CN111397535A - Dynamic calibration method based on linear scanning laser and conveyor belt operating platform device - Google Patents
Dynamic calibration method based on linear scanning laser and conveyor belt operating platform device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a dynamic calibration method based on a linear scanning laser and a conveyor belt operating platform device, in particular to the technical field of dynamic calibration, and the dynamic calibration method comprises a linear scanning mechanism; s1, placing; s2, establishing a rectangular array block; s3, starting a conveyor belt; s4, scanning; s5, imaging; according to the invention, through the design of the structures such as the line scanning mechanism, the article can be rapidly scanned, meanwhile, the width of the article can be detected through the laser range finder, and then the distance between the two three-dimensional laser scanners is finely adjusted through the width of the article, so that the central point of the rectangular array block formed by the three-dimensional laser scanners is positioned at the center of the article, and further, the image scanned and imaged by the three-dimensional laser scanners is clearer, the condition that the image is too large or unclear after scanning is avoided, and the accuracy of the imaged image is ensured.
Description
Technical Field
The invention relates to the technical field of dynamic calibration, in particular to a dynamic calibration method based on a linear scanning laser and a conveyor belt operating platform device.
Background
The three-dimensional laser scanner is used as a main component of a three-dimensional laser scanning system, comprises a laser emitter, a receiver, a time counter, a motor-controlled rotatable filter, a control circuit board, a microcomputer, a CCD (charge coupled device) machine, software and the like, is a technical revolution in the field of surveying and mapping after the GPS (global positioning system) technology, breaks through the traditional single-point measurement method, has the unique advantages of high efficiency and high precision, and can provide three-dimensional point cloud data of the surface of a scanned object by the three-dimensional laser scanning technology, so that the three-dimensional laser scanner can be used for obtaining a digital terrain model with high.
The prior art has the following defects: each frame data of the line scanning laser is a single group of point cloud, information in a space motion direction is lacked, and the existing dynamic calibration technology cannot be adjusted according to scanned objects when in use, so that after scanning and imaging, the picture can be unclear or overlarge, and the accuracy of the imaged picture can be influenced.
Therefore, it is necessary to develop a dynamic calibration method based on a line scanning laser and a conveyor belt operating platform device.
Disclosure of Invention
Therefore, the embodiment of the invention provides a dynamic calibration method based on a line scanning laser and a conveyor belt operating platform device, which can rapidly scan an article through the design of structures such as a line scanning mechanism, can detect the width of the article through a laser range finder, and finely adjust the distance between two three-dimensional laser scanners through the width of the article, so that the center point of a rectangular array block formed by the three-dimensional laser scanners is positioned at the center of the article, and further, the image scanned and imaged by the three-dimensional laser scanners is clearer, the situation that the image is too big or not clear after scanning is avoided, the accuracy of the imaged image is ensured, and the problem that the existing dynamic calibration technology cannot be adjusted according to the scanned article when in use, so that the image is unclear or too big after scanning and imaging is solved, and further the accuracy of the imaged picture is affected.
In order to achieve the purpose, the embodiment of the invention provides the following technical scheme that the dynamic calibration method based on the linear scanning laser and conveyor belt operating platform device comprises a linear scanning mechanism, wherein the linear scanning mechanism is arranged at the bottom of a conveyor belt, the linear scanning mechanism comprises a supporting table, the supporting table is arranged at the bottom of the conveyor belt, a motor is arranged in the supporting table, a threaded rod is fixedly connected with the motor through an output shaft, two threaded blocks are arranged outside the threaded rod, the two threaded blocks are both in threaded connection with the threaded rod, the thread directions of the two threaded blocks are opposite, a sliding groove is formed in the top of the supporting table, the two threaded blocks extend into the sliding groove, a moving plate is fixedly arranged at the top of each threaded block, the two moving plates are respectively arranged at two sides of the conveyor belt, transverse plates are fixedly arranged at the tops of the two moving plates, a three-dimensional laser scanner is fixedly arranged at the tops of the two transverse plates, a laser range finder is fixedly arranged at the tops of the two transverse plates, a position sensor is fixedly arranged at the top of an inner cavity of the supporting table, a position sensor is arranged at the rear side of each threaded block, a box body is fixedly arranged with a programmable laser L C, a position converter is connected with a programmable converter, a position converter A/D, and an input end of the programmable converter is electrically connected with a programmable converter, and an input end of;
the dynamic calibration comprises the following specific steps:
s1, placing: placing the article to be line-scanned on a conveyor belt;
s2, establishing a rectangular array block: starting a motor, wherein the motor works to drive a threaded rod to rotate, the threaded rod rotates to drive two threaded blocks to move towards the middle, the threaded blocks move to drive two moving plates to move towards the middle, the two moving plates move towards the middle to drive two transverse plates and three-dimensional laser scanners to move towards the middle, a rectangular array block can be formed between the two three-dimensional laser scanners, the two three-dimensional laser scanners form light spots on an object to scan along the X direction, the distance between the two three-dimensional laser scanners is 10-20 meters, and the area of the rectangular array block is 20-40 square meters;
s3, starting a conveyor belt: the conveyor belt is started to drive the article to move in the Y direction;
s4, scanning: after the conveyor belt is started to drive the articles to make Y-directional displacement, the articles pass through the rectangular array block;
s5, imaging: a three-dimensional laser scanner can scan and image the surface of an article.
