CN104081157B - There is the measurement system of measuring instrument and scan module - Google Patents
There is the measurement system of measuring instrument and scan module Download PDFInfo
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- CN104081157B CN104081157B CN201380007112.3A CN201380007112A CN104081157B CN 104081157 B CN104081157 B CN 104081157B CN 201380007112 A CN201380007112 A CN 201380007112A CN 104081157 B CN104081157 B CN 104081157B
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Abstract
The present invention relates to a kind of measurement system 50 with measuring instrument 20 and a kind of scan module 10, this scan module has: for the fixed mechanism being fixed in bearing by scan module；The Beam steering elements 11 that can rotate around pivot center 12 by motor, for making scanning laser beam 60 deflect, wherein pivot center 12 becomes predetermined angular relative to pivot axis 22；And second angle measuring function 13, this second angle measuring function is for determining angle of rotation according to the angle position of Beam steering elements 11.It addition, measuring instrument 20 has the bearing being so designed that, i.e. scan module 10 can be fixed on measuring instrument 20 according to the location of regulation in modular fashion by described fixed mechanism.
Description
Technical field
The present invention relates to that there is the measurement system of measuring instrument and scan module, the scan module according to the present invention, measuring instrument
And scan method.
Background technology
In order to gather object or surface, generally using following methods, it scans continuously and records structure simultaneously (such as builds
Build) pattern.Such pattern now constitute the series of points on the surface describing object being associated or corresponding model or
Surface is described.Generally way is made by laser scanner and is scanned, the sky of this laser scanner such was the case with acquisition tables cake
Between position, i.e. measured to the distance of the surface point aimed at by laser and make the angle of measurement result and Laser emission
Information is associated.According to this range information and angle information, it may be determined that the locus of the point gathered and can be continuous
Described surface is measured on ground.In many cases, the image by photographing unit is the most also performed with simple geometry collection
Shooting, this photographing unit also provides for such as out of Memory about superficial makings in addition to visual general view.
It is thus possible, for instance describe following methods in WO97/40342, it is by sweeping of setting up by the way of fixing with position
System of retouching is to record pattern.Set up a little for what these Systematic selection were fixed, and these fixing setting up a little are used as by motor institute
The benchmark of the scanning process caused.The three dimensional local information of each surface point can be by angle when measuring the distance of point, measure
Position and the known of scanning means set up place to be derived out.Here, this scanning system is specifically designed as pattern collection
Task also carrys out scanning of a surface by the motion of scanning system or the change of light path.
Additionally, scan function can be integrated in various different instrument as additional function.Such as WO2004/
036145 discloses a kind of geodetic instrument, and this measuring instrument launches range measurement from its position being positioned at institute's pickup area
Use laser beam.Such measuring instrument also can be altered or without changing be operable to the mode collection surface with scanning.One
Individual example is vehicularized theodolite or total powerstation.
Other method have employed removable system, and this removable system scans to be collected by the motion of scanning system
Structure or support or supplement described scanning.Such system is particularly suited for the knot gathering linear structure or can linearly handling
Structure, such as rail system, road, tunnel system or airport.
By the gatherer process of this prior art provide image or topographic data, described data substantially represent about
The spatial distribution of surface point or the information of arrangement relation.If it is required, shooting image perhaps can also derive out of Memory.Borrow
This can rebuild structure and the trend on surface better.But disadvantageously not from type and the structure representing surface in nature
Make, especially for internal structure or composition.Therefore, the image obtained concurrently from scanning allows generally for the knowledge of different brightness value
Not.It addition, EP1759172 describes a kind of scanning system and a kind of for the method with spectrally resolved form collection surface,
It provides and goes out surface property from thus obtained information inference.
This laser scanner according to prior art can allow user to utilize relatively short period of time to prop up out comprehensively and must
Gather big surface and object (according to desired point-to-point resolution) with additional surface information when wanting, but now derive
The precision of point coordinates be not enough to obtain such as being founded for modern measuring instrument and especially total powerstation or theodolite
The accuracy standard that high geodesic survey is the same.
Modern total powerstation typically has compact integral design, here, is generally of mostly in an instrument
Coaxial distance measurement element and calculating, control and memory element.It addition, according to the extension phase of total powerstation, can additionally collect
Become vehicularized sighting device or alignment device and using retroreflecting device (such as comprehensive prism) as run-home
In the case of the most integrated for automatic target search and follow the tracks of device.As man machine interface, total powerstation can have with
The electronical display control unit of display and input equipment (such as keyboard) (usually has the miniature place of electronic data storage device structure
Reason device computing unit).The measurement data obtained in electronic sensor mode is provided for display control unit, so that impact point
Position can be determined by display control unit, shown optically and store.The known total powerstation of prior art can also have
Having radio data interface, for setting up the wireless link with the such as peripheral components of hand-held data collection device, this is hand-held
Formula data acquisition unit especially can be constituted with the form of data logger or field computer.
In order to be directed at or aim at impact point to be measured, the geodetic instrument of general type has telescopic sight (as optics is hoped
Remote mirror) as alignment device.Telescopic sight typically can vert the axis pedestal relative to measuring instrument around vertical axis and level
Rotate, so that telescopic sight can be by pivoting and the alignment tested point that verts.Modern instrument can lead to except optical observation
Also having for the photographing unit with rad accurate alignment outside road, described photographing unit is integrated in telescopic sight and the most coaxially
Or be directed in a parallel manner.The most collectable image or image sequence, especially live image can control single in display
Unit display and/or for remote control peripheral unit (such as data logger) display on be illustrated.The light of alignment device
System now can have Manual focusing mechanism, such as changing the regulation screw of the position of Focused Optical system, or
Having autofocus mechanism, wherein the change of focal position is such as realized by servo motor.
EP2219011 such as describes the sighting device of a kind of geodetic instrument.Take aim at for looking in the distance of geodetic instrument
The autofocus of quasi-mirror is such as open by DE19710722, DE19926706 or DE19949580.
Because while the commonly provided 30 times of optical magnifications, but target object (such as be commonly used for geodesic survey purpose
With point of aim mark such as the vertical bar of comprehensive prism) cannot the most with the naked eye aim at (i.e. by sighting device
Do not meet geodesic survey required precision), therefore conventional measuring instrument now has for as collimating reflector according to etalon
The Automatic Target Following function (ATR: automatic target detection) of prism.To this end, generally by another single ATR light beam source (example
Export as sent the multimode fibre of wavelength light radiation in 850 nanometer range) and a specific ATR to this wavelength sensitive
Detector (such as CCD or CMOS surface sensor) is additionally integrated in telescope.In EP2141450, such as describe one
Measuring instrument, it has the function for automatic aiming regression reflection target and Automatic Target Following function.
Utilize the measuring instrument in this modern times, it is possible to use the highest geodesic survey precision determines the seat of measured target point
Mark.But the large area target measurement the most disadvantageously, such as utilizing total powerstation means and the laser scanner in target
Measurement process to compare the used time oversize.
Summary of the invention
Therefore, the present invention problem solved is to provide a kind of attachment device, this attachment device and basic device phase interaction
With being capable of pointwise collection surface that is more rapid and that improve.
Another solved by the present invention has a problem in that and provides the measuring instrument of a kind of improvement, except the height essence of instrument self
True impact point determines outside probability, and this measuring instrument can also realize for repeatedly accurately impact point determines the used time shortly
The function of the multiple impact point of Quick Acquisition.
Be further problem is that so extension is according to the measuring instrument of prior art by what the present invention solved, i.e. to this measurement
Instrument additional offer scan function.
