CN106767513A - There-dimensional laser scanning device - Google Patents
There-dimensional laser scanning device Download PDFInfo
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- CN106767513A CN106767513A CN201611270417.5A CN201611270417A CN106767513A CN 106767513 A CN106767513 A CN 106767513A CN 201611270417 A CN201611270417 A CN 201611270417A CN 106767513 A CN106767513 A CN 106767513A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention relates to laser scanning field, a kind of there-dimensional laser scanning device is specifically provided.Including rotary module, stuck-module and laser generating unit.Rotary module is rotatably arranged on stuck-module, and rotary module includes Laser emission component, laser pick-off component and data handling component.The present invention produces laser by laser generating unit, laser shaping is the alignment laser with the angle of visual field and the space where projecting object by Laser emission component, and the alignment laser that is reflected back of object received by laser pick-off component carry out opto-electronic conversion and obtain electric signal, data handling component is processed electric signal to obtain the space three-dimensional data of target object.The present invention improves the scan efficiency of there-dimensional laser scanning device, and simple structure, it is easy to install by alignment laser rotary ground scanning target object, cheap.
Description
Technical field
The present invention relates to laser scanning field, in particular to a kind of there-dimensional laser scanning device.
Background technology
Three-dimensional laser scanner is that one kind carries out non-cpntact measurement using laser, and object space three-dimensional is extracted in a short time
The equipment of (3D) data.The three-dimensional data that three-dimensional laser scanner is collected is constituted in dots, and point cloud number is resolved by software
According to complete 3D model datas can be obtained.Exterior space 3D data messages are obtained using three-dimensional laser scanner, and is made with this
For the field that bottom data carries out further exploitation is more and more wider.Existing three-dimensional laser scanner mainly has：(1) Laser emission
Module is launched using single-point laser, and laser pick-off module uses single-geophone receiver, and system is by two-dimensional scanning mirrors or scanning rib
Mirror realizes two-dimensional scan, so as to obtain the three dimensional point cloud in the range of certain space.Such as Chinese patent
CN201280010933.8；(2) laser emitting module is launched using many element laser, and laser pick-off module is using one-to-one more
First receiver module, and system rotated to obtain spatial point cloud data, such as Chinese patent CN in the horizontal direction
201410347673.4.The method (1) in cloud data, but practical application that can obtain of scanning laser radar mentioned above needs
Coordinate optical facilities scanning, mechanical-optical setup form complexity, it is necessary to be encoded to the optical structure element of rotation, thus optical texture
Debugging is difficult.Meanwhile, imaging is scanned to space by a point can only once survey a target, relatively inefficient.Side
Laser emission element in method (2) and laser pick-off unit are one-to-one relationship, it is necessary to laser emission element is connect with laser
Receive unit and be designed to pluggable minitype circuit board, be then inserted on mainboard with certain spatial relationship, therefore, sent out for laser
Penetrate unit needs individually to be customized with laser pick-off unit.In addition, the method in later stage assembling and setting, it is necessary to transmitter unit
Same optical axis is carried out with receiving unit to debug so that each transmitter unit is corresponded with receiving unit, therefore more its of line number is assembled
It is more difficult with debugging.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of there-dimensional laser scanning device, by sending alignment
Laser carries out multi-thread scanning, improves the scan efficiency of there-dimensional laser scanning device, and simple structure, it is easy to install, price is low
It is honest and clean.
To achieve the above object, the technical scheme that the embodiment of the present invention is used is as described below：
A kind of there-dimensional laser scanning device, including rotary module, stuck-module and laser generating unit, the rotary module
It is rotatably arranged on the stuck-module, the rotary module includes Laser emission component, laser pick-off component and data
Processing assembly, the laser generating unit is configured as sending laser, and the Laser emission component is configured as the laser
The laser shaping that generating unit sends is the alignment laser with the angle of visual field and to line described in the spatial emission where target object
Row laser, the laser pick-off component be configured as receive via target object reflect alignment laser and carry out opto-electronic conversion with
Electric signal is obtained, the data handling component is configured as processing space three-dimensional number of the electric signal to obtain target object
According to.
Further, the Laser emission component includes laser collimation device and alignment generating device of laser, the laser
Collimator apparatus is configured as being adjusted to the laser that the laser generating unit sends the laser of collimation, and the alignment laser occurs
It is the alignment laser with the angle of visual field that device is configured as the laser shaping of the collimation after the adjustment.
Further, the alignment generating device of laser is aspherical prism.
Further, the Laser emission component also includes light path guidance unit, and the light path guidance unit is configured as
Laser after the laser collimation device is adjusted is guided, and is entered the alignment with making the laser alignment after the adjustment is swashed
Light generating apparatus.
