CN102576076B - 用于对环境进行光学扫描和测量的设备 - Google Patents

用于对环境进行光学扫描和测量的设备 Download PDF

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CN102576076B
CN102576076B CN201080047516.1A CN201080047516A CN102576076B CN 102576076 B CN102576076 B CN 102576076B CN 201080047516 A CN201080047516 A CN 201080047516A CN 102576076 B CN102576076 B CN 102576076B
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colour
mirror
optical
rotating mirror
camera
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CN102576076A (zh
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菲利普·舒曼
马丁·奥西格
莱因哈德·贝克
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Faro Technologies Inc
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Abstract

在一种用于对环境进行光学扫描和测量的设备中，该设备被设计为激光扫描仪(10)，激光扫描仪(10)具有：光发射器(17)，所述光发射器(17)借助于旋转镜(16)射出发射光束(18)；光接收器(21)，接收光束(20)被所述光接收器(21)接收，所述接收光束(20)在通过旋转镜(16)和具有光轴(A)的接收器透镜(30)之后从激光扫描仪(10)的环境中的物体(O)反射，或被散射；彩色摄像机(23)，所述彩色摄像机(23)拍摄激光扫描仪(10)的环境的彩色图片；以及控制与评估单元(22)，所述控制与评估单元(22)针对多个测量点(X)确定到物体(O)的距离并且将其与彩色图片关联，彩色摄像机(23)被布置在接收器透镜(30)的光轴(A)上。