Preferably, in the step S, a center line is drawn in the middle of the conveyor belt, and when the article is placed, the center of the article is located on the center line of the conveyor belt.
Preferably, the box is internally provided with a supporting block, the supporting block is arranged at the bottom of the motor, and the top of the supporting block is fixedly connected with the bottom of the motor.
Preferably, one end of the threaded rod is connected with one side wall of the inner cavity of the support platform through a bearing.
Preferably, in the step S, two laser range finders detect the width of the article before the article passes through the rectangular array block.
Preferably, in the step S, after the laser range finder detects the width of the article, the width information of the article may be transmitted to the position sensor, the position sensor transmits a signal to the programmable P L C, and the programmable P L C controls the motor to perform fine adjustment on the distance between the two three-dimensional laser scanners.
Preferably, in the step S, after the article passes through the rectangular array block, the three-dimensional laser scanner scans the surface of the article and records the data.
The embodiment of the invention has the following advantages:
according to the invention, through the design of the structures such as the line scanning mechanism, the article can be rapidly scanned, meanwhile, the width of the article can be detected through the laser range finder, and then the distance between the two three-dimensional laser scanners is finely adjusted through the width of the article, so that the central point of the rectangular array block formed by the three-dimensional laser scanners is positioned at the center of the article, and further, the image scanned and imaged by the three-dimensional laser scanners is clearer, the condition that the image is too large or unclear after scanning is avoided, and the accuracy of the imaged image is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic view of a wire sweep mechanism provided by the present invention;
FIG. 2 is a schematic diagram of a control system according to the present invention;
in the figure, a driving belt 1, a supporting table 2, a threaded rod 3, a motor 4, a threaded block 5, a sliding chute 6, a moving plate 7, a transverse plate 8, a three-dimensional laser scanner 9, a laser range finder 10, a position sensor 11, a box body 12 and a programmable P L C13 are arranged.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-2 of the specification, the dynamic calibration method based on the linear scanning laser and conveyor operating table device of the embodiment includes a linear scanning mechanism, the linear scanning mechanism is disposed at the bottom of a conveyor belt 1, the linear scanning mechanism includes a support table 2, the support table 2 is disposed at the bottom of the conveyor belt 1, a motor 4 is disposed inside the support table 2, the motor 4 is fixedly connected with a threaded rod 3 through an output shaft, one end of the threaded rod 3 is connected with a side wall of an inner cavity of the support table 2 through a bearing, two threaded blocks 5 are disposed outside the threaded rod 3, both the threaded blocks 5 are connected with the threaded rod 3 through threads, the thread directions of the two threaded blocks 5 are opposite, a chute 6 is disposed at the top of the support table 2, both the threaded blocks 5 extend into the chute 6, a movable plate 7 is fixedly disposed at the top of the threaded block 5, two movable plates 7 are respectively disposed at two sides of the conveyor belt, a transverse plate 8 is fixedly disposed at the top of the two movable plates 7, a three-dimensional laser scanner 9 is fixedly disposed at the top of the two transverse plates 8, a three-dimensional laser distance measuring instrument 10 is fixedly disposed at the top of the transverse plate 10, a position converter is disposed at the rear side of the support block 2, a sensor 12 is electrically connected with a sensor 12, a sensor 12 is disposed at the inner cavity of the support block a sensor 12, a sensor 12 is electrically connected with a sensor at the support block P12, a sensor at the support block P4, a sensor 12 and a sensor at the support block 4, a transducer 12 is electrically connected with a transducer at the bottom of the support block 12, a transducer at the support block 4, a transducer 12 is electrically connected with a transducer;
the dynamic calibration comprises the following specific steps:
s1, placing: placing the article to be subjected to line scanning on a conveyor belt, describing a central line in the middle of the conveyor belt, and enabling the center of the article to be positioned on the central line of the conveyor belt when the article is placed;