Further, the light path guidance unit includes the first speculum and the second speculum, and first speculum sets
The stuck-module is placed in, second speculum is arranged at the rotary module, and first speculum is configured as institute
The laser reflection after laser collimation device adjustment is stated to second speculum, second speculum is configured as described the
Reflex to the alignment generating device of laser to the laser alignment of one speculum reflection.
Further, the laser pick-off component includes light focusing unit and array detection unit, and the light focusing unit is matched somebody with somebody
It is set to and is converged the alignment laser that target object reflects, the array detection unit is configured as what is be accumulated described in reception
Alignment laser.
Further, the rotary module also include turntable and angle position encoder, the angle position encoder, swash
Light emission component and laser pick-off component are mounted on the turntable, and the stuck-module includes angle position decoder and electricity
Machine, the motor is connected with the turntable, and the angle position encoder is configured as measuring the anglec of rotation number of degrees of the turntable
According to the angle position decoder is configured as understanding the anglec of rotation of the pivoting angle data to obtain the turntable.
Further, the data handling component includes laser drive circuit, seed optical detection circuit, back-ray detection electricity
Road, circuit for controlling motor and data processing circuit, the data processing circuit and the laser drive circuit, seed optical detection electricity
Road, back-ray detection circuit, circuit for controlling motor are all connected with,
The data processing circuit is configured as controlling the laser drive circuit to drive the laser generating unit to send
Laser and the reception laser generating unit feedack, and
It is configured as controlling the seed optical detection circuit to detect seed light and the reception that the laser generating unit sends
The seed optical pulse signal of the seed optical detection circuit feedback, and
Be configured as that laser pick-off unit described in controlling the back-ray detection circuit probe receives via target object
The alignment laser of reflection and the light echo pulse signal of the reception back-ray detection electronic feedback, and
It is configured as controlling the circuit for controlling motor to drive the motor and receiving the circuit for controlling motor feedback
Information.
Further, the data processing circuit includes the first data processing circuit and the second data processing circuit, described
Explore the way circuit, the back-ray detection circuit of first data circuit and the seed light is all connected with, second data circuit and institute
State laser drive circuit, circuit for controlling motor to electrically connect, first data circuit and the second data circuit communication link
Connect, first data processing circuit is configured as the seed optical pulse according to the seed optical detection circuit feedback for receiving
The light echo pulse signal of signal and the back-ray detection electronic feedback is carried out distance calculation, and obtains the distance and ash of target object
Degree, second data processing circuit is configured as completing the algorithm of laser drive circuit and the algorithm of circuit for controlling motor, with
And to external equipment output data and communicated.
Further, the laser generating unit is arranged at the stuck-module.
The invention provides a kind of there-dimensional laser scanning device, including rotary module, stuck-module and laser generating unit,
Rotary module is rotatably arranged on stuck-module, and rotary module includes Laser emission component, laser pick-off component and data
Processing assembly.The present invention produces laser by laser generating unit, and laser shaping is with the angle of visual field by Laser emission component
Alignment laser and the space where projecting object, and the alignment laser that object is reflected back is received by laser pick-off component carry out light
Electricity is converted to electric signal, and data handling component is processed electric signal to obtain the space three-dimensional data of target object.This
Invention improves the scan efficiency of there-dimensional laser scanning device, and simple structure by alignment laser rotary scanning target object,
It is easily installed, it is cheap.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation of there-dimensional laser scanning device provided in an embodiment of the present invention.
Fig. 2 is the principle schematic diagram. of there-dimensional laser scanning device provided in an embodiment of the present invention.
Fig. 3 is the fundamental diagram of Laser emission component provided in an embodiment of the present invention.
Fig. 4 is the connecting structure for electrical equipment schematic diagram of data handling component provided in an embodiment of the present invention.
Icon：100- there-dimensional laser scanning devices；10- rotary modules；11- Laser emission components；111- laser alignments are filled
Put；112- alignment generating device of laser；113- light path guidance units；The speculums of 113a- first；The speculums of 113b- second；12-
Laser pick-off component；121- light focusing units；122- array detection units；123- Simulation scale-up units；13- data handling components；
The data processing circuits of 131- first；The data processing circuits of 132- second；133- seed lights are explored the way circuit；134- back-ray detections electricity
Road；135- laser drive circuits；136- circuit for controlling motor；137- network interfaces；14- turntables；15- angle position encoders；20- consolidates
Cover half block；21- angle positions decoder；22- motors；30- generating device of laser；200- target objects；300- external equipments.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
Fig. 1 is refer to, is the structural representation of there-dimensional laser scanning device provided in an embodiment of the present invention 100, the three-dimensional
Laser scanning device 100 includes rotary module 10, stuck-module 20 and laser generating unit 30.Rotary module 10 rotationally sets
Put on stuck-module 20.In the present embodiment, laser generating unit 30 is arranged at stuck-module 20.
