CN103119465B - 用于对环境进行光学扫描和测量的装置 - Google Patents

用于对环境进行光学扫描和测量的装置 Download PDF

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CN103119465B
CN103119465B CN201180046329.6A CN201180046329A CN103119465B CN 103119465 B CN103119465 B CN 103119465B CN 201180046329 A CN201180046329 A CN 201180046329A CN 103119465 B CN103119465 B CN 103119465B
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亚历山大·格雷纳
菲利普·舒曼
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Abstract

本发明涉及一种用于对环境进行光学扫描和测量的装置，该装置被设计为激光扫描器（10），所述激光扫描器（10）具有：光发射器（17），所述光发射器（17）射出发射光束（18）；光接收器（21），所述光接收器（21）接收从激光扫描器（10）的环境中的物体（O）反射的或否则被散射的接收光束（20）；以及控制和评估单元（22），所述控制和评估单元（22）针对多个测量点（X）至少确定到物体（O）的距离，激光扫描器（10）具有冷却装置（70），冷却装置（70）具有在承载结构（30）与用作壳体的外壳（32）之间的空间（Z），所述空间（Z）借助于进气口（80）向外部开放，而其余部分相对于承载结构（30）的内部以及相对于外壳（32）是密封的。

Description

用于对环境进行光学扫描和测量的装置
本发明涉及一种具有权利要求1的通用术语的特征的装置。
借助于诸如例如从DE20 2006 005 643U1已知的且被设计为激光扫描器的装置，可以对激光扫描器的环境进行光学扫描和测量。
本发明基于以下目的：改善引言中所提到的类型的装置。该目的根据本发明借助于包括权利要求1的特征的装置来实现。从属权利要求涉及有利的配置。
激光扫描器的部件被布置在测量头的两个部分中以及布置在连接所述部分的承载结构的横梁（traverse）中。为了减轻激光扫描器的重量，设置有外壳作为壳体的一部分，优选地，对于测量头的两个部分的每一个都设置有一个外壳，其中所述外壳可以由轻质材料例如塑性材料制成并且所述外壳覆盖激光扫描器的相应部件以保护它们。而为了保护外壳，设置了轭架，优选地，对于每个外壳设置一个轭架，该轭架部分地覆盖外壳的外部并且该轭架也可以由轻质材料例如铝制成。
用于承重目的的、优选地也由铝制成的承载结构优选地具有用于固定具有光学元件和旋转镜的部件的壁。所述壁还可以闭合半敞开的外壳。轭架优选地沿着外壳的外边缘和/或斜行地在外壳的外表面上延伸并被固定到承载结构，优选地在其端部处固定至承载结构，如果和当有必要时，也可以在两个壁之一处固定轭架的中心。除了保护功能之外，另外的功能也可以被集成到轭架中。
在操作期间，激光扫描器的参数特别是温度可能发生变化。有必要进行对比测量以用于校正。建议沿着具有已知几何结构和到激光扫描器中心的已知距离的棱镜暂时地移动发射光束的光斑。棱镜此外具有至少两个不同的亮度级和/或颜色，以生成接收光束的不同信号等级。不同的亮度级和/或颜色优选地沿着发射光束的光斑的运动方向交替。
在镜旋转期间，在每次转动期间，发射光束被投射到承载结构的横梁上一次，下面的环境不能被测量。棱镜因此优选地被配置在横梁处。垂直于发射光束的光斑的运动方向（或沿着运动方向）的特定几何形状可以考虑接收光学元件的成像特性，并因此控制所得到的信号的质量。借助于棱镜的不同的亮度级和/或颜色和已知距离，控制和评估单元执行距离校正（的校正）。