s2, establishing a rectangular array block: starting a motor 4, driving a threaded rod 3 to rotate by the operation of the motor 4, driving two threaded blocks 5 to move towards the middle by the rotation of the threaded rod 3, driving two moving plates 7 to move towards the middle by the movement of the threaded blocks 5, driving two transverse plates 8 and three-dimensional laser scanners 9 to move towards the middle by the movement of the two moving plates 7 towards the middle, forming a rectangular array block between the two three-dimensional laser scanners 9, forming light spots on an object to be scanned along the X direction by the two three-dimensional laser scanners 9, wherein the distance between the two three-dimensional laser scanners 9 is 10 meters, and the area of the rectangular array block is 20 square meters;
s3, starting a conveyor belt: the conveyor belt is started to drive the article to move in the Y direction;
s4, scanning, namely after the conveyor belt is started to drive the article to move in the Y direction, the article passes through a rectangular array block, before the article passes through the rectangular array block, two laser range finders 10 detect the width of the article, after the laser range finders 10 detect the width of the article, the width information of the article can be transmitted to a position sensor 11, the position sensor 11 transmits a signal to a programmable P L C13, the programmable P L C13 controls a motor 4 to finely adjust the distance between two three-dimensional laser scanners 9, and the position sensor is an Active Sensors position sensor which can sense the position of the measured article and convert the measured article into a sensor capable of outputting signals;
s5, imaging: the three-dimensional laser scanner 9 can scan and image the surface of the article, and after the article passes through the rectangular array block, the three-dimensional laser scanner 9 scans the surface of the article and records the data;
example 2:
referring to fig. 1-2 of the specification, the dynamic calibration method based on the linear scanning laser and conveyor operating table device of the embodiment includes a linear scanning mechanism, the linear scanning mechanism is disposed at the bottom of a conveyor belt 1, the linear scanning mechanism includes a support table 2, the support table 2 is disposed at the bottom of the conveyor belt 1, a motor 4 is disposed inside the support table 2, the motor 4 is fixedly connected with a threaded rod 3 through an output shaft, one end of the threaded rod 3 is connected with a side wall of an inner cavity of the support table 2 through a bearing, two threaded blocks 5 are disposed outside the threaded rod 3, both the threaded blocks 5 are connected with the threaded rod 3 through threads, the thread directions of the two threaded blocks 5 are opposite, a chute 6 is disposed at the top of the support table 2, both the threaded blocks 5 extend into the chute 6, a movable plate 7 is fixedly disposed at the top of the threaded block 5, two movable plates 7 are respectively disposed at two sides of the conveyor belt, a transverse plate 8 is fixedly disposed at the top of the two movable plates 7, a three-dimensional laser scanner 9 is fixedly disposed at the top of the two transverse plates 8, a three-dimensional laser distance measuring instrument 10 is fixedly disposed at the top of the transverse plate 10, a position converter is disposed at the rear side of the support block 2, a sensor 12 is electrically connected with a sensor 12, a sensor 12 is disposed at the inner cavity of the support block a sensor 12, a sensor 12 is electrically connected with a sensor at the support block P12, a sensor at the support block P4, a sensor 12 and a sensor at the support block 4, a transducer 12 is electrically connected with a transducer at the bottom of the support block 12, a transducer at the support block 4, a transducer 12 is electrically connected with a transducer;
the dynamic calibration comprises the following specific steps:
s1, placing: placing the article to be subjected to line scanning on a conveyor belt, describing a central line in the middle of the conveyor belt, and enabling the center of the article to be positioned on the central line of the conveyor belt when the article is placed;
s2, establishing a rectangular array block: starting a motor 4, driving a threaded rod 3 to rotate by the operation of the motor 4, driving two threaded blocks 5 to move towards the middle by the rotation of the threaded rod 3, driving two moving plates 7 to move towards the middle by the movement of the threaded blocks 5, driving two transverse plates 8 and three-dimensional laser scanners 9 to move towards the middle by the movement of the two moving plates 7 towards the middle, forming a rectangular array block between the two three-dimensional laser scanners 9, forming light spots on an object to be scanned along the X direction by the two three-dimensional laser scanners 9, wherein the distance between the two three-dimensional laser scanners 9 is 15 meters, and the area of the rectangular array block is 30 square meters;
s3, starting a conveyor belt: the conveyor belt is started to drive the article to move in the Y direction;
