CN105974502B - Reflecting mirror in three-dimensional laser scanner and three-dimensional laser scanner - Google Patents
Reflecting mirror in three-dimensional laser scanner and three-dimensional laser scanner Download PDFInfo
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- CN105974502B CN105974502B CN201610580272.2A CN201610580272A CN105974502B CN 105974502 B CN105974502 B CN 105974502B CN 201610580272 A CN201610580272 A CN 201610580272A CN 105974502 B CN105974502 B CN 105974502B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/08—Mirrors
- G02B5/0808—Mirrors having a single reflecting layer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a reflecting mirror in a three-dimensional laser scanner and the three-dimensional laser scanner, comprising: a metal reflector and a base; the metal reflector at least comprises a bottom surface positioned at the bottom and an inclined side surface; the bottom of the metal reflector and the base are integrally arranged; the base is provided with a central through hole which penetrates through the base and the top of the metal reflector so that laser emitted by the laser emitter can be emitted through the central through hole; the inclined side surface of the metal reflector is a reflecting surface which is subjected to optical processing and is used for reflecting the received laser; the coaxial metal reflector is adopted, compared with the prior art that the feasibility of a paraxial light path related to the application of a three-dimensional laser scanner is poor, the coaxial metal reflector has low requirement on assembly precision, is suitable for high-efficiency assembly of a production line, is made of metal components, cannot cause the problem of damage due to assembly production or under severe use environment of a product, and improves the stability and reliability of the product.
Description
Technical Field
The invention relates to the technical field of three-dimensional laser scanning, in particular to a reflecting mirror in a three-dimensional laser scanner and the three-dimensional laser scanner.
Background
The three-dimensional laser scanning technology is also called as live-action replication technology, and is a technological revolution after the GPS (global positioning System) technology in the field of mapping. The method breaks through the traditional single-point measurement method and has the unique advantages of high efficiency and high precision. The three-dimensional laser scanning technology can provide three-dimensional point cloud data of the surface of a scanned object, and therefore, the three-dimensional laser scanning technology can be used for obtaining a high-precision high-resolution digital terrain model.
The three-dimensional laser scanning technology is embodied in a three-dimensional laser scanner, and the basic principle is as follows: the laser emitted by the distance measuring module is irradiated on a target object through a scanning element (namely a scanning prism), part of diffuse reflection light generated at the target is returned to the distance measuring module, and the distance measuring module obtains distance data according to the time difference between the reflection light and the emission light. The high-speed rotation of the scanning element enables the emitted laser to do sector scanning within a specified pitch angle range, and meanwhile, the horizontal turntable serving as the base rotates in the horizontal direction, so that a sector scanning area covers a specified three-dimensional space around the scanner. The distance measurement module records distance data of the designated point, the scanning element records pitch angle data of the designated point, the horizontal turntable records azimuth angle data of the designated point, a polar coordinate system is formed, and a three-dimensional model is constructed by accumulating point cloud information through all scanned points in a real-scene space.
Generally, the optical path of the distance measuring module in the existing three-dimensional laser scanner is designed by a paraxial optical path, that is, the optical axis for laser emission and the optical axis for laser reception are independent of each other, however, the occupied space of the method is large, and the method is applied to the three-dimensional laser scanner, the structure is complex, the realization difficulty is large, and therefore, the feasibility of the paraxial optical path in the application of the three-dimensional laser scanner is poor.
Disclosure of Invention
In view of this, an object of the embodiments of the present invention is to provide a three-dimensional laser scanner and a mirror thereof, so as to reduce the requirement of assembly accuracy, be suitable for high-efficiency assembly of a production line, and improve the stability and reliability of a product.
In a first aspect, an embodiment of the present invention provides a mirror in a three-dimensional laser scanner, including: a metal reflector and a base; the metal reflector at least comprises a bottom surface positioned at the bottom and an inclined side surface;
the bottom of the metal reflector and the base are integrally arranged; the base is provided with a central through hole which penetrates through the base and the top of the metal reflector so that laser emitted by the laser emitter can be emitted through the central through hole;
the inclined side surface of the metal reflector is a reflection surface which is processed by optics and is used for reflecting the received laser.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein in the reflecting mirror in the three-dimensional laser scanner, the metal reflecting mirror is a right triangular prism.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein in the reflector in the three-dimensional laser scanner, a lightening groove is provided on the metal reflector, and a spacer layer with a first preset thickness is spaced between the lightening groove and the central through hole;
spacing layers with second preset thicknesses are arranged among the lightening grooves, the bottom surface of the metal reflector and the reflecting surface.