Measurement system according to the present invention has measuring instrument especially total powerstation, theodolite or laser tracker, this measurement
Instrument has pedestal, be placed on described pedestal and can be around the structure of pivot axis and aim at unit and especially aim at prestige
Remote mirror, wherein this aiming unit at least has the transmitter unit for sending the first laser beam and for measuring the distance to target
The first distance measurement function, described transmitter unit limit optical laying axis.It addition, this measuring instrument has the first angular surveying merit
Can, this first angle measuring function gathers at least one angle of pivot for height-precision ground, and this angle of pivot is relative by described structure
It is pivoted relative to each other what position limited in pedestal.Process and for measuring system it addition, this measurement system also has for data
The control of control and processing unit.
It addition, this measurement system has the scan module including fixed mechanism, this fixed mechanism is for solid by scan module
Fixed to the bearing corresponding to fixed mechanism, described scan module also includes Beam steering elements, and this Beam steering elements is used for making
Scanning laser beam deflects, and described Beam steering elements can be around pivot axis in the way of motor driving, wherein this rotary shaft
Line becomes predetermined angular and especially vertical with described pivot axis relative to pivot axis under receiving state, and described scan module is also
Including the second angle measuring function, this second angle measuring function is for determining rotation according to the Angle Position of light deflection element
Angle.It addition, this measuring instrument has the bearing of so composition, i.e. described scan module can be by described bearing and fixed mechanism
Interact and be fixed on measuring instrument according to the location of regulation in modular fashion.Described control and processing unit are the most such
Constitute, i.e. will be closed for the corresponding angle of rotation of a point in target, corresponding angle of rotation and corresponding distance
Connection, thus limited by described association and put position accordingly, and the some cloud with multiple described some positions can be produced.
Utilizing such measurement system, rotational motion and scanning incident thereon by deflecting element (such as mirror) swash
The deflection of light beam, can limit laser plane or the laser region of especially high-order.The scan module rotated wherein due to mirror
Pivoting around the second axis by the measuring instrument as pivoting device, therefore laser plane can offset now continuously, thus can
To be scanned surrounding continuously by the laser beam launched.It addition, for laser beam incidence, reflected and come by detector
Detect to carry out each point of range measurement, utilize two inclinometers to determine that laser beam is on the one hand relative to scan module and another
On the one hand relative to measuring instrument pedestal send direction.Range measurement the most such as can be according to phase measurement principle or utilization
Transition time determines to perform.By utilize control and processing unit is carried out respectively with the measurement angle being associated of a point and
The association of corresponding distance variable, can produce array of values, and here, each array represents the coordinate of measured point.Such as, may be used
So that the angle and distance obtained simultaneously or within specific period or according to certain time interval is associated.For
The point cloud embodying test environment can also be produced by the association of multiple such array of values.According to the present invention, such structure
Become this scan module, i.e. this scan module can take off from pivoting unit or can utilize exclusively for this in modular fashion
And the fixed mechanism set is placed thereon.Now, such as, there is the pedestal being permanently connected with spider and be installed on pedestal
Go up and can fill as the pivot for the measurement system according to the present invention relative to the stand of the structure that pedestal is pivoted
Put.Furthermore it is possible to arrange multiple bearing on such device, each bearing is all applicable to receive scan module, thus in institute
Stating and produce regulation connection between parts, this connection can be separated again in a simple manner decoupled.The bearing being applicable to this is solid with corresponding
Determine mechanism to interact according to plug-socket principle and constitute in principle.
Especially in accordance with the present invention, this scan module can have beam channel unit, and described aiming unit can
So it is directed at, i.e. the first laser beam can be coupled this scanning of input by beam channel unit when coupling input
Module, and this first laser beam can enter as scanning laser beam around pivot center in a rotating manner by Beam steering elements
Horizontal deflection, wherein, the scanning laser beam reflected at target can be by this beam channel unit from scan module
It is coupled out.
According to the present invention, the scan module of this measurement system can also have the collecting unit of so composition, i.e. in coupling
The incident position of the first laser beam being deflected by described collecting unit by described Beam steering elements under the state of input
Putting can be collected on described collecting unit, wherein, can produce instruction scan module relative to measuring instrument according to this incoming position
The positional parameter of relative localization, especially can revise described some position by positional parameter at this.
In the layout that scan module is arranged on measuring instrument, the fixed mechanism of this scan module and measuring instrument here
Bearing connects in a detachable fashion, can by aim at the first laser beam of sending of unit can be by the restriction of this aiming unit
Alignment is so directed at, i.e. light beam is introduced on this beam channel unit and penetrates or couple defeated by this beam channel unit
Enter in this scan module.This beam channel unit is that this such as can be constituted with special light transmissive material, so that measuring instrument
Transmitter unit have specific wavelength those radiation through described material.Described laser emission is the most such as by mirror, rib
Mirror and/or lens are directed to Beam steering elements, and are deflected according to special angle there and penetrate from scan module.Cause
This, by the rotation of Beam steering elements (with by pivoting while measuring instrument) and the transmitting of light beam, reflection in target
And receive, it is possible to achieve the scanning of target.The light beam that reflected thus can be corresponding with launching light path mode from scanning mould
Block is coupled out and can be coupled in this measuring instrument of input, because of and be received at measuring instrument, therefore, it is possible to by taking aim at
The distance measurement function of quasi-unit measures the distance to target.
It addition, according to the present invention it is possible to by by the specific collection unit in scan module side, such as pass by face type
Sensor (such as CMOS or ccd array) gathers the laser beam that sent by measuring instrument and determines and may be used to perform scan module at measuring instrument
On the parameter of determination of location.For example, it is possible to (depended on by the deviation of the incoming laser beam of the picture centre relative to collecting unit
According to direction with to the distance at center) obtain about the scan module position relative to measuring instrument and the information of orientation.The most true
The measurement signal of fixed parameter or generation can be supplied to control with processing unit to determine (such as revising) parameter.It addition, this
A little references are used for again the presumable compensation of measured value, or available figure is displayed to user the most over the display,
So that user can carry out the position correction relative to each other of both parts (measuring instrument and scan module).
It addition, according to the present invention, described scan module can have for sending the second laser as scanning laser beam
Light beam source, and described scanning laser beam can be by Beam steering elements to deflect in the way of pivot axis, especially
Being wherein, described scan module has the second distance measurement function for especially carrying out range measurement by scanning laser beam.
By this light beam source is arranged in such as scan module, independently can send for scanning target with measuring instrument
Laser beam, and need not perform to input in this scan module light beam coupling to provide scan function.It addition, scan module can have
There is another distance measurement function, and the distance to target can be measured by receiving the scanning light beam reflected at scan module.
Thus in this collocation form, angle of rotation and distance can be determined in scan module side.Angle of pivot may utilize this measuring instrument and comes really
Fixed.
In general, this angle of pivot can be transferred to be allocated in the control of scan module and processing unit and can enter there
The association of row angle of pivot, angle of rotation and distance, continue with and/or provide.Especially, angle of rotation and distance can be transferred to point
The control of measuring instrument and processing unit and can be associated in measuring instrument side and provide be provided.And, be used for associating, process and/
Or the data provided can be supplied to have and control and the mobile or fixed unit of processing unit, such as working computer, notes
This computer or the remote control unit for system.It addition, data transmission can mode based on cable, by radio, WLAN, red
Outward or carried out by bluetooth.
Especially, measurement system can have at least one distance measuring sensor for measuring scanning mould under receiving state
Block and the spacing of measuring instrument, to produce instruction scan module another positional parameter relative to the relative localization of measuring instrument.
Utilize such sensor, can be accurately determined the scan module relative position on measuring instrument, especially when
When being provided with three (the most point-blank) such sensors in order to described position determines.Therefore, the distance between parts
Can be measured and such as can determine parts relative tilt relative to each other by the distance that is mutually related.Thus, if
Know position and the alignment of measuring instrument, then can determine the alignment of scan module by sensor clearly and exist at scan module
If by suitable in the case of regulation location on measuring instrument, the position of scan module.According to these measurement results, can be such as
There is provided about position and the information of alignment for this system according to the parametric form of regulation, and described information is especially controlling and place
Reason cell side is such as further processed to coordinate to be determined is compensated or adjusted.