s4, scanning, namely after the conveyor belt is started to drive the article to move in the Y direction, the article passes through a rectangular array block, before the article passes through the rectangular array block, two laser range finders 10 detect the width of the article, after the laser range finders 10 detect the width of the article, the width information of the article can be transmitted to a position sensor 11, the position sensor 11 transmits a signal to a programmable P L C13, the programmable P L C13 controls a motor 4 to finely adjust the distance between two three-dimensional laser scanners 9, and the position sensor is an Active Sensors position sensor which can sense the position of the measured article and convert the measured article into a sensor capable of outputting signals;
s5, imaging: the three-dimensional laser scanner 9 can scan and image the surface of the article, and after the article passes through the rectangular array block, the three-dimensional laser scanner 9 scans the surface of the article and records the data;
example 3:
referring to fig. 1-2 of the specification, the dynamic calibration method based on the linear scanning laser and conveyor operating table device of the embodiment includes a linear scanning mechanism, the linear scanning mechanism is disposed at the bottom of a conveyor belt 1, the linear scanning mechanism includes a support table 2, the support table 2 is disposed at the bottom of the conveyor belt 1, a motor 4 is disposed inside the support table 2, the motor 4 is fixedly connected with a threaded rod 3 through an output shaft, one end of the threaded rod 3 is connected with a side wall of an inner cavity of the support table 2 through a bearing, two threaded blocks 5 are disposed outside the threaded rod 3, both the threaded blocks 5 are connected with the threaded rod 3 through threads, the thread directions of the two threaded blocks 5 are opposite, a chute 6 is disposed at the top of the support table 2, both the threaded blocks 5 extend into the chute 6, a movable plate 7 is fixedly disposed at the top of the threaded block 5, two movable plates 7 are respectively disposed at two sides of the conveyor belt, a transverse plate 8 is fixedly disposed at the top of the two movable plates 7, a three-dimensional laser scanner 9 is fixedly disposed at the top of the two transverse plates 8, a three-dimensional laser distance measuring instrument 10 is fixedly disposed at the top of the transverse plate 10, a position converter is disposed at the rear side of the support block 2, a sensor 12 is electrically connected with a sensor 12, a sensor 12 is disposed at the inner cavity of the support block a sensor 12, a sensor 12 is electrically connected with a sensor at the support block P12, a sensor at the support block P4, a sensor 12 and a sensor at the support block 4, a transducer 12 is electrically connected with a transducer at the bottom of the support block 12, a transducer at the support block 4, a transducer 12 is electrically connected with a transducer;
the dynamic calibration comprises the following specific steps:
s1, placing: placing the article to be subjected to line scanning on a conveyor belt, describing a central line in the middle of the conveyor belt, and enabling the center of the article to be positioned on the central line of the conveyor belt when the article is placed;
s2, establishing a rectangular array block: starting a motor 4, driving a threaded rod 3 to rotate by the operation of the motor 4, driving two threaded blocks 5 to move towards the middle by the rotation of the threaded rod 3, driving two moving plates 7 to move towards the middle by the movement of the threaded blocks 5, driving two transverse plates 8 and three-dimensional laser scanners 9 to move towards the middle by the movement of the two moving plates 7 towards the middle, forming a rectangular array block between the two three-dimensional laser scanners 9, forming light spots on an object to be scanned along the X direction by the two three-dimensional laser scanners 9, wherein the distance between the two three-dimensional laser scanners 9 is 20 meters, and the area of the rectangular array block is 40 square meters;
s3, starting a conveyor belt: the conveyor belt is started to drive the article to move in the Y direction;
s4, scanning, namely after the conveyor belt is started to drive the article to move in the Y direction, the article passes through a rectangular array block, before the article passes through the rectangular array block, two laser range finders 10 detect the width of the article, after the laser range finders 10 detect the width of the article, the width information of the article can be transmitted to a position sensor 11, the position sensor 11 transmits a signal to a programmable P L C13, the programmable P L C13 controls a motor 4 to finely adjust the distance between two three-dimensional laser scanners 9, and the position sensor is an Active Sensors position sensor which can sense the position of the measured article and convert the measured article into a sensor capable of outputting signals;
s5, imaging: the three-dimensional laser scanner 9 can scan and image the surface of the article, and after the article passes through the rectangular array block, the three-dimensional laser scanner 9 scans the surface of the article and records the data.