Rotary module 10 includes turntable 14 and angle position encoder 15.Angle position encoder 15 is installed on turntable 14,
Stuck-module 20 includes angle position decoder 21 and motor 22.Motor 22 is connected with turntable 14, in the present embodiment, motor 22
Turntable 14 is driven to rotate by belt wheel.Angle position encoder 15 is configured as the pivoting angle data of measuring circurmarotate 14, angle
Position decoding device 21 is configured as understanding the anglec of rotation of the pivoting angle data to obtain turntable 14.
Fig. 2 is refer to, is the principle schematic diagram. of there-dimensional laser scanning device provided in an embodiment of the present invention 100.Should
The rotary module 10 of there-dimensional laser scanning device 100 also includes Laser emission component 11, laser pick-off component 12 and data processing
Component 13, Laser emission component 11 and laser pick-off component 12 are mounted on turntable 14.Laser generating unit 30 is configured as hair
Go out laser, the laser generating unit 30 can be laser.Laser emission component 11 is configured as sending out laser generating unit 30
The laser shaping for going out is the alignment laser with the angle of visual field and to the spatial emission alignment laser, line where target object 200
Row laser is the laser that arrangement is formed uniformly array, and the angle of visual field is the angle of divergence of alignment laser, and the angle of visual field includes horizontal field of view angle
With vertical field of view angle, the angle of visual field of alignment laser according to actual needs and freely set, and the present embodiment is not limited this.
In the present embodiment, Laser emission component 11 includes laser collimation device 111 and alignment generating device of laser 112.
Laser collimation device 111 is configured as being adjusted to the laser that laser generating unit 30 sends the laser of collimation, it can be understood as
The laser with the angle of divergence that laser generating unit 30 sends is adjusted to the laser beam being parallel to each other.Alignment generating device of laser
112 are configured as the laser shaping of the collimation after adjustment being the alignment laser with the angle of visual field.Alignment generating device of laser 112
The laser of collimation is diffused, the alignment laser with the angle of visual field is formed, each light beam arrangement of the alignment laser is uniform straight,
In the present embodiment, laser collimation device 111 is collimating mirror, and alignment generating device of laser 112 is aspherical prism, such as Bao Weier ribs
Mirror.One straight uniform laser rays can be produced using Bao Weier prism.Fig. 3 is refer to, is the work of Laser emission component 11
Make schematic diagram.The laser that laser generating unit 30 is produced is filled after being collimated via laser collimation device 111 into alignment laser
112 are put, shaping forms alignment laser.Wherein, carried out from the spot size of collimating mirror outgoing and the aspherical rib of Bao Weier cylinders
With design so that laser reaches the angle of divergence specified from after Bao Weier prism outgoing.They can by a dimension fanning
Shape dissipates a branch of collimated light and produces a straight, uniform laser rays.
In being needed in some designs, laser generating unit 30 is distant with alignment generating device of laser 112, makes
The laser that sends of laser generating unit 30 with alignment generating device of laser 112 not on a horizontal line, it is necessary to by laser
The laser that generating unit 30 sends is guided, and laser is entered alignment generating device of laser 112, in order to reach this purpose, is made
For preferred, the Laser emission component 11 that the present embodiment is provided also includes light path guidance unit 113, the light path guidance unit 113
It is configured as the laser after laser collimation device 111 is adjusted to guide, enters alignment with making the laser alignment after adjustment swash
Light generating apparatus 112.Used as a kind of preferably implementation method, light path guidance unit 113 includes the first speculum 113a and second
Speculum 113b.First speculum 113a is arranged at stuck-module 20, and the second speculum 113b is arranged at rotary module 10.Laser
Laser after collimator apparatus 111 is adjusted is radiated on the first speculum 113a, and the first speculum 113a is configured as laser quasi
Straight device 111 adjust after laser reflection to the second speculum 113b, the second speculum 113b is configured as the first speculum
Reflex to alignment generating device of laser 112 to the laser alignment of 113a reflections.Preferably, the first speculum 113a and second
Speculum 113b can be freely rotatable, in order to adjustment angle.It should be noted that in other embodiments, light pass
Leading unit 113 can also increase or reduce the quantity of speculum, to reach the effect of adjustment optical path direction, the embodiment of the present invention
This is not limited.