It addition, according to the present invention, this measurement system can have the centralising device being at least made up of two parts, this centering
Device is for being positioned at measuring instrument by scan module in the prescribed manner, and wherein first component is associated with scan module, and second
Parts are associated with measuring instrument, wherein, can carry out measurement and positioning precision by sensor, and described sensor is used for determining first
Parts are relative to the relative localization of second component.
In order to enable the position according to regulation and brigadier's scan module be fixed on measuring instrument or puts it briefly to be fixed on and have
Can be relative on the pivoting device of the structure of pedestal pivot, this centralising device can be integrated in measurement system or be placed in it
On.The interaction of first component and second component by making described centralising device, the most corresponding parts are allocated
To scan module, another parts are assigned to measuring instrument or pivoting device, can be arranged on measuring instrument by scan module
Time obtain high installation accuracy.Furthermore it is possible to arrange sensor, can determine that the distance between aligning parts by these sensors
And it is thus determined that accuracy of alignment.Such centralising device such as can be by the bearing pin as first component with as second component
Bearing forms, and described bearing is configured to accurately receive bearing pin, especially in the case of error of abiding by the regulations.It addition,
Towards on the side of the bearing pin bearing of bearing pin under Shaft alignment state, sensor can be set for measuring the distance to bearing pin.
Known to one, there is the detachable accurate bindiny mechanism of zero-lash forced centering function as the bottom being connected to theodolite
On the interface of spider and known.Scan module can construct according to similar manner with the connection of measuring instrument.
It addition, according to the present invention, this measurement system can have the photographing unit for gathering image.Utilize described photographing unit
Can capture the image of environment to be measured or target, here, information acquired in the picture can be used for representing target or its
The feature on surface.By image information and measurement data interrelated produced in scanning process, can be especially with point-like
Mode is differentiated, is derived and process additional object characteristic further.And, photographing unit so disposes and is formed in measurement system
In, i.e. the collection of image is carried out by Beam steering elements, say, that incident illumination can be drawn by Beam steering elements
On photographing unit.It addition, this Beam steering elements can be realized by mirror and especially polygon prism.Therefore, the deflection of laser beam
According to the structure of mirror and can carry out relative to the relative tilt of the incident direction of laser beam by predetermined angular.It addition, swash
Light beam thus can repeat deflection in a full circle of the rotation of polygon prism.
It addition, according to the present invention, this scan module is relative to the gradient of measuring instrument or vert can be by (using scan module
And measuring instrument) scan notable structure and determine, wherein relative inclination is according to representing notable structure and scan module produces
Scanning element cloud with represent notable structure and the measurement pointcloud that utilizes measuring instrument to produce is compared to determine.
The invention still further relates to the scan module according to the present invention for the measurement system according to the present invention, this scan module
Including: Beam steering elements, this Beam steering elements is used for making scanning laser beam deflect, and described Beam steering elements can be with motor
The mode driven rotates around pivot center；And angle measuring function, this angle measuring function is for according to described light beam
The angle position of deflecting element determines angle of rotation.It addition, scan module has fixed mechanism, this fixed mechanism will be for scanning
Module is fixed to the bearing corresponding with this fixed mechanism, wherein this scan module can by this fixed mechanism be arranged in measuring instrument
And the especially interaction of the bearing on total powerstation, theodolite or laser tracker and determining according to regulation in modular fashion
Position is fixed on measuring instrument.It is transferred to angle of rotation measure system according to the present invention it addition, scan module designed to be used
Control and processing unit.
Such scan module the most such attachment scanner can come around pivot axis by making laser beam
Producing laser plane, here, the light beam that the laser beam launched and target are reflected all can be drawn by Beam steering elements
Lead or be drawn towards target from light beam source according to the measurement direction of regulation and guide detector into from target.Pass through combined angle
Measure sensor it may also be determined that light beam each spontaneous emission and receive direction.If then measured to some points by laser beam
Distance and these distances are associated with existing angle when measuring, then can be according to each distance-angle combinations
Determine the coordinate of respective objects point and collect or accumulate produce a cloud by what these were put.It addition, this scan module is permissible
Fixed mechanism is utilized to be positioned and fixed on device, particular by the holding device arranged for this.Utilize this device, scan mould
Block can pivot around the second axis of the pivot center being perpendicular to Beam steering elements or rotate, and here, therefore makes laser plane
Correspondingly pivot, and therefore can perform to produce the point of the some cloud measuring environment pivoting through or the target pivoted away from
Cloud.The data especially angle of rotation now produced in scan module side is provided to control and processing unit, such as total powerstation, with
Angle of rotation is associated with angle of pivot and distance.
It addition, according to the present invention, scan module can have for coupling input and/or the light of coupling output scanning laser beam
Beam passage unit, so that the scanning laser beam at least coupling input can be by Beam steering elements with around pivot axis
Mode deflect.Thus one, laser beam can inject scan module such quilt from light beam source separate with scan module entity
Guide, i.e. light beam is used as scanning laser beam and available Beam steering elements is deflected.Range measurement relative to target
Now can also carry out by the laser beam of coupling input.To this end, the light beam that target is reflected again can be at scan module side quilt
Receive, Beam steering elements be deflected and be coupled out by the beam channel unit such as formed with light transmissive material, from
And the light beam of coupling output is gathered by detector to carry out range measurement.
Especially, according to the present invention, scan module can have the collecting unit for gathering laser beam, wherein this collection
Unit has the distance measurement function for measuring the distance relative to target and/or for determining that scanning laser beam is on a sensor
The position sensing type sensor of incoming position.It addition, according to the present invention, scan module can have for sending scanning laser beam
Light beam source, and this scanning laser beam can be by Beam steering elements to deflect in the way of pivot axis.Utilization is swept
Retouch these embodiments of module, it is possible, firstly, to independently send light with exterior light electron gun, secondly, also with additional diastimeter without
Close ground and determine range measurement.Combine with these embodiments, the rotation of point in target can be determined with scan module
Both angle and distance.Light beam source now can so send laser beam, i.e. laser beam incides on Beam steering elements, from that
In deflect in target.Furthermore it is possible to arrange other light beam to guide mechanism, these light beams guide mechanism so to guide and are sent
Light beam, i.e. light beam is incided on Beam steering elements, and the laser beam the most then reflected be guided to detection
Device.Laser beam sources the most such as can send the laser beam being as far as possible directed at or the divergent beams widened with limiting mode.
The present invention retouches module and can also have the data-interface of so composition, i.e. this data-interface can by information and
Especially angle information and/or range information is transferred to the instrument being connected by fixed mechanism with scan module from scan module
And especially measuring instrument, wherein, described information can be transmitted between scan module and instrument.Utilize such data
Interface, will can be such as transferred to the processing unit of measuring instrument by angle of rotation determined by scan module, and there can with respectively
Angle of rotation and the range information of point are associated.By such association, the coordinate for each point can be produced respectively.It addition,
Reverse data transmission can be carried out from measuring instrument to scan module, and the process of information can utilize in scan module side corresponding
Control and processing unit performs.
According to the present invention, this scan module can have for data process and for controlling the alignment of Beam steering elements
Control and processing unit, wherein this control and processing unit are so constituted, i.e. obtain produced by measuring instrument angle of rotation letter
Cease and especially indicate after the range information of the distance of target, will be for the corresponding rotation of a point in this target
Angle, corresponding angle of pivot and corresponding distance are associated, thus by putting position accordingly in described association this target of restriction.
It addition, the some cloud with multiple some position can be produced.