With reference to the second possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein in the reflecting mirror in the three-dimensional laser scanner, there are two weight-reduction grooves; and a spacing layer with a third preset thickness is arranged between the two lightening grooves.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein in the reflector in the three-dimensional laser scanner, a mounting through hole is further provided on the base, and the mounting through hole is used for mounting the reflector on a mounting plate, so that the reflector is fixed at an output end of a laser emitter.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein in the reflector in the three-dimensional laser scanner, a chamfer is further provided on the base, a diameter of the chamfer is larger than that of the central through hole, and the chamfer is provided in communication with the central through hole.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein, in the reflector in the three-dimensional laser scanner, a countersunk hole is further provided on the base, and the countersunk hole is used for being fixedly connected with a positioning pin on a mounting plate, so as to position a mounting position of the reflector on the mounting plate.
The reflector in the three-dimensional laser scanner provided by the embodiment of the invention adopts the coaxial metal reflector, compared with the poor feasibility of applying the paraxial light path in the three-dimensional laser scanner in the prior art, the reflector has low requirement on assembly precision and is suitable for high-efficiency assembly of a production line, and the components are made of metal materials, so that the problem of damage caused by assembly production or in a severe use environment of a product is solved, and the stability and the reliability of the product are improved.
In a second aspect, an embodiment of the present invention further provides a three-dimensional laser scanner, including: the mirror in the three-dimensional laser scanner according to the first aspect further includes: the device comprises a mounting plate, a laser emitter and a detector;
the reflector and the laser transmitter are fixed on the mounting plate, and the reflector is fixed at the output end of the laser transmitter through the mounting plate; the laser emitter emits laser through the output end, and the laser is emitted through a central through hole of the reflector;
the inclined reflecting surface of the reflector receives the reflected laser and reflects the reflected laser to the detector.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, where the three-dimensional laser scanner further includes: a fine adjustment mechanism and a receiving optical system;
the laser emitter is fixed on the mounting plate through the fine adjustment mechanism;
the receiving optical system is used for focusing the reflected laser light received by the inclined reflecting surface of the reflecting mirror on the detector so that the detector receives the reflected laser light.
With reference to the second aspect, the present invention provides a second possible implementation manner of the second aspect, wherein, in the three-dimensional laser scanner, the mounting plate is provided with a positioning pin; the positioning pin is fixedly arranged with a counter bore in the reflector and used for positioning the installation position of the reflector on the installation plate.
The three-dimensional laser scanner provided by the embodiment of the invention adopts the coaxial metal reflector, compared with the prior art that the feasibility of the paraxial light path related to the application of the three-dimensional laser scanner is poor, the coaxial metal reflector has low requirement on the assembly precision, is suitable for high-efficiency assembly of a production line, is made of metal components, cannot cause the problem of damage due to assembly production or under a severe use environment, and improves the stability and reliability of the product.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 illustrates a cross-sectional view of a mirror in a three-dimensional laser scanner provided by an embodiment of the present invention;
FIG. 2 is a bottom view of a mirror in the three-dimensional laser scanner provided by the embodiment of the invention shown in FIG. 1;
FIG. 3 is a left side view of a mirror in the three dimensional laser scanner provided by the embodiment of the present invention shown in FIG. 1;
FIG. 4 is a right side view of a mirror in the three dimensional laser scanner provided by the embodiment of the present invention shown in FIG. 1;
FIG. 5 is a top view of a mirror in the three-dimensional laser scanner provided by the embodiment of the invention shown in FIG. 1;
fig. 6 is a schematic view of an overall structure of the three-dimensional laser scanner shown in fig. 1 according to the embodiment of the present invention.