Example 4:
taking the methods of the above embodiments 1 to 3, respectively, scanning three different articles with different volumes, dividing each 10 articles with the same volume into a group, and counting the definition of the image after imaging to obtain the following data:
known by last table, the method is suitable in embodiment 3, after measuring the width of article through laser range finder, and embodiment 2 only needs the motor to finely tune the distance between two three-dimensional laser scanners, and the picture size that obtains after the formation of image moreover is moderate, and the picture definition is higher, can embody the whole of article.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. The dynamic calibration method is characterized by comprising a linear scanning mechanism, wherein the linear scanning mechanism is arranged at the bottom of a transmission belt, the linear scanning mechanism comprises a supporting table, the supporting table is arranged at the bottom of the transmission belt, a motor is arranged in the supporting table, the motor is fixedly connected with a threaded rod through an output shaft, two threaded blocks are arranged outside the threaded rod, the two threaded blocks are connected with the threaded rod through threads, the thread turning directions of the two threaded blocks are opposite, a sliding groove is formed in the top of the supporting table, the two threaded blocks extend into the sliding groove, a movable plate is fixedly arranged at the top of each threaded block, the two movable plates are respectively arranged at two sides of the transmission belt, transverse plates are fixedly arranged at the tops of the two movable plates, three-dimensional laser scanners are fixedly arranged at the tops of the two transverse plates, laser range finders are respectively arranged at the rear sides of the two three-dimensional laser scanners, a position sensor is fixedly arranged at the top of an inner cavity of the supporting table, the position sensor is arranged at the rear side of each threaded block, a box body is fixedly arranged at one side of the supporting table, programmable P L C is fixedly arranged in the inner part of the box body, an A/D converter is connected with an A L, and an input end of the programmable laser scanner, and an A/D converter is electrically connected with an input end;
the dynamic calibration comprises the following specific steps:
s1, placing: placing the article to be line-scanned on a conveyor belt;
s2, establishing a rectangular array block: starting a motor, wherein the motor works to drive a threaded rod to rotate, the threaded rod rotates to drive two threaded blocks to move towards the middle, the threaded blocks move to drive two moving plates to move towards the middle, the two moving plates move towards the middle to drive two transverse plates and three-dimensional laser scanners to move towards the middle, a rectangular array block can be formed between the two three-dimensional laser scanners, the two three-dimensional laser scanners form light spots on an object to scan along the X direction, the distance between the two three-dimensional laser scanners is 10-20 meters, and the area of the rectangular array block is 20-40 square meters;
s3, starting a conveyor belt: the conveyor belt is started to drive the article to move in the Y direction;
s4, scanning: after the conveyor belt is started to drive the articles to make Y-directional displacement, the articles pass through the rectangular array block;
s5, imaging: a three-dimensional laser scanner can scan and image the surface of an article.
2. The dynamic calibration method based on the line scanning laser and the conveyor belt operating platform device as claimed in claim 1, wherein: in step S1, a center line is drawn in the middle of the conveyor belt, and when the article is placed, the center of the article is located on the center line of the conveyor belt.
3. The dynamic calibration method based on the line scanning laser and the conveyor belt operating platform device as claimed in claim 1, wherein: the box is internally provided with a supporting block, the supporting block is arranged at the bottom of the motor, and the top of the supporting block is fixedly connected with the bottom of the motor.
4. The dynamic calibration method based on the line scanning laser and the conveyor belt operating platform device as claimed in claim 1, wherein: one end of the threaded rod is connected with one side wall of the inner cavity of the supporting table through a bearing.
5. The dynamic calibration method based on the line scanning laser and the conveyor belt operating platform device as claimed in claim 1, wherein: in step S4, two laser rangefinders detect the width of the article before the article passes through the rectangular array block.
6. The dynamic calibration method for the linear scanning laser and conveyor operating platform device as claimed in claim 1, wherein in step S4, after the laser range finder detects the width of the object, the width information of the object is transmitted to the position sensor, the position sensor transmits the signal to the programmable P L C, and the programmable P L C controls the motor to perform fine adjustment on the distance between the two three-dimensional laser scanners.
7. The dynamic calibration method based on the line scanning laser and the conveyor belt operating platform device as claimed in claim 1, wherein: in step S5, after the article passes through the rectangular array block, the three-dimensional laser scanner scans the surface of the article and records the data.
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| CN105149794A (en) * | 2015-08-18 | 2015-12-16 | 河海大学常州校区 | Intelligent laser trimming system and method based on binocular vision |
| CN105149794B (en) * | 2015-08-18 | 2016-09-28 | 河海大学常州校区 | A kind of Intelligent Laser method for cutting edge based on binocular vision |
| CN105783769A (en) * | 2015-12-30 | 2016-07-20 | 南京理工大学 | System and method for measuring gear 3D profile based on line laser scanning |
| CN109099859A (en) * | 2018-09-26 | 2018-12-28 | 中国科学院上海光学精密机械研究所 | Optical elements of large caliber surface defect apparatus for measuring three-dimensional profile and method |
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Application publication date: 20200710 |