Especially, can have inclination sensor and/or for gathering the photograph of image according to the scan module of the present invention
Camera.Therefore, by this inclination sensor, it may be determined that the location of scan module, especially with the location of measuring instrument and right
Accurate unrelated, and make scan module can enter assigned position.Such as, therefore can set by level indicator or check module
Levelling, or compensation or the correction of obtained point coordinates can be carried out by electrical tilt degree measuring instrument.It addition, utilize additional setting
The photographing unit put, such as, can gather the image of following environment, and described environment is by scan module or by the pivot of laser plane
Turn collected.Now can be by multiple image split be produced panoramic picture, this image shows whole measurement environment.Separately
Outward, image information can be associated and therefore produce the additional surface letter of measured target with data produced by scan module
Cease such as color, profile or reflective.
The invention still further relates to a kind of measuring instrument for the measurement system according to the present invention, this measuring instrument is stood the most entirely
Instrument, theodolite or laser tracker, and this measuring instrument has pedestal, is placed on pedestal and can be around the structure of pivot axis
Making and aim at unit, this aiming unit especially finder telescope, wherein this aiming unit at least has: be used for sending laser
The transmitter unit of bundle, described transmitter unit limits optical laying axis；With the range finding merit for measuring the first distance to target
Energy.It addition, this measuring instrument is provided with angle measuring function, this angle measuring function is for gathering by structure phase this described accurately
Pedestal is pivoted relative to each other at least one angle of pivot that position limited.
This measuring instrument has the bearing of so composition, i.e. scan module can be by this bearing and the fixing machine of scan module
The phase of structure is fixed on measuring instrument according to the location of regulation in modular fashion to effect.It addition, be provided with such composition
Data-interface, i.e. this data-interface especially can obtain information from scan module and especially angle information and/or distance is believed
Breath, is additionally provided with and processes and for controlling control and the processing unit of measuring instrument for data, and wherein this control and processing unit are such as
This structure, i.e. obtaining the angle of rotation information produced by scan module and the distance especially indicating the second distance to target
After information, by for the corresponding angle of rotation of a point in this target, corresponding angle of pivot and corresponding first distance or
Second distance is associated, thus is limited by this association and put position accordingly in this target.It addition, can produce have many
The point cloud of individual some position.
Utilize the measuring instrument according to the present invention, can be by producing so with the combination of the scan module according to the present invention
System, this system has merged the advantage of the such as laser scanner advantage especially in terms of measuring speed and total powerstation inherently
Advantage especially certainty of measurement in terms of advantage.By this measuring instrument, such as can measuring target point accurately accurately
Ground determines its coordinate.If but such as need quick overview scanning circumstance to carry out being orientated, aiming at roughly or formulate pattern model,
Then the scan module being arranged on measuring instrument can be made to utilize driving means to be pivoted to make because of significantly higher measuring speed
Aiming unit is directed at, thus can perform quick environmental scanning.This measuring instrument thus the Account Dept of measurement system can be formed
Part, scan module can designed to be used this scan module of pivot with the combination of this system unit and this system unit.Can for this
To arrange the fixing bearing of the fixed mechanism corresponding to scan module.
Another aspect of the present invention relates to a kind of scan method for producing a cloud, and this scan method includes:
Send scanning laser beam；
Make described scanning laser beam to deflect in the way of pivot axis；
Making described scanning laser beam around a pivot axis, this pivot axis becomes regulation relative to described pivot center
Angle and especially vertical with described pivot center；
At target after reflection, receive described scanning laser beam；
Measure the distance of extremely described target and determine angle of rotation and angle of pivot respectively；
To carry out for the corresponding angle of rotation of a point in described target, corresponding angle of pivot and corresponding distance
Association, thus by described association restriction described target on put position accordingly；And
Produce the some cloud with multiple described some position.
In this case, deflect described scanning laser beam the most in a rotating manner to be made by sweeping according to of the present invention
Retouch what module was carried out.
Especially, it is possible to achieve the exchange of synchronizing signal is to control or to coordinate the measured value of sensor (such as target
On the angle of rotation of a point, angle of pivot, distance) corresponding association.
Present invention also offers a kind of computer program including program code, described program code is stored in can machine
On the carrier read, if the electricity that especially this program is constituted at control and the processing unit as the measurement system according to the present invention
On subdata processing unit run, the most described computer program for control or perform according to the present invention be used for produce a little
The scan method of cloud.
Accompanying drawing explanation
The detailed description of the invention being schematically shown below in conjunction with accompanying drawing is illustrated merely the detailed description method of the present invention, the present invention
Measurement system, the scan module of the present invention and measuring instrument, the most also introduce the further advantage of the present invention, accompanying drawing specifically illustrates
:
Fig. 1 a to 1d is shown respectively the embodiment of the scan module according to the present invention；
Fig. 2 a to 2d is shown respectively the measurement system according to the present invention including measuring instrument and scan module fixed thereon
System；
Fig. 3 illustrates another embodiment of the measurement system according to the present invention including measuring instrument and scan module, scanning
Module has range sensor and the laser beam causing on detector；
Fig. 4 a to 4c illustrates another embodiment of the measurement system according to the present invention including centralising device；
Fig. 5 illustrates and utilizes the measurement process calibrated according to the measurement system of the present invention；
Fig. 6 a to 6b is shown respectively another reality of the measurement system according to the present invention including pivoting device and scan module
Execute mode；
Fig. 7 illustrates the measurement system according to the present invention of the GNSS module including pivoting device, scan module and attachment
Another embodiment.
Detailed description of the invention
Fig. 1 a to 1d is shown respectively the scan module 10 according to the present invention or the embodiment of attachment scanner, described attachment
Scanner utilizes fixing device 18 to be arranged on pivoting device (such as theodolite or total powerstation), and described attachment scanner because of
And this device can be expanded to possess scan function.
In the first embodiment (Fig. 1 a), attachment scanner 10 has the mirror 11 as deflecting element, and this mirror can be around water
Flat axis 12 rotates, and here, this rotates through motor 14 and realizes and can gather rotation with angle measuring sensor 13
Angle.It addition, module 10 is equipped with laser module 15, it is especially equipped with the light beam source for launching laser beam (such as laser two
Pole is managed) and for detecting the reception unit of the laser emission reflected.The laser beam sent can pass through beam steering elements 17
It is aligned on mirror 11, and is registered to therefrom on a measurement point.It addition, attachment scanner 10 is equipped with photographing unit 16, should
The image field of photographing unit is introduced on mirror 11 also by this beam steering elements 17 and guides to therefrom measure on the direction of point.
In the second embodiment of the scan module 10 according to the present invention (Fig. 1 b), attachment scanner 10 has light beam and draws
Guiding element 17a, arrives the laser beam deflection that (at this from below) is registered on scan module 10 by this beam steering elements 17a
On mirror 11, and deflect into therefrom on measurement point.Utilize this embodiment, from the external source not being located in scan module 10
Laser beam may utilize the building block of module 10 and is deflected and can be used for scanning.And, the spoke receiving with mirror 11 and reflecting
Penetrate and can be directed on the detector being also located at outside.Therefore, scan module 10 may be implemented as the laser not having himself
Device module 15.The rotation of mirror 11 can be realized by motor 14 again, and the measurement of each angle of rotation realizes by inclinometer 13.
It addition, in this embodiment, be provided with locking device 19, can by this locking device in suitably location by scan module 10 example
As coupled together with measuring instrument, or can accurately carry out the coupling input of laser beam by this locking device.
In the 3rd embodiment (Fig. 1 c), attachment scanner 10, can be by this light beam equipped with beam steering elements 17b
Induction element 17b will on the laser beam deflection being registered to from below in module 10 to mirror 11 and deflect on measurement point therefrom.
Here, rotating mirror 11 is arranged prejudicially relative to the vertical pivot axis 22 of pivoting device.It addition, scan module 10 has again
Have for driving the motor 14 of described rotation and for determining the inclinometer 13 of the angle of rotation of mirror 11.In addition it is shown that light
Beam passage unit 9, can be by this beam channel unit by laser beam coupling input and coupling output scan module 10.To this end, light
Beam passage unit 9 such as can be formed with light inlet window, and light beam can transmit by this light inlet window because of specific transmission performance.
