensity data of the linear spot by performing statistical processing on pixel values of the linear spot on the imaging module.

3. The laser position detection device according to claim 2, wherein the processing module is configured to perform image enhancement on the linear spot image, perform binarization on the enhanced linear spot image, and extract a center line of the linear spot image by using a preset algorithm.

4. The laser position detection device of claim 1, further comprising a housing, wherein the imaging module, the image acquisition module, and the processing module are disposed in the housing.

5. The laser position detection device of claim 4, wherein the housing comprises an eyepiece imaging cylinder and a base; the eyepiece imaging cylinder is arranged on the base;

the eyepiece imaging cylinder comprises a first end and a second end; the second end is positioned on one side of the first end close to the base;

the image acquisition module is positioned at the second end;

the imaging module is located at the first end;

the processing module is located within the base.

6. The laser position detection device of claim 5, further comprising an attenuation sheet located at the first end and located on a side of the imaging module near the first end.

7. The laser position detection device of claim 5, further comprising a filter at the first end and on a side of the imaging module near the first end.

8. The laser position detection device of claim 1, wherein the imaging module comprises a projection film.

9. The laser position detection device of claim 1, wherein the image acquisition module comprises a driving module and a camera;

the driving module is used for providing a driving signal to the camera so that the camera collects the linear light spots on the imaging module according to the driving signal.

10. The laser position detection apparatus according to claim 1, wherein the processing module includes an image data processing unit, a communication unit, and a power supply circuit unit;

the image processing unit is used for processing the linear light spot image to determine the light spot position of the linear laser;

the communication unit is used for transmitting the light spot position to an external control module;

the power supply circuit unit is used for providing power supply input for the image data processing unit and the communication unit.

11. The laser position detection device according to claim 5, wherein the diameter of the eyepiece lens of the eyepiece imaging cylinder is D, wherein D is 11cm or less and 13cm or less.

12. An apparatus comprising the laser position detection device according to any one of claims 1 to 11.

13. The apparatus of claim 12, wherein the apparatus comprises a robot or robotic arm.

Technical Field

The embodiment of the invention relates to the technical field of laser, in particular to a laser position detection device and equipment.

Background

The laser measurement technology is the most used technology in the field of position measurement application, and is a distance or position measurement method realized by utilizing the characteristics of good monochromaticity, good coherence, good directivity and high brightness of laser.

In the existing position measurement technology, a monochromatic linear laser level is mostly used, laser is projected on the surface of an object to be measured, and then human eyes distinguish the position of the laser on the object, so that whether errors exist in the installation and predicted positions of the object or not is judged. Subjective measurement errors caused by human eyes often exist in the measurement method, and the accuracy is low. At present, a part of laser level sensors are invented, namely n photosensitive devices are used as light receiving sensors, and a data acquisition module acquires voltage output by laser after the laser strikes the photosensitive devices to detect the position of the laser, and because n devices similar to photoresistors are used, photosensitive signals of the sensor in unit area are few, the precision error is generally high and is generally more than 2mm, and the high-precision position measurement cannot be achieved.

Disclosure of Invention

The embodiment of the invention provides a laser position detection device and equipment, which can effectively solve the problem of low position measurement precision in the prior art.

In a first aspect, an embodiment of the present invention provides a laser position detection apparatus, where the laser position detection apparatus includes: the system comprises an imaging module, an image acquisition module and a processing module; the imaging module is provided with coordinates, and the coordinates comprise y-axis coordinates;

the imaging module is used for forming linear light spots according to linear laser emitted by the laser emitting module;

the image acquisition module is used for acquiring linear light spots on the imaging module to form linear light spot images;

the processing module is used for processing the linear light spot image, solving a central line of the linear light spot image, and determining the light spot position of the linear laser according to the central line and the y-axis coordinate.

Optionally, the coordinates further include an x-axis coordinate perpendicular to the y-axis coordinate, and the processing module is further configured to determine a horizontal tilt angle of the center line and the x-axis coordinate according to the center line and the x-axis coordinate, and perform statistical processing on pixel values of the linear light spot on the imaging module to determine light intensity data of the linear light spot.

Optionally, the processing module is configured to perform image enhancement on the linear light spot image, perform binarization on the enhanced linear light spot image, and extract a center line of the linear light spot image by using a preset algorithm.

Optionally, the imaging device further comprises a housing, and the imaging module, the image acquisition module and the processing module are arranged on the housing.

Optionally, the housing comprises an eyepiece imaging cylinder and a base; the eyepiece imaging cylinder is arranged on the base;

the eyepiece imaging cylinder comprises a first end and a second end; the second end is positioned on one side of the first end close to the base;

the image acquisition module is positioned at the second end;

the imaging module is located at the first end;

the processing module is located within the base.