Description of the main reference numerals:
100. a metal mirror; 101. a base; 102. a reflective surface; 103. a central through hole; 104. chamfering; 105. a countersunk hole; 106. a weight reduction groove; 107. mounting a through hole; 108. a receiving optical system; 109. a detector; 110. a laser emitter.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In consideration of the fact that the optical path of the distance measuring module in the existing three-dimensional laser scanner is generally designed as a paraxial optical path, that is, the optical axis emitted by laser and the optical axis received by laser are mutually independent, however, the occupied space of the method is large, and the method is applied to the three-dimensional laser scanner, the structure is complex, the realization difficulty is high, and therefore, the feasibility of the paraxial optical path in the application of the three-dimensional laser scanner is poor. . Based on this, embodiments of the present invention provide a three-dimensional laser scanner and a mirror in the three-dimensional laser scanner, which are described below by way of example with reference to fig. 1 to 6.
Referring to fig. 1 to 5, an embodiment of the present invention provides a mirror in a three-dimensional laser scanner, including: a metal mirror 100 and a base 101; the metal reflector 100 includes at least a bottom surface at the bottom and an inclined side surface;
the bottom of the metal reflector 100 is integrally provided with a base 101; the base 101 is provided with a central through hole 103, the central through hole 103 penetrates through the top of the base 101 and the top of the metal reflector 100, so that the laser emitted by the laser emitter 110 can be emitted through the central through hole 103;
the inclined side surface of the metal mirror 100 is a reflection surface 102 that is optically processed and reflects the received laser beam.
In the embodiment of the present invention, a metal reflector 100 is used, which is a metal reflector, and the base 101 included in the metal reflector and the bottom of the metal reflector 100 included in the metal reflector are made of metal; the inclined side surface of the metal mirror 100 is optically processed (e.g., polished) to be a reflection surface 102 for reflecting the received laser light.
The metal reflector 100 may be a metal prism, which at least includes a bottom surface and an inclined surface, wherein the bottom surface is used for fixing the whole reflector, and the inclined side surface is used for processing into a reflecting surface 102 for reflecting the received laser; the metal prism may be a metal prism, a metal tetraprism, a metal hexaprism, etc., and the embodiment of the present invention does not specifically limit the specific structure thereof.
In addition, the inclination angle of the inclined side surface may be set according to the metal mirror 100 as long as it is ensured that the received laser light can be reflected to a preset position when the entire mirror is used in the three-dimensional laser scanner.
Further, in the reflecting mirror of the three-dimensional laser scanner according to the embodiment of the present invention, the metal reflecting mirror 100 is a right triangular prism, and correspondingly, the metal reflecting mirror 100 includes: a bottom surface at the bottom, an inclined side surface and a side surface perpendicular to the bottom surface; the metal reflector 100 of the right triangular prism includes inclined side surfaces of 45 ° inclined surfaces, and the inclined side surfaces of 45 ° are both inclined with respect to one bottom surface and the other side surface.
Further, referring to fig. 3 and 4, in the reflector of the three-dimensional laser scanner, the metal reflector 100 is provided with a lightening groove 106, and a spacer layer with a first preset thickness is arranged between the lightening groove 106 and the central through hole 103;
spacing layers with second preset thicknesses are arranged between the lightening grooves 106 and the bottom surface and the side surfaces of the metal reflector 100.
In the embodiment of the invention, the strength of the reflecting surface 102 can be ensured through the reflecting mirror structures of the metal reflecting mirror 100 and the base 101, so that the reflecting surface is not easy to deform; while the strength of the reflecting surface 102 is ensured, the embodiment of the present invention further provides the weight-reducing grooves 106 on the metal reflector 100, which aims to reduce the weight of the whole reflector and facilitate the installation thereof.
In the process of setting the weight-reducing grooves 106, a first preset thickness interval is left between the weight-reducing grooves 106 and the central through holes 103, that is, when the weight-reducing grooves 106 are set, a first preset thickness interval is needed between the weight-reducing grooves 106 and the central through holes 103, so as not to affect the central through holes 103;
meanwhile, a certain distance also needs to be left between the lightening grooves 106 and the bottom surface and the reflecting surface 102 of the metal reflector 100, namely, a spacing layer with a second preset thickness is arranged between the lightening grooves 106 and the bottom surface and the reflecting surface 102 of the metal reflector 100, so that the bottom surface is integrally arranged with the base 101 and is used for being fixed with the mounting plate, and therefore, the arranged lightening grooves 106 do not influence the fixation with the mounting plate and the reflection of the reflecting surface 102 on the received laser.