Fig. 1 d shows the 4th embodiment of scan module 10, and the laser beam being registered in module 10 the most from below is straight
Accessing and be mapped to available motor 14 on the polygon prism 11a that pivot center 12 rotates, polygon prism makes light deflect.Light beam leads to the most again
Cross beam channel unit 9 to be coupled in this scan module of input.Laser beam can be produced by exterior light electron gun, and reflected radiation can profit
Being introduced to be similarly disposed on the detector of outside with polygon prism 11a, this detector such as may be provided in measuring instrument, and thus one
Coming, scan module 10 is configured to without laser module 15.In this embodiment, angle measuring function 13 it also is provided with
Determine angle of rotation.
Fig. 2 a illustrates the first embodiment of the measurement system 50 according to the present invention, wherein, scan module 10 and measuring instrument
20 (such as theodolite or total powerstation) combines.Scan module 10 is now corresponding to the module as shown in Figure 1a according to the present invention
10, this module 10 has illuminator 11, inclinometer 13, motor 14, pivot center 12, laser module 15 and photographing unit 16.This
Time in scanning process, attachment scanner 10 mirror 11 can be around horizontal axis 12 with high-speed rotation.
The whole top of measuring instrument 20, is i.e. designed to receive the superstructure 20a of scan module 10, now can be same
Time with relatively low velocity around vertical pivot axis 22 relative to measuring instrument 20 pedestal 20b pivot or rotate.This can be by being located at survey
Motor 26 in amount instrument 20 realizes.In scanning process, can be sent laser beam 60 by laser module 15, this laser beam leads to
Cross beam steering elements 17 to be directed on mirror 11 and be the most such as directed on measurement point.By this laser beam 60, its
Reflection on surface and the collection by detector, thus the measurement of the distance measuring point that can realize to this surface.Survey
Amount point coordinate can according to measure distance and according to the vertical angle angle of rotation in other words collected by angular transducer 13 with
And the horizontal angle angle of rotation in other words determined by the angular transducer 24 being located in pivoting device 20 is calculated.Measuring instrument 20 is also
Having aiming unit 30, especially telescope, described aiming unit can pivot around the second vertical axis 21 or rotate.Aim at unit
The pivot of 30 now can utilize another motor 25 to realize, and here, can measure other pivot with angular transducer 23
Corner.
Fig. 2 b illustrates the second enforcement including being attached the measurement system 50 according to the present invention of scanner 10 and measuring instrument 20
Mode.Now, the telescope 30 of measuring instrument 20 can upwards be basically parallel to its vertical axis 22 be directed at and utilize locking dress
Put 19 and be kept or be fixed on this position.In order to be scanned, laser beam 60 can be from the generating laser 27 in telescope 30
It is introduced to be attached on the beam steering elements 17a in scanner 10 by the optical deflection element which 29 in telescope 30 and therefrom
It is introduced on its mirror 11 and is introduced to the most further measure on point.Now, the mirror 11 of attachment scanner 10 is around rotation
Axis 12 is with high-speed rotation.The superstructure 20a of measuring instrument 20 can pivot with relatively low velocity around vertical axis 22 or rotate simultaneously.
Here, the coordinate measuring point can also be according to measuring distance and according to the angle of rotation gathered by angular transducer 13 with by angle
The angle of pivot that degree sensor 24 determines calculates.To this, for corresponding point of measuring such as by being located in measurement system 50
Angle of rotation, angle of pivot and distance are associated by processing unit.In scanning process, the image field of the photographing unit 28 of measuring instrument 20 can
With by element 17 or 29 and 17a and mirror 11 be aligned on this measurement point, and gather view data.
Fig. 2 c and 2d illustrates and includes measuring instrument 20 and scan module respectively corresponding to the embodiment according to Fig. 1 c and 1d
Third and fourth embodiment of the measurement system 50 according to the present invention of 10.The two embodiment of measurement system 50 utilizes
Laser beam 60, this laser beam sends by the light beam source 27 (especially laser diode) aiming at unit 30 and is directed into scanning
In module 10.To this end, be respectively provided with a beam channel unit 9.According to the difference of embodiment, beam channel unit 9 such as can
Form with mirror protection mechanism or for the mechanism in the visual field of megascope 28 is constituted.Light beam 60 can be by light beam steering
Element 17b is introduced on mirror 11 or on polygon prism 11a and can be introduced on surface to be measured.In figure 2 c, this phase of laser beam 60
Pivot axis 22 is sent prejudicially from illuminator 11, here, the laser plane being parallel to axis 22 location can be produced.
In order to realize measuring, can will adopt in the same time or by the time interval that can be distributed each other of regulation
All angles and the distance of collection are associated.Such as in the embodiment according to Fig. 2 a, this collection so can be controlled by measuring instrument
System, i.e. when utilizing angular transducer 26 to carry out horizontal angle surveying, is sent to attachment by data-interface by triggering signal and scans
Instrument 10, triggers signal and triggers measurement and the measurement of distance at the vertical angle utilizing angular transducer 13 to carry out there.It addition,
When measuring vertical angle and distance, attachment scanner 10 can send triggering signal to measuring instrument 20, and starts water there
While straight angle measurement, triggering or the horizontal angle surveying in specific time interval trigger.And, such as can put survey every time
Amount sends continuously trigger signal or on the angle position of regulation especially such as mirror 11 every turn in its extreme lower position
One circle is issued by once triggering signal.Especially measurement data can in be inserted in triggering signal between.
Can be transferred to survey by data-interface by measurement data determined by scan module 10 (vertical angle and/or distance)
Amount instrument 20, there, they are stored together with the horizontal angle determined by measuring instrument 20.Especially, at measuring instrument 20
Control and processing unit in, point coordinates can be calculated according to angle and distance and described point coordinates can be stored.
Alternatively, it is also possible to expect sending horizontal angle to attachment scanner 10, there, described horizontal angle from measuring instrument 20
Can together with vertical angle and distance be stored in memory module or utilize the corresponding control of attachment scanner 10 with
Processing unit therefrom calculates point coordinates.If such as with relatively low measurement frequency collection and transmission horizontal angle, then can process
In unit, interpolation measures angle, so that the most less amount of angle value must be transferred to be attached scanner from measuring instrument 20
10, such as mirror 11 or the vertical every revolution of polygon prism 11a only transmit a value.Furthermore, it is possible to before data transmission or storage
Measure the compression of data or point coordinates, such as by filtering.Utilize angle to trigger and can realize effectively data compression,
Here, the angular transducer of fast axle 12 is trigger source.In the case, only storage comprises the less measurement angle of slow axis 22
Range measurement value sequence the most much of that.A position and associated can be produced by such measured value sequence substantially reduced
Some cloud.
It addition, horizontal angle can be from attachment scanner 10 be sent to from measuring instrument 20 and vertical angle and distance
Portion's processing unit (such as mobile remote control device), this external processing unit is neither in measuring instrument 20, the most not at attachment scanner
In 10.
Measuring instrument 20, attachment scanner 10 and such as controller between communication can by line connect, by nothing
Line electricity (such as bluetooth or WLAN) and/or realized by optical interface, inductive interface or capacitive interface.To this end, can be in basis
At the separate part of the measurement system 50 of the present invention, suitable transmitting and receiving unit is set.It addition, the energy of attachment scanner 10
Amount supply by the battery of one or can be realized by electrical conductive communication by measuring instrument 20.
High accuracy in order to ensure the measurement of coordinates for carrying out by scan module 10, it may be determined that scan module 10
Externally-oriented.To this end, scan module 10 can regulation position (the most known three translation parameterss) and by specify right
Accurate (the most known three rotational parameters) are installed on measuring instrument 20.Measuring instrument 20 can also be calibrated to measure environment, especially
It is the aiming of the aiming point by having known coordinate, the position of the most known measuring instrument 20 and alignment.Furthermore it is possible to pass through
Sensor is known and assigned position and/or the deviation that is directed at, and such as takes in when the coordinate of computation and measurement point.By rule
Fixed position and/or the installation of alignment the most such as can be realized by mechanical type fixed mechanism or centralising device, whereby may be used
Realize high position precision.