Optionally, the imaging module further comprises an attenuation sheet located at the first end and located on a side of the imaging module close to the first end.

Optionally, the imaging module further comprises an optical filter, which is located at the first end and located at one side of the imaging module close to the first end.

Optionally, the imaging module comprises a projection membrane.

Optionally, the image acquisition module includes a driving module and a camera;

the driving module is used for providing a driving signal to the camera so that the camera collects the linear light spots on the imaging module according to the driving signal.

Optionally, the processing module includes an image data processing unit, a communication unit and a power circuit unit;

the image processing unit is used for processing the linear light spot image to determine the light spot position of the linear laser;

the communication unit is used for transmitting the light spot position to an external control module;

the power supply circuit unit is used for providing power supply input for the image data processing unit and the communication unit.

Optionally, the diameter of the eyepiece lens of the eyepiece imaging cylinder is D, wherein D is not less than 11cm and not more than 13 cm.

In a second aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes the laser position detection device described in the first aspect.

Optionally, the apparatus comprises a robot or robotic arm.

The laser position detection device provided by the embodiment of the invention comprises an imaging module and an image acquisition module, wherein the imaging module is provided with an x-axis coordinate and a y-axis coordinate; the linear laser emitted by the laser emitting module is projected to the imaging module, a linear light spot is formed on the imaging module, the image acquisition module acquires a linear light spot image on the imaging module, the processing module calculates a center line of the linear light spot image according to the linear light spot image and determines a light spot position of the linear laser according to the center line and a y-axis coordinate, namely the light spot position determined based on an image algorithm, compared with the prior art, the laser position detection device provided by the embodiment is high in anti-interference capability, can well filter common ambient light interference through the image algorithm, and is high in position detection precision; and the method for determining the spot position of the linear laser is simple. In addition, the laser position detection device that this embodiment provided simple structure, portable and installation.

Drawings

Fig. 1 is a schematic structural diagram of a laser position detection apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a projection film according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a position data calculation according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of another laser position detecting device according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a laser position detection apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Fig. 1 is a schematic structural diagram of a laser position detection apparatus according to an embodiment of the present invention, and as shown in fig. 1, the laser position detection apparatus according to the embodiment of the present invention includes: an imaging module 10, an image acquisition module 20 and a processing module 30; the imaging module 10 is provided with coordinates including y-axis coordinates; the imaging module 10 is used for forming a linear light spot according to the linear laser emitted by the laser emitting module; the image acquisition module 20 is used for acquiring linear light spots on the imaging module 10 to form linear light spot images; the processing module 30 is configured to process the linear light spot image, obtain a center line of the linear light spot image, and determine a light spot position of the linear laser according to the center line and the y-axis coordinate.

The imaging module 10 may comprise, for example, a projection film, among others. The advantage of providing a projection film is that a sharp laser projection can be achieved. Optionally, the projection film includes a gray projection film, a magic mirror projection film, a phantom projection film, or the like. It should be noted that the type of the projection film is not limited in this embodiment, and those skilled in the art can select or set the projection film according to the actual requirements of the laser position detection device. The determination of the spot position of the linear laser will be described below by taking the imaging module 10 as an example of a projection film.

For example, a laser emitting module, such as a laser swinger, is first fixed on a standard horizontal plane, and then the laser position detecting device provided by the embodiment of the invention is installed on the equipment or the object to be measured, wherein the installation position is optimal for receiving laser light. Linear laser emitted by the laser swinger is projected onto the projection film; fig. 2 is a schematic structural diagram of a projection film according to an embodiment of the present invention, and as shown in fig. 2, the projection film is provided with coordinates, where the coordinates include y-axis coordinates. The image acquisition module 20 acquires a linear spot on the projection film to form a linear spot image. The processing module 30 processes the linear light spot image to obtain a center line of the linear light spot image. Alternatively, for example, the image may be simply image-enhanced, including contrast enhancement and image sharpening, then binarized, and finally the centerline position of the laser may be extracted by using a line detection algorithm or other algorithms. And then determining the spot position of the linear laser according to the central line and the y-axis coordinate. Exemplarily, fig. 3 is a schematic diagram of calculating position data according to an embodiment of the present invention, as shown in fig. 3, which is determined by a value H of intersection of a center line and a y-axis coordinate, and assuming that a spot position is expressed by a unit P, the value of P may be expressed as: p ═ H, where the value of P may be positive or negative. The light spot position detection accuracy obtained based on the method is very high and can reach 0.003mm theoretically.

In addition, in consideration of the requirements of some application scenes on the accuracy of the laser position data, whether the wall tiles of the building scene are inclined or not and/or the light intensity data of the linear laser are required to be detected. The existing position detection method can not simultaneously carry out position detection, horizontal inclination angle detection and light intensity detection.