为了组装激光扫描器，部件具有机械接口和电气接口。尤其在相对于彼此可旋转的部件之间，需要高精度。激光扫描器因此设置有转轴模块，该转轴模块作为预组装组件一方面设置有静止在激光扫描器的静止参考系中的基座以及另一方面设置有可以固定到相对于基座可旋转的测量头的承载结构的部件。相对于彼此可旋转的接口则被移置到接口模块的内部。在转轴模块与测量头的另外的部件之间的接口可以（更）简单地配置，使得当将转轴模块例如插入承载结构的容置槽时，它们在插入的方向上是闭合的。
在激光扫描器中，用于旋转测量头和镜的电动机、以及控制和评估单元和另外的电子元件产生热，所产生的热必须被移除。为此目的，激光扫描器设置有基于通风装置的集成冷却装置。因此，空气通过进气口被引导到承载结构与用作壳体的外壳之间的空间，空气从该空间通过相对于承载结构的内部是密封的吸入管进入冷却装置的内部。从冷却装置的内部，风扇吹动加热的空气通过相对于承载结构的内部是密封的另外的出口管，并通过出气口到达外部。可以因此优选地在不削弱中央部件的紧密性的情况下移除热。在每个进气口和出气口处的一个过滤器避免灰尘和粗尘粒侵入冷却装置的空间和管中。例如借助于肋条将进气口和出气口定向成使得气流远离彼此指向，即不交叉地指向尽可能分开的方向。具有例如矩形剖面的吸入管和出口管以密封的方式连接到风扇的壳体。此外，如果需要，可以借助于合适的插塞来完全地密封所述管。优选地两个外壳中的每个外壳是半敞开的并被承载结构的壁封闭，进气口和出气口优选地精确地与相对于彼此以及相对于所述空间是密封的两个外壳之一相接。外壳的布置在外部的抵靠承载结构的密封件因此确保激光扫描器的完全密封。除了该通风装置之外，冷却装置优选地设置有被动冷却元件，例如散热片和/或热管，以便将（来自承载结构的内部的零部件的）热传递到主动冷却元件。这可以是来自电子元件的热，或者，如果承载结构被再分成相对于彼此密封的两个半体，则这可以是来自承载结构的（不具有主动冷却元件的）另一个半体的热。
下面，以附图中所示出的示例性实施方式为基础更详细地阐述本发明，在附图中：
图1示出了激光扫描器的透视图；
图2示出了激光扫描器的略微透视的侧视图；
图3示出了激光扫描器的仰视图；
图4示出了激光扫描器的在转轴模块的区域中的截面；
图5示出了不具有外壳的激光扫描器的局部透视图；
图6示出了具有图5的透视角度的冷却装置的局部图；以及
图7示出了激光扫描器在操作期间的示意图。
提供了一种激光扫描器10作为用于对激光扫描器10的环境进行光学扫描和测量的装置。激光扫描器10具有测量头12和基座14。测量头12安装在基座14上，作为可以关于竖直轴线旋转的单元。测量头12具有可以关于水平轴线旋转的旋转镜16。两个旋转轴线的交点被指定为激光扫描器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。发射光束18优选地是在大约300nm到1600nm的波长范围内例如790nm、905nm或小于400nm的激光束，然而原则上也可以使用具有例如更长波长的其它电磁波。发射光束18例如采用正弦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，在旋转镜16上发射光束18被偏转并发射到环境中。在环境中被物体O反射或否则被散射的接收光束20再次被旋转镜16捕获、偏转和导向到光接收器21上。发射光束18和接收光束20的方向由旋转镜16和测量头12的角位置产生，旋转镜16和测量头12的角位置取决于它们相应的旋转驱动装置的位置，每个相应的旋转驱动装置的位置又由一个编码器记录。
控制和评估单元22具有到测量头12中的光接收器21及光发射器17的数据连接，由此，部分控制和评估单元22（例如连接到基座14的计算机）也可以布置在测量头12的外部。控制和评估单元22根据发射光束18和接收光束20的传播时间来针对多个测量点X确定激光扫描器10与物体O（处的照射点）之间的距离d。为此目的，可以例如确定和评估两个光束18和20之间的相移。