In addition to utilizing the scanning process of scan module 10, measuring instrument 20 can also be utilized to carry out " scanning " simultaneously.This
Time, telescope 30 can be to rotate around horizontal axis 21 than relatively low speed.Horizontal angle now may utilize angular transducer 24 and surveys
Amount, and vertical angle may utilize angular transducer 23 and measures, distance determines by laser module 27.Can from these measurement data
To calculate the coordinate measuring point that can collectively form a cloud.
The most after the scanning, two some clouds can be there are.First cloud has high-resolution but precision is low and be profit
Obtaining with scan module 10, second point cloud has low resolution but precision is high and produced by measuring instrument 20.Thus can
To detect or to revise the systematic error of such as scan module 10 by comparing the two point cloud.
If attachment scanner 10 does not have the photographing unit of self, then can be by being arranged on the photographing unit on measuring instrument 20
28 carry out image capturing.To this end, in the period utilizing attachment scanner 10 to be scanned process, looking in the distance of measuring instrument 20 can be made
Mirror 30 pivots with low speed around its horizontal axis 21 or rotates.In conjunction with in telescope 30 photographing unit 28 (at axle photographing unit,
That is, photographing unit 28 gathers image the most coaxially corresponding to the alignment of laser 60) image can be captured, can gather meanwhile
The horizontal angle of telescope 30 and vertical angle.By these angles, can be in the known feelings in the position of attachment scanner 10 and alignment
Under condition, view data is associated with scan data.Can be equipped with overview photographing unit it addition, measure system 50, wherein overview photograph
Facility have the visual field bigger according to camera 28, and thus can gather the measurement environment of larger area.The image obtained whereby
Output especially can provide about the orientation of target on region and the attendant advantages of aiming to user.
Fig. 3 shows the measuring instrument 20 of the scan module 10 with the embodiment according to Fig. 2 a, is wherein attached scanner
10 equipped with additional optical element 31 (such as lens or light filter), to guarantee to be applicable to determine the laser spots on photographing unit 16
The optical imagery of position.It addition, be provided with distance measuring sensor 32 to determine position and alignment parameter.If it is different at least three
(the most point-blank) place, position utilize such sensor 32 gather attachment scanner 10 and measuring instrument 20 between away from
From, then can derive vertical distance and the fore-and-aft tilt degree of scan module 10 and sideways pitch from these measurement results.
Can so determine additional parameter, i.e. drawn through mirror 11 and beam steering elements 17 from measuring instrument 20 by laser beam 60
On the photographing unit 16 of scan module 10, this photographing unit can have position sensing type sensor.To this, the telescope of measuring instrument
30 are parallel to vertical axis 22 is upwards directed at, and the illuminator 11 being attached scanner 10 is directed at downwards.These parameters can from
The position of the laser spots obtained in the capture image of position sensing type sensor is derived.On the contrary, laser beam 60 can also be from
The laser module 15 of attachment scanner 10 is imaged onto in the camera sensor 28 of measuring instrument 20 and can be by laser spots
Offset parameter and angle parameter are derived in position.To this end, camera sensor 28 can also be constituted also with position sensing form
It is estimated.
Especially, such as in the case of telescope 30 is parallel to vertical axis 22 coarse alignment, can be in rough alignment
In the case of know angular deviation with angular transducer 23, and such as take in coordinate calculates.It addition, measuring instrument 20
(such as aiming-line error and/or the correction of axis based error of verting) and the calibration parameter of attachment scanner 10 can shadow concomitantly
Ring described calculating.
It addition, attachment scanner 10 can be equipped with inclination sensor, this inclination sensor gathers about gravitational field
Longitudinal direction and the gradient of horizontal direction.Described sensor can be used for regard to pivot axis (vertical axis) and vertical side
To deviation for revise attachment scanner measurement result.Furthermore it is possible to according to attachment scanner 10 measurement gradient and
The difference of the gradient determined by the inclination sensor of measuring instrument 20 calculates the attachment scanner 10 phase relative to measuring instrument 20
To gradient.
It addition, attachment scanner 10 can be on the one hand another by attachment scanner 10 relative to the level of measuring instrument 20 pivot
On the one hand scanning notable structure (as vertically identified edge) by measuring instrument 20 to realize, wherein this differential seat angle can be based on now may be used
The horizontal-shift of two the some clouds obtained determines.
Attachment scanner 10 may be fitted with memory module, so that the measurement data obtained can directly exist
In attachment scanner.Concurrently, the measurement data of measuring instrument 20 can exist on the memorizer being located at there.Attachment scanning
The synchronization of instrument 10 and measuring instrument 20 can realize by triggering signal, and described triggering signal sends attachment to from measuring instrument 20 and sweeps
Retouch instrument 20 (or vice versa as the same).Now, this synchronization can be based on being received by measuring instrument 20 and attachment scanner 10 respectively
Time signal is carried out, here, and intermediate receiver when distributing to both parts respectively.Especially this synchronization can also pass through
Two gps receivers realize, and the two gps receiver receives gps time respectively, here, is respectively arranged with a gps receiver and sets
Put on measuring instrument 20 and attachment scanner 10.The time signal obtained can associate with measured value respectively (such as, measures number
According to can correspond to a timestamp) and utilize described association to attach troops to a unit to realize the follow-up of measured value.
Fig. 4 a shows the scan module 10 with measuring instrument 20, here, especially shows this herein in connection with Fig. 4 b and 4c
The mechanical caging of two parts or centering.The beam exit end 33 especially object lens of telescope 30 are now on the alignment it shown
So received by locking device 19, i.e. the lateral displacement achieved that by appropriately designed fixing device 18 thereby resulted in
Realize the centering relative to measuring instrument 20 of the attachment scanner 10.Especially Fig. 4 c shows locking device 19, wherein, attachment scanning
Instrument 10 is to be locked relative to the coarse localization of beam exit end 33 and to be obtained in that relative to reason by range sensor 34
The residual migration of opinion position, and this residual migration can be considered in the calculating that the coordinate measuring point determines.
Fig. 5 shows the measurement process utilizing the measurement system 50 according to the present invention, in particular for calibrating this system 50.
Can determine that following parameter in calibration, these parameters such as represent the mechanical deflection with theoretical geometry and are used for measuring
The calculating compensating or revising of value.(such as mirror 11 is relative to the angle of its pivot center 12 or laser beam 60 for internal calibration parameter
Angle of incidence on mirror 11) typically can manufacture at scan module 10 and determined later.These parameters can employ relatively at instrument
Check by corresponding method after over a long time, and can be modified if desired, in order to can ensure that the high accuracy of system 50.
It addition, following measurement can be used for especially in combination with the measurement carried out by additional sensor relative to determine attachment module 10
Externally-oriented in measuring instrument 20.
Perform following measurement to calibrate, these measurements can generally be used for determining calibration parameter by compensation calculation.
To this end, such as measuring instrument 20 can be made the aiming point 41 in quasi goal 70 with known distance.According to known distance and root
According to the angle gathered by angular transducer 23 and 24, it may be determined that the benchmark sighted direction 42 in the coordinate system of measuring instrument 20.
Meanwhile, mirror 11 can so be directed at the point 41 marked by laser beam 40, i.e. described point is imaged on scan module 10 as laser spots
In the image of photographing unit 16.By utilizing angular transducer 13 and 24 measure and determine in the camera images of capture
Laser spots 41 position, it may be determined that direction 43.The determination of calibration parameter can be by reference direction 42 and the direction 43 with multiple point
Relatively determine, wherein, quantity and the spatial distribution of the position of point to be determined depend on parameter to be determined.