Based on this, optionally, the coordinates further include an x-axis coordinate perpendicular to the y-axis coordinate, and the processing module provided in this embodiment is further configured to determine a horizontal tilt angle between the center line and the x-axis coordinate according to the center line and the x-axis coordinate, and perform statistical processing on the pixel values of the linear light spot on the imaging module to determine the light intensity data of the linear light spot. That is, the processing module 30 provided in this embodiment may determine not only the spot position of the linear laser based on the linear spot image, but also the horizontal tilt angle and the light intensity data of the linear laser based on the linear spot image. That is, compared with the prior art, the position of the laser on the object is distinguished through human eyes, so that the installation and expected position of the object are judged; or n photosensitive devices are used as light receiving sensors, and the data acquisition module acquires the voltage output by the laser after the laser strikes the photosensitive devices to detect the laser position, the laser position detection device provided by the embodiment can acquire the linear light spot image on the imaging module 10 due to the arrangement of the image acquisition module 20, so that the horizontal inclination angle and the light intensity data of the linear laser can be determined based on the linear light spot image, and the precision of the horizontal inclination angle is very high and can reach 0.03 degree theoretically; and the detection sensitivity of the light intensity is high.

For example, with continued reference to fig. 3, the coordinates further include an x-axis coordinate perpendicular to the y-axis coordinate, a length w of the laser projected on the x-axis and a length h of the center line projected on the y-axis can be obtained from the center line, and the inclination angle θ is obtained by a cosine distance formula. If the hypotenuse of the triangle consisting of w and h sides is c, the calculation formula for c can be expressed as:the calculation formula of the inclination angle theta can then be calculated by the cosine formula:thus, the horizontal inclination angle data of the laser is obtained through conversion.

The light intensity data of the embodiment of the present invention can realize the light intensity data conversion of the laser by algorithms such as filtering, mean value, etc., firstly, the light intensity pixel values are sequenced, then the first 20% of the pixels are removed, then the middle 80% of the pixel values are averaged, so the average pixel value can be obtained, that is, the light intensity I value, assuming that there are k sequenced pixel values in the acquired image, each pixel corresponds to the pixel value S (I), the light intensity is I, so the calculation formula of the light intensity can be expressed as:

that is to say, the embodiment of the invention utilizes linear laser to project on the projection film, detects the position and the inclination angle of the measured object according to different positions of the projection film on the image, and utilizes the pixel value of the projection imaging to solve the light intensity data of the current light, and the method is simple and easy to implement.

In summary, the laser position detection apparatus provided in the embodiments of the present invention includes an imaging module and an image acquisition module, wherein the imaging module is provided with an x-axis coordinate and a y-axis coordinate; the linear laser emitted by the laser emitting module is projected to the imaging module, a linear light spot is formed on the imaging module, the image acquisition module acquires a linear light spot image on the imaging module, the processing module calculates a center line of the linear light spot image according to the linear light spot image and determines a light spot position of the linear laser according to the center line and a y-axis coordinate, namely the light spot position determined based on an image algorithm, compared with the prior art, the laser position detection device provided by the embodiment is high in anti-interference capability, can well filter common ambient light interference through the image algorithm, and is high in position detection precision; and the method for determining the spot position of the linear laser is simple. In addition, the laser position detection device that this embodiment provided simple structure, portable and installation. In addition, the laser position detection device provided by this embodiment not only can determine the spot position of the linear laser based on the linear spot image, but also can determine the horizontal inclination angle and the light intensity data of the linear laser based on the linear spot image, and is suitable for multi-scene application.

Fig. 4 is a schematic structural diagram of another laser position detection device provided in an embodiment of the present invention, fig. 5 is a schematic perspective structural diagram of a laser position detection device provided in an embodiment of the present invention, and as shown in fig. 4 and fig. 5, the laser position detection device provided in an embodiment of the present invention further includes a housing 40, and the imaging module 10, the image acquisition module 20, and the processing module 30 are disposed in the housing. The imaging module 10, the image acquisition module 20 and the processing module 30 are fixed and protected by a housing 40.

Optionally, with continued reference to fig. 4, the housing 40 includes an eyepiece imaging cylinder 41 and a base 42; the eyepiece imaging cylinder 41 is arranged on the pedestal 42; the eyepiece imaging cylinder 41 includes a first end and a second end; the second end is located on the side of the first end near the base 42; image capture module 20 is located at a second end; the imaging module 10 is located at a first end; the process module 30 is located within the pedestal 42. Optionally, the diameter D of the eyepiece lens of the eyepiece imaging cylinder 41 is satisfied, and D is greater than or equal to 11cm and less than or equal to 13 cm. Illustratively, the diameter of the eyepiece lens of the eyepiece imaging cylinder 41 provided by the embodiment of the present invention is 12cm, that is, the measurement range is a range of plus or minus 6 cm. And the measured inclination angle range is plus or minus 90 degrees. That is to say, the measuring range of the embodiment of the invention is wide, which can be enough to meet the requirement in the general building flatness measuring application environment.