Description

用于对环境进行光学扫描和测量的设备
本发明涉及一种具有权利要求1的上位术语的特征的设备。
借助于例如像从DE 202006005643U1已知的且被设计成激光扫描仪的设备，可以对激光扫描仪的环境进行光学扫描和测量。旋转的并且被设计成金属转子的抛光板的旋转镜使发射光束和接收光束两者偏转。光发射器的准直器位于接收器透镜的中心。接收器透镜在光接收器上再现接收光束，在接收器透镜后面在光轴上布置该光接收器。为了获得另外的信息，在激光扫描仪上安装获取RGB信号的行扫描摄像机，使得扫描的测量点可以通过颜色信息来完成。
本发明基于以下目的：创建引言中提到的类型的设备的替代。此目的是根据本发明借助于包括权利要求1的特征的方法而实现的。从属权利要求涉及有利的配置。
彩色摄像机关于旋转镜在同一侧在接收器透镜的光轴上的布置具有几乎完全避免视差的优点，这是由于光接收器和彩色摄像机在旋转镜的同一侧且从相同的视角拍摄环境。此外，可以对旋转镜使用相同的机制。旋转镜的使用侧也是相同的。被旋转镜反射的接收光束平行于接收器透镜的光轴行进并且连续地照射在所述接收器透镜上。优选地，接收器透镜代替光接收器，使得不存在遮蔽效应的变化。为了能够再次馈送发射光束，优选地提供了彩色摄像机的前面的发射镜，该发射镜对于发射光束是反射的，而对于彩色摄像机是透明的。
由于在接收器透镜后面在光轴上设置有后镜的事实，该后镜朝向接收器透镜反射已被接收器透镜折射的接收光束，所以可以更好地利用可用空间。为了完成“折叠式光学系统”，优选地，在接收器透镜与后镜之间设置中心镜，该中心镜朝向后镜反射接收光束。镜的适合形式支持聚焦，其中，仍然可以增大展开的光学系统的焦距。中心镜可以用于通过减小相比远场的近场的强度来进行近场校正，正如另外的遮蔽件一样。空间的进一步节省是由光接收器的关于接收器透镜的光轴径向的布置(在由光轴限定的圆柱坐标系中)引起的。
作为混合结构(即，作为不同材料的多元件结构)的转子的设计允许以下短设计：该短设计与旋转镜的倾斜无关地保持平衡。金属支架、涂覆玻璃的旋转镜和塑性外壳的组合是优选的，然而，其他组合也是可以的。在质量方面站支配地位的支架使得平衡成为可能，同时外壳用作意外接触保护。转子部件之间的胶在不削弱动态行为的情况下使得膨胀的不同温度系数的平衡成为可能。
下面，基于附图中示出的示例性实施例更详细地说明本发明，其中：
图1示出了激光扫描仪的局部截面视图，
图2示出了激光扫描仪的示意图，以及
图3示出了转子支架的透视图。
提供了一种激光扫描仪10，作为用于对激光扫描仪10的环境进行光学扫描和测量的设备。激光扫描仪10具有测量头12和底座14。测量头12安装在底座14上，作为可以关于竖直轴线旋转的元件。测量头12具有可以关于水平轴线旋转的旋转镜16。把两条旋转轴线的交点指定为激光扫描仪10的中心C10。
测量头12还设置有用于射出发射光束18的光发射器17。优选地，发射光束18是在大约340nm到1600nm的波长范围内的激光束，例如790nm、905nm或小于400nm，然而原则上也可以使用具有例如更大波长的其它电磁波。发射光束18例如通过正弦波形或矩形波形调制信号进行幅度调制。发射光束18由光发射器17发射到旋转镜16上，其中发射光束18在旋转镜16被偏转并发射到环境中。在环境中被物体O反射或被散射的接收光束20再次被旋转镜16捕获，被偏转和导向到光接收器21上。发射光束18和接收光束20的方向是由旋转镜16和测量头12的角位置造成的，旋转镜16和测量头12的角位置取决于它们的对应旋转驱动器的位置，旋转驱动器的位置进而均由一个编码器来配准。
控制与评估单元22具有到测量头12中的光发射器17和光接收器21的数据连接，由此控制与评估单元22的部件还可以布置在测量头12的外部，例如连接到底座14的计算机。控制与评估单元22针对多个测量点X，根据发射光束18和接收光束20的传播时间确定激光扫描仪10与物体O(物体O处的照射点)之间的距离d。为此目的，确定和评估两个光束18和20之间的相移。
借助于镜16的(快速)旋转沿着圆周进行扫描。借助于测量头12相对于底座14的(缓慢)旋转，通过上述圆周逐步地扫描整个空间。这种测量的测量点X的实体被指定为扫描。对于这种扫描，激光扫描仪10的中心C10限定了局部静止参考系的原点。底座14安置在此局部静止参考系中。
除了到激光扫描仪10的中心C10的距离d之外，每个测量点X包括同样由控制与评估单元22确定的亮度信息。亮度值是例如通过光接收器21的带通滤波和放大的信号在归属于测量点X的测量时段上的积分而确定的灰阶(gray-tone)值。对于特定应用，希望具有除了灰阶值之外的颜色信息。因此，激光扫描仪10还设置有也连接到控制与评估单元22的彩色摄像机23。彩色摄像机23例如被设计为CCD摄像机或CMOS摄像机，并且为实空间中的二维图片提供在颜色空间中是三维的信号，优选地是RGB信号。控制与评估单元22将激光扫描仪10的扫描(在实空间中是三维的)与彩色摄像机23的彩色图片(在实空间中是二维的)关联，这样的处理被称作“映射”。对于已经拍摄的彩色图片中的任何图片，逐个图片地进行关联，以便对扫描的每个测量点X给出颜色(按RGB份额)，即对扫描进行着色，作为最终结果。
以下详细描述测量头12。