Particularly advantageously for the measurement of same point 41 on two circumferential positions, say, that at this point first
After having measured on circumferential position, make measuring instrument 20 horizontally rotate 180 degree together with attachment scanner 10, make measuring instrument 20 subsequently
The mirror 11 of telescope 30 and attachment scanner 10 so vertically rotates, and can measure same point 41 on the second circumferential position.
The method also can the most so be carried out, i.e. attachment scanner 10 laser beam 60 mark a little 41 and with survey
Photographing unit 28 in amount instrument 20 gathers this point 41.
If the distance to this point is unknown, then laser module 27 can be utilized to perform range measurement.Can be according to this
Distance and determined the described point 41 coordinate in the coordinate system of measuring instrument 20 by angle determined by angular transducer 23 and 24.
The benchmark sighted direction 43 for being attached scanner 10 can be derived according to these coordinates.
If measuring instrument 20 and attachment scanner 10 the most do not have photographing unit, then the measurement required for calibration can be to change
Mode manually carry out.To this end, the laser beam 60 of attachment scanner 10 can be aligned to significantly put 41 and (such as aim at mark
Note) on.The most described angle utilizes angular transducer 13,24 to measure and it is thus determined that direction 43.By measuring instrument 20 around perpendicular
To the rotation of axis 22 and by telescope 30 around the rotation of horizontal axis 21, the laser beam 40 of measuring instrument 20 is precisely directed to
In same point, and described angle utilizes angular transducer 23 and 24 measure and thus derive reference direction 42.Telescope
30 to will definitely by make laser beam 40 and this substantially point 41 (such as point of aim mark) overlap or be taken aim at by the routine utilizing cross hairs
Standard realizes.The calibration parameter (such as ranging offset and/or distance scale) relating to being attached the range measurement of scanner 10 is permissible
Determine with the measurement of the distance of different distance to common ground according to utilizing measuring instrument 20 and attachment scanner 10.
Especially, scan module 10 can also be pivoted by vehicularized pivoting device 80 or rotate.Fig. 6 a and 6b
Another enforcement of the measurement system 50 according to the present invention with pivoting device 80 and scan module 10 is respectively illustrated for this
Mode.Fig. 6 a shows the attachment scanner 10 of first embodiment with pivoting device 80.Device 80 has lower section pedestal
80b and the superstructure 80a that can pivot around vertical axis 81, is wherein pivoted through motor 83 and carries out, and angle of pivot may utilize angle
Sensor 82 gathers.
For motorization pivoting device 80 the second embodiment as shown in Figure 6 b.Pivoting device 80 is further equipped with laser instrument
Module 84, photographing unit 85 and optical deflection element which 86.The scanning process utilizing said two embodiment can be similar to basis
The embodiment of Fig. 2 a and 2b is carried out.The two embodiment may be fitted with the inclination sensor of especially bidimensional
87, magnetic compass, display (especially touch sensitive display) and/or removable operating element.
Fig. 7 illustrates another embodiment of the measurement system 50 according to the present invention, and this measurement system has pivoting device
80, scan module 10 and attachment GNSS unit or GNSS antenna 90.Attachment scanner 10 can be that this is equipped with fixing device
18a is for installing this GNSS antenna 90.It addition, pivoting device 80 has the display 88 for showing information and is particularly useful for
The guidance panel 89 of input control instruction.
Obviously, these shown accompanying drawings only schematically show possible illustrative embodiments.These different doing
Method can also be mutually combined according to the present invention, and can also with for measuring surface or the system and method for target and existing
The measuring instrument of technology is combined.
Claims (32)
1. measuring system (50) for one kind, this measurement system has:
Measuring instrument (20), this measuring instrument includes:
Pedestal (20b)；
It is placed in the structure (20a) that described pedestal (20b) is upper and can pivot around pivot axis (22)；
Aiming at unit (30), wherein said aiming unit (30) at least has
For sending the transmitter unit of the first laser beam, described transmitter unit limits optical laying axis；With
For measuring the first distance measurement function of the distance to target (70)；And
First angle measuring sensor (24), this first angle measuring sensor is for gathering by described structure accurately
(20a) at least one angle of pivot limited relative to the position that is pivoted relative to each other of described pedestal (20b)；
Process and be used for controlling control and the processing unit of described measurement system (50) for data,
It is characterized in that,
Described measurement system (50) has scan module (10), and this scan module includes:
Fixed mechanism (18), this fixed mechanism is for being fixed to holding corresponding to this fixed mechanism by described scan module (10)
Seat；
Beam steering elements (11,11a), this Beam steering elements is used for making scanning laser beam (60) deflect, described smooth beam steering
Element can rotate around pivot center (12) in the way of motor driving, and wherein said pivot center (12) is relative under receiving state
Becoming predetermined angular in described pivot axis (22), described scanning laser beam (60) is by described transmitter unit or described scan module
(10) light beam source (15) in sends；And
Second angle measuring sensor (13), this second angle measuring sensor for according to described Beam steering elements (11,
Angle Position 11a) determines angle of rotation,
Described measuring instrument (20) has the described bearing of so composition, i.e. described scan module (10) can by described bearing with
The interaction of described fixed mechanism (18) and be fixed on described measuring instrument (20) according to the location of regulation in modular fashion
On,
Described control and processing unit are so constituted, i.e.
To close for the corresponding angle of rotation of a point in described target (70), corresponding angle of pivot and corresponding distance
Connection, thus limited by described association and put position accordingly；
The point cloud with multiple described some position can be produced.
Measurement system (50) the most according to claim 1, is characterized in that, described scan module (10) has beam channel list
Unit (9), and described aiming unit (30) can be so directed at, i.e. and described first laser beam is when coupling input
The described scan module of input (10) can be coupled by described beam channel unit (9), and this first laser beam is as scanning
Laser beam (60) can be carried out around described pivot center (12) in a rotating manner by described Beam steering elements (11,11a) partially
Turn.
Measurement system (50) the most according to claim 2, is characterized in that, described scan module (10) has such composition
Collecting unit (16), i.e. can be deflected by described when coupling input by described Beam steering elements (11,11a)
The incoming position of described first laser beam on collecting unit (16) can be upper collected at described collecting unit (16), wherein can
The location indicating described scan module (10) relative to the relative localization of described measuring instrument (20) is produced according to described incoming position
Parameter.
Measurement system (50) the most according to any one of claim 1 to 3, is characterized in that, described measurement system (50) has
By the centralising device being at least made up of two parts, this centralising device is for fixed by described scan module (10) in the prescribed manner
Position is on described measuring instrument (20), and wherein first component (19) is associated with described scan module (10), and second component (33) is attached troops to a unit
In described measuring instrument (20).
Measurement system (50) the most according to any one of claim 1 to 3, is characterized in that,
This measurement system (50) has at least one distance measuring sensor (32), and this distance measuring sensor is for measuring under receiving state
Distance between described scan module (10) and described measuring instrument (20), indicates described scan module (10) relative to institute to produce
State another positional parameter of the relative localization of measuring instrument (20), and/or
Described measurement system (50) has the photographing unit (16,28,85) for gathering image.
Measurement system (50) the most according to any one of claim 1 to 3, is characterized in that, described scan module (10) phase
Gradient for measuring instrument (20) can determine by scanning notable structure, and wherein said gradient is according to representing
Notable structure and the scanning element cloud that produces by described scan module (10) with represent described notable structure and utilize described
The measurement pointcloud that measuring instrument (20) produces is compared to determine.
Measurement system (50) the most according to claim 1, is characterized in that, this measuring instrument is total powerstation, theodolite or laser
Tracker.
Measurement system (50) the most according to claim 1, is characterized in that, this aiming unit is finder telescope.
Measurement system (50) the most according to claim 1, is characterized in that, described pivot center (12) under receiving state with
Described pivot axis (22) is vertical.
Measurement system (50) the most according to claim 2, is characterized in that, in the scanning of described target (70) place reflection
Laser beam (60) can be coupled out from described scan module (10) by described beam channel unit (9).