The first preset thickness and the second preset thickness may be the same or different, and in practice, the first preset thickness and the second preset thickness are set according to needs, and are not specifically limited in the embodiment of the present invention.
Further, referring to fig. 4, in the reflecting mirror in the three-dimensional laser scanner, there are two weight-reduction grooves 106; a spacer layer of a third predetermined thickness is provided between the two lightening slots 106.
In the embodiment of the present invention, two weight-reducing slots 106 are provided, so as to reduce the weight of the whole reflector to the maximum extent while ensuring the strength of the reflecting surface 102; moreover, when two weight-reducing slots 106 are socially used, a gap with a preset thickness is required to be left between the two weight-reducing slots 106, so that the reflecting surface 102 can be better supported while reducing weight.
In an embodiment of the present invention, the two weight-reducing grooves 106 may be shaped as a prism (such as a triangular prism), a cylinder, a cube, a cuboid, or the like; in addition, the third preset thickness here may be the same as or different from the first preset thickness and the second preset thickness, and in practice, the third preset thickness is also set according to needs, and the third preset thickness is not specifically limited in the embodiment of the present invention.
Further, referring to fig. 2 and 5, in the reflecting mirror of the three-dimensional laser scanner, a mounting through hole 107 is further provided on the base 101, and the mounting through hole 107 is used for mounting the reflecting mirror on a mounting plate so that the reflecting mirror is fixed at the output end of the laser emitter 110.
In the embodiment of the invention, the base 101 is provided with the mounting through hole 107, the corresponding mounting plate is provided with the fixing through hole matched with the mounting through hole 107, and the mounting through hole 107 and the fixing through hole are fixedly arranged through the fastening part so as to fixedly connect the base 101 and the mounting plate; or a screw is arranged on the mounting plate at a position matched with the mounting through hole 107, a thread matched with the screw is arranged in the mounting through hole 107, and the screw passes through the mounting through hole 107 with the thread to realize the fixed connection with the base 101.
In the embodiment of the present invention, the base 101 is rectangular, the number of the mounting through holes 107 is four, and the four mounting through holes 107 are respectively and uniformly distributed at four corners of the base 101.
Further, referring to fig. 5, in the reflector in the three-dimensional laser scanner, a chamfer 104 is further provided on the base 101, a diameter of the chamfer 104 is larger than the central through hole 103, and the chamfer 104 is provided to communicate with the central through hole 103.
Specifically, the base 101 is provided with a chamfer 104, which has a diameter larger than the central through hole 103 and is communicated with the central through hole 103, so as to facilitate fixing the reflector on the mounting plate.
Further, referring to fig. 1 and 5, in the reflecting mirror of the three-dimensional laser scanner, the base 101 is further provided with a countersunk hole 105, and the countersunk hole 105 is used for being fixedly connected with a positioning pin on the mounting plate so as to position the mounting position of the reflecting mirror on the mounting plate.
Specifically, in order to ensure that the position of the reflecting mirror can be accurately positioned when the whole reflecting mirror is mounted on the mounting plate, a countersunk hole 105 is formed in the base 101 in the embodiment of the invention; when the mirror is mounted on the mounting plate, the countersunk hole 105 is fixed to a positioning pin on the mounting plate to accurately position the mounting position of the mirror on the mounting plate.
In the embodiment of the present invention, there are two counter bores 105, and the two counter bores 105 are symmetrically disposed with respect to the axis of the central through hole 103 as a symmetry axis.
The reflector in the three-dimensional laser scanner provided by the embodiment of the invention adopts the coaxial metal reflector, compared with the poor feasibility of applying the paraxial light path in the three-dimensional laser scanner in the prior art, the reflector has low requirement on assembly precision and is suitable for high-efficiency assembly of a production line, and the components are made of metal materials, so that the problem of damage caused by assembly production or in a severe use environment of a product is solved, and the stability and the reliability of the product are improved.