被旋转镜16反射的接收光束16照射在优选为平凸的球面接收器透镜30上，在本发明中，接收器透镜30具有几乎半球形的形状。接收器透镜30的光轴A朝向激光扫描仪的中心C10。高折射接收器透镜30的凸侧朝向旋转镜16。在旋转镜16的与接收器透镜30的相同侧上并且在其光轴A上布置彩色摄像机23；在本发明中，彩色摄像机23被布置在接收器透镜30的与旋转镜16最靠近的点上。彩色摄像机23可以固定在接收器透镜30的(未处理的)表面上，例如，可以胶合在该表面上，或放置在接收器透镜30的适当的凹入部分中。
在彩色摄像机23的前面，即更靠近旋转镜16，布置二色性的发射镜32，即，在本发明中发射镜32透射可见光并且反射(红色)激光。因此，发射镜32对于彩色摄像机23是透明的，即，发射镜32提供了到旋转镜16上的清晰视界。发射镜32与接收器透镜30的光轴A成一个角度，使得光发射器17可以布置在接收器透镜30的所述侧。包括激光二极管和准直器的光发射器17将发射光束18发射到发射镜32上，发射光束18然后从发射镜32投射到旋转镜16上。为了拍摄彩色图片，旋转镜16缓慢且逐步地旋转，为了进行扫描，旋转镜16快速(100cps)且连续地旋转。旋转镜16的机制保持相同。
由于彩色摄像机23在接收器透镜30的光轴A上的布置，扫描与彩色图片之间实际上不存在视差。由于在已知的激光扫描仪中光发射器17(及其连接)被布置来替代彩色摄像机23(以及其连接，例如柔性印刷电路板)，因此由于彩色摄像机23(以及发射镜32)而产生的接收器透镜30的遮蔽效应没有改变或仅不明显地改变。
一方面，为了也以大焦距配准远处的测量点X，另一方面，为了需要小空间，激光扫描仪10具有“折叠式光学系统”。为此目的，在接收器透镜30后面在光轴A上布置遮蔽件42，该遮蔽件被定向成与光轴A同轴。遮蔽件42(参考光轴A)径向向内地具有(大的)自由区域，以使被远处物体O反射的接收光束20无阻碍地通过，而遮蔽件42径向向外地具有(较小的)遮蔽区域，以减小被近处物体O反射的接收光束20的强度，使得能够得到可比较的强度。
在遮蔽件42后面在光轴A上布置后镜43，该后镜是平面的并且垂直于光轴A。该后镜43将被接收器透镜30折射且照射在中心镜44上的接收光束20反射。在光轴A上在遮蔽件42的中心布置中心镜44，彩色摄像机23(以及发射镜32)遮蔽中心镜44。中心镜44是非球面镜，其用作负透镜(即，增大焦距)并且用作近场校正透镜(即，使被近处物体O反射的接收光束20的焦点位移)。此外，仅由接收光束20中的通过布置在中心镜44上的遮蔽件42的该部分来提供反射。中心镜44将通过中心孔口照射在后镜43的后面的接收光束20反射。
在后镜43的后面布置光接收器21，光接收器21包括入口光圈、带有滤波器的准直器、聚光透镜和检测器。为了节省空间，优选地，提供了使接收光束20偏转了90°的接收镜45，使得可以关于光轴A径向地布置光接收器21。利用折叠式光学系统，焦距相对于已知的激光扫描仪可以是大约两倍。
作为二维结构的旋转镜16是转子61的部分，转子61可以作为三维结构由相应的旋转驱动器来转动，并且转子61的角位置由指定的编码器测量。为了还节省关于旋转镜16的空间(归因于转子61的短设计)并且保持转子61平衡，转子61被设计成混合结构，包括支架63、安装在支架63处的旋转镜16、以及由塑性材料制成的外壳65，该外壳另外保持旋转镜16。
金属支架63具有带有45°表面和各种凹入部分的圆柱体的基本形状。材料的部分(例如叶片、轴肩和突出部)保持在这些凹入部分之间，其中每个部分均用来平衡转子61。中心孔用于安装指定的旋转驱动器的电机轴。旋转镜16由被涂覆的且在相关波长范围内反射的玻璃制成。旋转镜16通过胶固定在支架63的45°表面处，为此目的，优选地，支架63处设置有特定的附着表面63b。
由塑性材料制成的外壳65具有中空圆柱体的形状，该中空圆柱体被切割成45°以下并且至少包围支架63。外壳65可以胶着到旋转镜16或者被固定到旋转镜16。若需要的话，通过橡胶密封等的介入，外壳65可以(优选地以形状锁定的方式)在其外周处扣住旋转镜16。外壳65还可以胶着至支架63或直接固定至支架63，或者通过转子61的安装，外壳65可以优选地借助于端板67连接至支架63，例如螺纹紧固至支架63。所使用的胶一方面必须补偿所使用的材料的膨胀的不同温度系数，另一方面使得动态行为不受影响，例如表现出不太大的弹性，以避免速度相关的不平衡。
转子61关于光轴A旋转。旋转镜16在支架63的一个面(即，在45°表面上)上覆盖支架63。外壳65(关于光轴A)在外部径向地覆盖支架63。因此，可以覆盖支架63的锐利边缘以防止损伤。支架63使转子61平衡。支架63可以由其它支配惯性矩的重质材料制成，来替代金属。外壳65还可以由对惯性矩具有很小的影响的其它轻质材料制成，来替代塑性材料。旋转镜16另外可以是反射的(和透明的)，来替代被涂覆的玻璃。被设计成混合结构的旋转镜16、支架63以及外壳65是被固定在一起的分开形成的部件。
附图标记列表
10    激光扫描仪
12    测量头
14    底座
16    旋转镜
17    光发射器
18    发射光束
20    接收光束
21    光接收器
22   控制与评估单元
23   彩色摄像机
30   接收器透镜
32   发射镜
42   遮蔽件
43   后镜
44   中心镜
45   接收镜
61   转子
63   支架
63b  附着表面
65   外壳
67   端板
A    (接收器透镜的)光轴
C10  激光扫描仪的中心
d    距离
O    物体
X    测量点