借助于旋转镜16的（快速）旋转，沿着圆周进行扫描。依靠测量头12相对于基座14的（缓慢）旋转，借助于圆周来逐步地扫描整个空间。这种测量的测量点X的实体被称为扫描。对于这样的扫描，激光扫描器10的中心C10限定局部静止参考系的原点。基座14静止在该局部静止参考系中。
除了到激光扫描器10的中心C10的距离d之外，每个测量点X还包括同样由控制和评估单元22确定的亮度信息。亮度值是例如由光接收器21的经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。彩色相机可以可选地生成图片，借助于图片，颜色（R、G、B）可以被分配给测量点作为值。
显示装置24连接至控制和评估单元22。显示装置24被集成在激光扫描器10中，在本情况中显示装置24被集成在测量头12中。显示装置24显示扫描的预览。
激光扫描器10具有用作测量头12的“骨架”的承载结构30，并且在承载结构30上固定激光扫描器10的不同部件。在本情况中，金属的承载结构30由铝制成并被制成为一体。在基座14上方，承载结构30具有从外部可见的横梁30a，并且在横梁30a的两端处承载有两个壁30b，所述两个壁30b彼此平行并从横梁30a向上突出。两个外壳32被配置成朝向一侧敞开的壳体，该壳体优选地由塑料制成。两个外壳32中的每一个均覆盖激光扫描器10的被固定到承载结构30的部分部件，并且每个外壳32被分配给该外壳被固定（用密封件密封）至的两个壁30b之一。壁30b和外壳32因而用作激光扫描器10的壳体。
在两个外壳32中的每一个外壳的外侧设置有优选地为金属的轭架34，轭架34部分地覆盖所分配的外壳32并因此保护所分配的外壳32。每个轭架34被固定到承载结构30，更确切地，被固定在横梁30a的底部。在本情况中，每个轭架34由铝制成并在基座14一侧被螺接到横梁30a。每个轭架34从其在横梁30a的底部的固定点倾斜地延伸到所分配的外壳32的下一个外转角，从该外转角沿着外壳32的外边缘延伸到外壳32的位于上方的外转角，在外壳32的上侧面上倾斜地一直延伸到壁30b，沿着壁30b一段短的距离（可以具有另外的固定点），然后在外壳32的上侧面与所描述的路线镜像对称地倾斜地延伸到另一个外转角，沿着外壳32的外边缘延伸到外壳32的位于下方的外转角，并倾斜地延伸到横梁30a的底侧面的其他紧固点。
两个轭架34共同限定将两个外壳32完全地布置在其中的（凸）空间，即两个轭架34共同突出在外壳32的所有外边缘和外表面上。在顶部和底部，轭架34的倾斜部分突出在外壳32的顶部和/或底部上，在四个其他面上，两个部分均沿着外壳32的外边缘延伸。外壳32因此被全面地保护。尽管每个轭架34主要具有保护功能，尤其是针对可能损坏外壳32和布置在下方的激光扫描器10部件的冲击具有保护功能，但是可以在轭架34中的一者或两者中集成另外的功能，例如用于承载激光扫描器10和/或照明装置的握持可能性。
在横梁30a的顶部，设置有棱镜36，棱镜36平行地延伸至壁30b。在本情况中，棱镜36是承载结构30的整体形成（即一体设计）的部件，但是单独形成并紧固到横梁30a也是可以的。当镜16旋转时，镜16将发射光束18导向至横梁，更确切地，导向至棱镜36，在每个旋转期间一次，并且沿着棱镜36移动由发射光束18生成的光斑。垂直于发射光束18的光斑的运动方向，棱镜36的剖面被设计成使得从横梁30a的顶部开始，设计向下指向的两个梯形，从两个梯形处突出有向上指向的等腰三角形。通常，发射光束18的光斑非常小，使得其击中三角形的顶部，但是仅部分地照明侧面。棱镜36的表面被设计成使得沿着发射光束18的光斑的运动方向提供至少两个不同的亮度级和/或颜色。例如，首先被照明的一半可以具有高亮度级（“浅灰色”、“白色”），而接着被照明的一半可以具有低亮度级（“深灰色”、“黑色”）。反序或具有亮度级的若干变化的条纹图案也是可以的。