With reference to fig. 6 in conjunction with fig. 1 to 5, an embodiment of the present invention further provides a three-dimensional laser scanner, including: the reflecting mirror in the three-dimensional laser scanner further includes: mounting board, laser emitter 110 and detector 109;
the reflector and the laser transmitter 110 are both fixed on the mounting plate, and the reflector is fixed at the output end of the laser transmitter 110 through the mounting plate; the laser emitter 110 emits laser through an output end, and the laser is emitted through a central through hole 103 of the reflector;
the inclined reflective surface 102 of the mirror receives the reflected laser light and reflects the reflected laser light to the detector 109.
Specifically, the reflector comprises a metal reflector 100, wherein a base 101 of the metal reflector 100 is provided with an installation through hole 107, a corresponding installation plate is provided with a fixing through hole matched with the installation through hole 107, and the installation through hole 107 and the fixing through hole are fixedly arranged through a fastening part so as to fixedly connect the base 101 and the installation plate; or a screw is arranged on the mounting plate at a position matched with the mounting through hole 107, a thread matched with the screw is arranged in the mounting through hole 107, and the screw passes through the mounting through hole 107 with the thread to realize the fixed connection with the base 101.
Further, the three-dimensional laser scanner further includes: a fine adjustment mechanism and reception optical system 108; the laser emitter 110 is fixed on the mounting plate through a fine adjustment mechanism; the receiving optical system 108 is used to focus the reflected laser light received by the tilted side of the mirror onto the detector 109 so that the detector 109 receives the reflected laser light. The receiving optical system 108 may be a lens.
Further, in the three-dimensional laser scanner, a mounting plate is provided with a positioning pin; the locating pins are fixedly arranged with countersunk holes 105 in the mirror for locating the mounting position of the mirror on the mounting plate.
In addition, the three-dimensional laser scanner further includes: metal triangular prisms and window mirrors; the metal triple prism is used for reflecting the received laser, namely reflecting the laser reflected by the reflector and reflecting the reflected laser reflected by the target object; the window mirror is used for protecting the metal triangular prism, and can transmit the laser reflected by the metal triangular prism and transmit the reflected laser reflected by the target object to the metal triangular prism.
The reflector in the three-dimensional laser scanner provided by the embodiment of the invention adopts the coaxial metal reflector, compared with the poor feasibility of applying the paraxial light path in the three-dimensional laser scanner in the prior art, the reflector has low requirement on assembly precision and is suitable for high-efficiency assembly of a production line, and the components are made of metal materials, so that the problem of damage caused by assembly production or in a severe use environment of a product is solved, and the stability and the reliability of the product are improved.
In the following, the three-dimensional laser scanner provided in the embodiment of the present invention is generally described, in which a laser emitter 110 emits laser light to a reflecting mirror, the laser light is reflected to the metal triangular prism by the reflecting mirror, the received laser light is reflected to a window mirror by the metal triangular prism rotating at a high speed by a mounting shaft, the laser light is emitted to a target to be measured through the window mirror, the laser light is reflected to the window mirror by being reflected by the target to be measured, the laser light also reaches the metal triangular prism through the window mirror, the received reflected laser light is reflected to the reflecting mirror by the metal triangular prism rotating at a high speed by the mounting shaft, the reflecting mirror reflects the received reflected laser light to a receiving optical system 108, and the reflected laser light is condensed by the receiving optical system 108 and is transmitted to a detector 109. Finally, the controller calculates a time difference between the time when the laser transmitter 110 transmits the laser light and the time when the detector 109 receives the reflected laser light, and then calculates the distance to the target object based on the time difference.
According to the reflector in the three-dimensional laser scanner and the three-dimensional laser scanner, the coaxial metal reflector is adopted, compared with the poor feasibility of applying a paraxial light path in the prior art to the three-dimensional laser scanner, the coaxial metal reflector has low requirement on assembly precision, is suitable for high-efficiency assembly of a production line, is made of metal components, cannot cause the problem of damage due to assembly production or under a severe use environment, and improves the stability and reliability of products.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the present invention in its spirit and scope. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A mirror in a three-dimensional laser scanner, comprising: a metal reflector and a base; the metal reflector at least comprises a bottom surface positioned at the bottom and an inclined side surface;
the bottom of the metal reflector and the base are integrally arranged; the base is provided with a central through hole which penetrates through the base and the top of the metal reflector so that laser emitted by the laser emitter can be emitted through the central through hole;
the inclined side surface of the metal reflector is a reflecting surface which is subjected to optical processing and is used for reflecting the received laser;
the metal reflector is provided with a lightening groove, and a spacer layer with a first preset thickness is arranged between the lightening groove and the central through hole;
spacing layers with second preset thicknesses are arranged among the weight reduction grooves, the bottom surface of the metal reflector and the reflecting surface;
the number of the weight reduction grooves is two; and a spacing layer with a third preset thickness is arranged between the two lightening grooves.