Claims (7)

1.一种用于对环境进行光学扫描和测量的设备，所述设备被设计为激光扫描仪(10)，所述激光扫描仪(10)具有：光发射器(17)，所述光发射器(17)借助于旋转镜(16)射出发射光束(18)；光接收器(21)，接收光束(20)被所述光接收器(21)接收，所述接收光束(20)从所述激光扫描仪(10)的环境中的物体(O)反射，或被散射，其中所述光接收器(21)在所述接收光束(20)通过所述旋转镜(16)和接收器透镜(30)之后接收所述接收光束(20)，所述接收器透镜(30)具有光轴(A)；彩色摄像机(23)，所述彩色摄像机(23)拍摄所述激光扫描仪(10)的环境的彩色图片；以及控制与评估单元(22)，所述控制与评估单元(22)针对多个测量点(X)确定到所述物体(O)的距离并且将其与所述彩色图片关联，
其特征在于，所述彩色摄像机(23)被布置在所述接收器透镜(30)的所述光轴(A)上以及在所述旋转镜(16)与所述接收器透镜(30)之间，其中所述彩色摄像机(23)被布置在所述接收器透镜(30)的与所述旋转镜(16)最靠近的点处，所述彩色摄像机(23)被固定至所述接收器透镜(30)的表面或被布置在所述接收器透镜(30)的凹入部分中，并且为了捕获所述接收光束(20)，所述旋转镜(16)快速且连续地旋转，而为了拍摄所述彩色图片，所述旋转镜(16)缓慢且逐步地旋转。
2.根据权利要求1所述的设备，其特征在于，所述接收器透镜(30)被设计为平凸球面透镜，所述接收器透镜(30)的凸侧朝向所述旋转镜(16)。
3.根据权利要求1所述的设备，其特征在于，在彩色摄像机(23)与旋转镜(16)之间布置发射镜(32)，所述发射镜与所述光轴(A)成一个角度。
4.根据权利要求3所述的设备，其特征在于，所述发射镜(32)对于所述发射光束(18)是反射的，而对于所述彩色摄像机(23)是透明的。
5.根据权利要求3所述的设备，其特征在于，所述光发射器(17)将所述发射光束(18)发射到所述发射镜(32)。
6.根据权利要求3所述的设备，其特征在于，所述光发射器(17)被布置在所述接收器透镜(30)的一侧。
7.根据权利要求1所述的设备，其特征在于，设置有测量头(12)，所述测量头(12)关于竖直轴线旋转并且承载所述光发射器(17)、带有所述彩色摄像机(23)的所述接收器透镜(30)、所述光接收器(21)、以及所述旋转镜(16)，其中，所述旋转镜(16)关于水平布置的所述光轴(A)旋转。
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