归因于电子元件中例如光接收器21中的非线性，测量距离d取决于信号强度，即亮度、温度和另外的参数。因此，距离校正是必要的，其被作为亮度的函数进行存储并且是非线性的。因为棱镜36具有已知距离d和已知亮度级，所以距离校正的校正可以借助于棱镜36来执行，也就是说在线，即在操作期间可以对温度和其他参数的影响进行补偿。在与棱镜36的亮度级对应的点处，确定已知距离与测量距离之间的差。距离校正的校正通过使距离校正的曲线适于所确定的差来执行。距离校正的校正优选地在控制和评估单元22中进行。
横梁30a具有在底部开口的容置槽，并且在容置槽中插入转轴模块40。转轴模块40是预组装组件，其一方面包括要固定在承载结构30处的部件，另一方面包括相对于所述部件可旋转的基座14以及固定到基座14的部件。基座14设置有向上突出的拱顶14a。在拱顶14a与承载结构30之间介入有密封件41。竖直地向上突起的转轴42被固定到拱顶14a，在本情况中用螺钉固定。水平布置的蜗杆传动装置44被固定到转轴42。转轴42具有内头46，该内头46借助于交叉滚子轴承47支承外头48。水平布置的编码盘50被固定在内头46的上端。在内头46的上方，外头48具有编码器读取头52。此外，在内头46与外头48之间设置有用于数据和电源能量的内部（即，其发生在转轴模块40内）传输的集电环54。在外头48的上端处和在基座14的下端处，设置有用于从测量头12传输数据和能量以及将数据和能量传输至测量头12的电插塞式连接器55。
为了与蜗杆传动装置44相互作用，设置有具有行星齿轮57的电动机56，电动机56被支承在承载结构30中并驱动与蜗杆传动装置44啮合的蜗杆58。所描述的转轴模块40被插入横梁30a中，使得外头48处的插塞式连接器55与合适的对应触点（counter-contact）插在一起，蜗杆58与蜗杆传动装置44啮合，外头48可以固定到承载结构30，并且密封件59达到处于基座14与承载结构30之间。在转轴模块40中，转轴42、蜗杆传动装置44、内头46和编码盘50固定至基座14，然而，相对于此可旋转，外头48和编码器读取头52固定至承载结构30，具有行星齿轮57的电动机56和蜗杆58被支承。测量头12因此相对于基座14关于竖直轴线是可旋转的。
激光扫描器10具有借助于空气流动通过密封管来进行冷却的集成冷却装置70。冷却装置70包括：优选地以矩形剖面设计的吸入管72；风扇74；以及优选地同样以矩形剖面设计的出口管76。具有其壳体的风扇74以密封的方式连接到吸入管72以及连接到出口管76。吸入管72被布置在用于测量头12的转动运动的电动机56与用于旋转布置在上方的镜16的电动机之间。出口管76被布置在电动机56与电子装置之间。
吸入管72朝向承载结构30与外壳32之间的（大部分）密封空间Z敞开。空间Z的（相对于承载结构30的内部的）密封防止污垢和灰尘侵入承载结构的内部。承载结构30具有与电动机56相邻的散热片78，散热片78将热从承载结构30的内部传递到空间Z中。从外部，空气通过优选地为具有肋条的通风格栅的进气口80进入空间Z。在进气口80处的过滤器（例如过滤垫）防止粗尘粒和灰尘侵入空间Z。
相对于空间Z是密封的出口管76在出气口82处终止，出气口82优选地是具有肋条的通风格栅。进气口80和出气口82彼此分隔开，并且在本情况中被轭架34分隔，并被配置在外壳32的底部。通风格栅的肋条优选地以如下方式排列：使得空气流动到进气口80并从出气口82流出，进气口80和出气口82远离彼此指向，即没有加热的空气被吸入。此外，热管在具有控制和评估单元22的测量头12的区域与吸入管72之间延伸，所述热管同样将热传递到冷却装置70。风扇74经由进气口80、空间Z和吸入管72吸入空气，并经由出口管76和出气口82再将空气吹到激光扫描器10之外。从而进行冷却。