Based on the above embodiments, optionally, with continuing reference to fig. 4 and 5, the laser position detecting apparatus provided in the embodiment of the present invention further includes an attenuation sheet 50, where the attenuation sheet 50 is located at the first end of the eyepiece imaging cylinder 41, and is located on a side of the imaging module 10 close to the first end, for example, located at the outermost portion of the other side of the eyepiece imaging cylinder 41 opposite to the base 42. In the technical scheme, the attenuation sheet 50 is arranged at the outermost part of the other surface of the eyepiece imaging cylinder 41 relative to the base 42, and before the linear laser is projected to the imaging module 20, the attenuation sheet 50 attenuates the laser light source, so that the problem caused by too strong exposure in an outdoor environment is solved.

On the basis of the above embodiments, optionally, with continuing reference to fig. 4 and fig. 5, the laser position detection apparatus provided in the embodiment of the present invention further includes an optical filter 60 located at the first end of the eyepiece imaging cylinder 41 and located on a side of the imaging module 10 close to the first end. Optionally, when the laser position detection apparatus further includes the attenuation sheet 50, the optical filter 60 is located between the attenuation sheet 50 and the imaging module 20. The optical filter 60 provided in this embodiment is mainly used to filter interference of other light rays in the laser light source, so that the laser position detection device is less interfered by the environment, and the position detection precision is further improved.

On the basis of the above embodiments, optionally, with reference to fig. 4, the image acquisition module 20 includes a driving module 21 and a camera 22; the driving module 21 is configured to provide a driving signal to the camera 22, so that the camera 22 collects a linear light spot on the imaging module 10 according to the driving signal.

Specifically, the camera 22 collects a linear light spot on the imaging module 10 to form a linear light spot image, the driving module 21 provides stable voltage and a camera driving signal for the camera 22, and the linear light spot image collected by the camera 22 is transmitted to the processing module after passing through the driving module 21.

On the basis of the above embodiments, optionally, with continuing reference to fig. 6, the processing module 30 includes an image data processing unit 31, a communication unit 32, and a power circuit unit 33; the image processing unit 31 is configured to process the linear light spot image to determine a light spot position of the linear laser, and the image processing unit 31 is further configured to process the linear light spot image to determine a horizontal inclination angle and light intensity data of the linear laser; the communication unit 32 is configured to transmit the spot position, the horizontal tilt angle, and the light intensity data to an external control module, where the external control module may include, for example, an upper computer or a robot device; the power supply circuit unit 33 is used to provide a stable power supply input to the image data processing unit 31 and the communication unit 32 and the entire system.

The processing module 30 may be, for example, a data processing unit 31, a communication unit 32 and a power circuit unit 33, which are composed of an FPGA. The communication unit 32 may be, for example, an RS485 module. The RS485 module transmits the spot position, horizontal inclination angle and light intensity data processed by the image processing unit 31 to an upper computer or robot equipment, for example, via a Modbus protocol, wherein the RS485 module converts the RS232 data of the image data processing unit 31 into 485 data for output.

Optionally, the input voltage of the invention is, for example, 12V, a Modbus master-slave protocol used by a 485 communication protocol, and data reporting is divided into two data output modes, namely active data output and instruction reading.

The laser position detection device provided by each embodiment can be applied to buildings, for example, the laser position detection device can be used for detecting the leveling degree of floor tiles, detecting the inclination angle of bathroom floor tiles, detecting the inclination angle of a wall body of a building and detecting other leveling of other building scenes, and is convenient to operate, high in detection precision and small in environmental interference.

The laser position detection device provided by each of the above embodiments may also be installed on a robot or a production line for automation to plan the movement position of the machine, and the like. It may also be mounted on a robotic arm to plan the movement of the robotic arm or to assist in positioning the robotic arm.

Based on the same inventive concept, an apparatus is further provided in the embodiments of the present invention, and fig. 6 is a schematic structural diagram of an apparatus provided in the embodiments of the present invention. As shown in fig. 6, the apparatus 100 includes the laser position detection device 101 in the above embodiment, so that the apparatus 100 provided in the embodiment of the present invention also has the beneficial effects described in the above embodiment, and details are not repeated here. Illustratively, the apparatus 100 may comprise a robot or robotic arm.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.