11. measurement systems (50) according to claim 3, is characterized in that, described some potential energy is enough by this positional parameter quilt
Revise.
12. measurement systems (50) according to claim 1, is characterized in that, described scan module (10) has for carrying out
Second distance measurement function of range measurement.
13. measurement systems (50) according to claim 12, is characterized in that, described scan module (10) have for by
Described scanning laser beam (60) carries out described second distance measurement function of range measurement.
14. measurement systems (50) according to claim 4, is characterized in that, can carry out measurement and positioning essence by sensor (34)
Degree, described sensor is used for the relative localization determining described first component (19) relative to described second component (33).
15. 1 kinds of scan modules (10) for measurement system (50) according to claim 1, this scan module includes:
Beam steering elements (11,11a), this Beam steering elements is used for making scanning laser beam (60) deflect, described smooth beam steering
Element can rotate around pivot center (12) in the way of motor driving；And
Angle measuring sensor (13), this angle measuring sensor is for the angle according to described Beam steering elements (11,11a)
Position determines angle of rotation,
It is characterized in that,
Described scan module (10) has fixed mechanism (18), this fixed mechanism for described scan module (10) is fixed to
The bearing that this fixed mechanism (18) is corresponding, wherein said scan module (10) can by described fixed mechanism (18) be arranged in survey
Measure the interaction of the described bearing on instrument (20) and be fixed on described measuring instrument according to the location of regulation in modular fashion
(20) on, and
Described scan module (10) designed to be used the measurement system according to claim 1 that is transferred to by described angle of rotation
(50) control and processing unit.
16. scan modules according to claim 15 (10), is characterized in that, described scan module (10) has for coupling
Input and/or coupling export the beam channel unit (9) of described scanning laser beam (60), so that at least couple the institute of input
Stating scanning laser beam (60) can be by described Beam steering elements (11,11a) in the way of rotating around described pivot center (12)
Deflection.
17., according to the scan module (10) described in claim 15 or 16, is characterized in that,
Described scan module (10) has the collecting unit (16) for gathering described scanning laser beam (60), wherein said collection
Unit (16) has the distance measurement function for measuring the distance relative to target (70) and/or is used for determining described scanning laser beam
(60) the position sensing type sensor of incoming position on a sensor.
18., according to the scan module (10) described in claim 15 or 16, is characterized in that, described scan module (10) has so
The data-interface constituted, i.e. information can be transferred to by described fixed mechanism (18) with described from described scan module (10)
The instrument (20,80) that scan module (10) is connected.
19., according to the scan module (10) described in claim 15 or 16, is characterized in that, described scan module (10) have for
Data process and are used for controlling control and the processing unit of the alignment of described Beam steering elements (11,11a), wherein said control
So constitute with processing unit, i.e. after obtaining the angle of pivot information produced by described measuring instrument (20),
To close for the corresponding angle of rotation of a point in described target (70), corresponding angle of pivot and corresponding distance
Connection, thus by putting position accordingly on described association restriction described target (70), and
The point cloud with multiple described some position can be produced.
20. scan modules according to claim 15 (10), is characterized in that, described measuring instrument (20) is total powerstation, longitude and latitude
Instrument or laser tracker.
21. scan modules according to claim 18 (10), is characterized in that, described information is angle information and/or distance
Information.
22. scan modules according to claim 18 (10), is characterized in that, sweep with described by described fixed mechanism (18)
The described instrument (20,80) retouching module (10) connected is measuring instrument (20).
23. scan modules according to claim 18 (10), is characterized in that, described information can be at described scan module
(10) and transmit between described instrument (20,80).
24. scan modules according to claim 19 (10), is characterized in that, described control and processing unit are so constituted,
That is, obtain the angle of pivot information that produced by described measuring instrument (20) and instruction to the distance of target (70) range information it
After,
To close for the corresponding angle of rotation of a point in described target (70), corresponding angle of pivot and corresponding distance
Connection, thus by putting position accordingly on described association restriction described target (70), and
The point cloud with multiple described some position can be produced.
25. 1 kinds of measuring instruments (20) for measurement system according to claim 1, this measuring instrument includes:
Pedestal (20b)；
It is placed in the structure (20a) that described pedestal (20b) is upper and can pivot around pivot axis (22)；
Aiming at unit (30), wherein said aiming unit (30) at least has
For sending the transmitter unit of laser beam, described transmitter unit limits optical laying axis；With
For measuring the distance measurement function of the first distance to target (70)；And
Angle measuring sensor (24), this angle measuring sensor for gather accurately by described structure (20a) relative to
At least one angle of pivot that the position that is pivoted relative to each other of pedestal (20b) is limited,
It is characterized in that,
This measuring instrument (20) also has:
The bearing so constituted, i.e. scan module (10) can be by this bearing and the fixed mechanism of described scan module (10)
(18) interaction and be fixed on described measuring instrument (20) according to the location of regulation in modular fashion；
The data-interface so constituted, i.e. this data-interface is obtained in that information；And
Process and be used for controlling control and the processing unit of described measuring instrument (20), wherein said control and process for data single
Unit is constructed so as to, i.e. after obtaining the angle of rotation information produced by described scan module (10),
Will for the corresponding angle of rotation of a point in described target (70), corresponding angle of pivot and corresponding first distance or
Second distance is associated, thus is limited by described association and put position accordingly in described target (70)；And
The point cloud with multiple described some position can be produced.
26. measuring instruments according to claim 25 (20), is characterized in that, this measuring instrument is total powerstation, theodolite or laser
Tracker.
27. measuring instruments according to claim 25 (20), is characterized in that, this aiming unit is finder telescope.
28. measuring instruments according to claim 25 (20), is characterized in that, this data-interface can be from described scan module
(10) information is obtained.
29. measuring instruments according to claim 25 (20), is characterized in that, described information is angle information and/or distance letter
Breath.
30. measuring instruments according to claim 25 (20), is characterized in that, described control and processing unit are constructed so as to, i.e.
Obtaining the angle of rotation information produced by described scan module (10) and the instruction distance to the second distance of described target (70)
After information,
Will for the corresponding angle of rotation of a point in described target (70), corresponding angle of pivot and corresponding first distance or
Second distance is associated, thus is limited by described association and put position accordingly in described target (70)；And
The point cloud with multiple described some position can be produced.
31. 1 kinds for producing the scan method of a cloud, this scanning by measurement system (50) according to claim 1
Method includes:
Send scanning laser beam (60)；
Described scanning laser beam (60) is made to deflect in the way of rotating around pivot center (12)；
Making described scanning laser beam (60) pivot around a pivot axis (22), this pivot axis is relative to described pivot center (12)
Become predetermined angular；
After target (70) place is reflected, receive described scanning laser beam (60)；
Measure the distance of extremely described target (70) and determine angle of rotation and angle of pivot respectively；
To close for the corresponding angle of rotation of a point in described target (70), corresponding angle of pivot and corresponding distance
Connection, thus by putting position accordingly on described association restriction described target (70)；And
Produce the some cloud with multiple described some position.
32. scan methods according to claim 31, is characterized in that, this pivot axis hangs down with described pivot center (12)
Directly.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP12153162.8A EP2620745A1 (en) | 2012-01-30 | 2012-01-30 | Measuring system with a measuring device and a scan module |
| EP12153162.8 | 2012-01-30 | ||
| PCT/EP2013/051806 WO2013113759A1 (en) | 2012-01-30 | 2013-01-30 | Measurement system with a measuring device and a scanning module |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104081157A CN104081157A (en) | 2014-10-01 |
| CN104081157B true CN104081157B (en) | 2016-11-30 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101153795A (en) * | 2006-09-26 | 2008-04-02 | 株式会社拓普康 | Laser scanner |
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101153795A (en) * | 2006-09-26 | 2008-04-02 | 株式会社拓普康 | Laser scanner |
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