优选地，激光扫描器10具有优选地被连接到控制和评估单元22的各种传感器，例如温度计、侧斜仪、测高仪、罗盘、陀螺罗盘、全球定位系统（GPS）等。借助于所述传感器，监测由特定参数例如几何方位或温度所限定的激光扫描器10的操作条件。如果一个或若干个参数具有偏移，这由相应传感器识别，并可以由控制和评估单元22进行补偿。借助于所述传感器，也可以识别操作条件的突变，例如改变激光扫描器10的方向对其的冲击或激光扫描器10的移位。如果所述变化的量不能被足够精确地记录，则扫描过程必定中断或中止。如果可以大致估计操作条件的所述变化的量，则测量头12可以转回一些角度（直到存在与突变前已扫描的区域重叠为止），并继续扫描过程。可以通过评估重叠区域来使扫描的两个不同部分结合。
附图标记列表
10激光扫描器
12测量头
14基座
14a拱顶
16镜
17光发射器
18发射光束
20接收光束
21光接收器
22控制和评估单元
24显示装置
30承载结构
30a横梁
30b壁
32外壳
34轭架
36棱镜
40转轴模块
41密封件
42转轴
44蜗杆传动装置
46内头
47交叉滚子轴承
48外头
50编码盘
52编码器读取头
54集电环
55插塞式连接器
56电动机
57行星齿轮
58蜗杆
70冷却装置
72吸入管
74风扇
76出口管
78散热片
80进气口
82出气口
C10激光扫描器的中心
d距离
O物体
X测量点
Z空间

Claims (6)

1.一种用于对环境进行光学扫描和测量的装置，所述装置被设计为激光扫描器(10)，所述激光扫描器(10)包括：
光发射器(17)，所述光发射器(17)射出发射光束(18)；光接收器(21)，所述光接收器(21)接收从环境中的物体(O)反射的作为所述发射光束(18)一部分的接收光束(20)；以及控制和评估单元(22)，所述控制和评估单元(22)连接到所述光接收器(21)并且针对多个测量点(X)确定到所述物体(O)的距离，
其中，所述激光扫描器(10)设置有承载结构(30)、用作外部壳体的外壳(32)、以及冷却装置(70)，
所述冷却装置(70)还包括：进气口(80)；在所述承载结构(30)与所述外壳(32)之间的空间(Z)，所述空间借助于所述进气口(80)向所述环境开放，而其余部分相对于所述承载结构(30)的内部以及相对于所述外壳(32)是密封的；吸入管(72)，所述吸入管(72)朝向所述承载结构(30)与所述外壳(32)之间的所述空间(Z)敞开；出口管(76)；风扇(74)，所述风扇(74)具有以密封方式连接到所述吸入管(72)和所述出口管(76)的风扇壳体；出气口(82)，在所述出气口(82)处所述出口管(76)相对于所述空间(Z)密封地终止；
其中，所述风扇(74)通过所述进气口(80)吸入空气，使所述空气通过所述空间(Z)和所述吸入管(72)，并且将所述空气通过所述出口管(76)和所述出气口(82)吹出所述激光扫描器(10)。
2.根据权利要求1所述的装置，其特征在于，设置有被动冷却元件，所述被动冷却元件连接到所述冷却装置的主动冷却元件(72、74、76)，从而对所述承载结构(30)的内部的零部件进行冷却。
3.根据权利要求2所述的装置，其特征在于所述被动冷却元件是散热片(78)和/或热管。
4.根据权利要求1-3中任一项所述的装置，其特征在于，所述进气口(80)和出气口(82)彼此分隔开并对齐和/或设置有肋条，使得朝向所述进气口(80)的气流和来自所述出气口(82)的气流远离彼此指向。
5.根据权利要求1-3中任一项所述的装置，其特征在于：所述外壳(32)在其外侧被用作保护的至少一个轭架(34)部分地覆盖；和/或所述发射光束(18)沿着所述激光扫描器(10)的棱镜(36)暂时地移动，所述棱镜具有至少两个不同的亮度级和/或颜色。
6.根据权利要求1-3中任一项所述的装置，其特征在于，所述激光扫描器(10)设置有转轴模块(40)，所述转轴模块(40)作为预组装组件一方面设置有静止在所述激光扫描器(10)的静止参考系中的基座(14)以及另一方面设置有要被固定到相对于所述基座(14)可旋转的测量头(12)的所述承载结构(30)的部件。
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