2. The mirror of claim 1, wherein the metal mirror is a right triangular prism.
3. The mirror of claim 1, wherein the base is further provided with a mounting through hole for mounting the mirror on a mounting plate so that the mirror is fixed at an output end of the laser transmitter.
4. The reflector of claim 1, wherein the base is further provided with a chamfer having a diameter larger than the central through hole, and the chamfer is communicated with the central through hole.
5. The mirror of claim 1, wherein the base is further provided with a countersunk hole for fixedly connecting with a positioning pin on a mounting plate to position the mounting position of the mirror on the mounting plate.
6. A three-dimensional laser scanner, comprising: the mirror in a three-dimensional laser scanner according to any one of claims 1 to 5, further comprising: the device comprises a mounting plate, a laser emitter and a detector;
the reflector and the laser transmitter are fixed on the mounting plate, and the reflector is fixed at the output end of the laser transmitter through the mounting plate; the laser emitter emits laser through the output end, and the laser is emitted through a central through hole of the reflector;
the inclined reflecting surface of the reflector receives reflected laser and reflects the reflected laser to the detector;
the reflector is provided with a lightening groove, and a spacer layer with a first preset thickness is arranged between the lightening groove and the central through hole;
spacing layers with second preset thicknesses are arranged among the weight reduction grooves, the bottom surface of the reflector and the reflecting surface;
the number of the weight reduction grooves is two; and a spacing layer with a third preset thickness is arranged between the two lightening grooves.
7. The three-dimensional laser scanner according to claim 6, further comprising: a fine adjustment mechanism and a receiving optical system;
the laser emitter is fixed on the mounting plate through the fine adjustment mechanism;
the receiving optical system is used for focusing the reflected laser light received by the inclined reflecting surface of the reflecting mirror on the detector so that the detector receives the reflected laser light.
8. The three-dimensional laser scanner according to claim 6, wherein a positioning pin is provided on the mounting plate; the positioning pin is fixedly arranged with a counter bore in the reflector and used for positioning the installation position of the reflector on the installation plate.
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| CN109254286B (en) * | 2018-11-13 | 2024-05-28 | 武汉海达数云技术有限公司 | Airborne laser radar optical scanning device |
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| CN1107976A (en) * | 1994-03-04 | 1995-09-06 | 松下电器产业株式会社 | Rotative prism |
| JPH08220474A (en) * | 1995-02-17 | 1996-08-30 | Mitsubishi Heavy Ind Ltd | Mirror structure for synthesizing laser beam |
| JP2002231172A (en) * | 2001-02-02 | 2002-08-16 | Jeol Ltd | Charged particle beam device |
| CN101241182A (en) * | 2007-02-06 | 2008-08-13 | 电装波动株式会社 | Laser radar apparatus for measuring direction and distance of an object |
| CN101435870A (en) * | 2007-11-12 | 2009-05-20 | 电装波动株式会社 | Laser radar apparatus that measures direction and distance of an object |
| CN203249594U (en) * | 2013-05-07 | 2013-10-23 | 九江精密测试技术研究所 | Three-dimensional laser scanner |
| CN204347249U (en) * | 2015-01-30 | 2015-05-20 | 济宁科力光电产业有限责任公司 | The safe laser scanning device of inspected object direction and distance |
| CN105759253A (en) * | 2016-03-02 | 2016-07-13 | 四川经曼光电科技有限公司 | Laser scanning range finder |
| CN105974502A (en) * | 2016-07-21 | 2016-09-28 | 武汉海达数云技术有限公司 | Reflecting mirror of three-dimensional laser scanner and three-dimensional laser scanner |
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| CN105974502A (en) | 2016-09-28 |
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