After the alignment laser that Laser emission component 11 sends is radiated on target object 200, diffusing reflection can be produced so that one
Part alignment laser reflection enters laser pick-off component 12.Laser pick-off component 12 is configured as receiving via target object 200
The alignment laser being reflected back, i.e. echo laser.Specifically, laser pick-off component 12 includes light focusing unit 121 and array detection list
Unit 122.The light focusing unit 121 is configured as being converged the alignment laser that target object reflects, the quilt of array detection unit 122
It is configured to receive the alignment laser being accumulated.In the present embodiment, light focusing unit 121 is aspherical condenser, array detection
Unit 122 is detector array.Used as preferred, laser pick-off component 12 also includes Simulation scale-up unit 123, and condenser will be anti-
The array laser being emitted back towards is converged on detector array, and the array laser of convergence is carried out opto-electronic conversion and obtains electricity by detector array
Signal, and the electric signal that will be obtained sent to Simulation scale-up unit 123, be amplified for the electric signal by Simulation scale-up unit 123
And send to data handling component 13 electric signal after amplification.
Data handling component 13 is configured as processing space three-dimensional data of the electric signal to obtain target object.Specifically
, Fig. 4 is refer to, it is the composition schematic diagram of the data handling component 13.Data handling component 13 includes laser drive circuit
135th, seed optical detection circuit 133, back-ray detection circuit 134, circuit for controlling motor 136 and data processing circuit, data processing
Circuit includes the first data processing circuit 131 and the second data processing circuit 132, the first data processing circuit 131 and seed light
Detection circuit 133, back-ray detection circuit 134 are all connected with, the second data processing circuit 132 and laser drive circuit 135, motor control
Circuit processed 136 is electrically connected, and the first data processing circuit 131 and the second data processing circuit 132 are communicated to connect.
Second data processing circuit 132 is configured as the controlled motor control motor 22 of circuit 136 and receives motor control
The feedack of circuit processed 136.Motor 22 is started working after receiving the control signal of circuit for controlling motor 136, drives turntable
14 rotations, turntable 14 is rotated and drives Laser emission component 11 to rotate, and to realize the scanning of 360 ° of horizontal direction, obtains target object
200 overall data.
Second data processing circuit 132 is additionally configured to control laser drive circuit 135 and drives laser generating unit 30 to send out
Go out laser and receive the feedack of laser generating unit 30.
First data processing circuit 131 is configured as the exploring laser light generating unit 30 of control seed optical detection circuit 133 and sends out
The seed light for going out and the seed optical pulse signal for receiving seed optical detection circuit feedback.Laser generating unit 30 is producing laser
When, seed light is detected and is recorded the time detected by seed optical detection circuit 133.
First data processing circuit 131 is additionally configured to the exploring laser light receiving unit 12 of control back-ray detection circuit 134 and connects
The alignment laser reflected via target object for receiving and the light echo pulse signal for being received back to the feedback of optical detection circuit 134.Swash
The alignment laser that light emission component 11 sends is launched and after entrance laser pick-off component 12 by target object 200, back-ray detection electricity
The alignment laser reflected via target object is detected on road 134, and records the time of the alignment laser for receiving reflection.
First data processing circuit 131 is additionally configured to the seed according to the feedback of seed optical detection circuit 133 for receiving
Light pulse signal and back-ray detection circuit 134 feedback light echo pulse signal carry out distance calculation, obtain target object away from
From and gray scale.Specifically, range finding basis TOF (time of flight, flight time) principle is found range, i.e.,
Wherein, L is distance, and c is the light velocity, and t is received for laser from the time for being transmitted into reception, i.e. back-ray detection circuit 134
Time to light echo pulse signal subtracts the time that seed optical detection circuit 133 receives seed optical pulse signal.According to light echo
The pulse width of the light echo pulse signal of the feedback of detection circuit 134, matches corresponding algorithm, can also obtain band target object 200
Gray scale.
First data processing circuit 131 has two kinds of mode of operations, can need mutually switching according to application.Pattern one：It is many
The reception processing simultaneously of road heliogram, the characteristics of the pattern can make full use of detector array, is carried out intensive to target object 200
Detection；Pattern two：Multichannel heliogram coding cycle period treatment, Ji Duimei roads heliogram is encoded, and synchronization is only
Heliogram all the way is resolved, is circulated successively.
Second data processing circuit 132 is additionally configured to complete the algorithm and circuit for controlling motor of laser drive circuit 135
136 algorithm, and to the output data of external equipment 300 and communicated, it can be the second data processing circuit 132 to change data
The first data processing circuit 131 for receiving processes the data for obtaining, specifically, data handling component 13 also includes network interface 137, the
Two data processing circuits 132 are communicated by network interface 137 with external equipment 300, with output data or reception instruction.
First data processing circuit 131 and the second data processing circuit 132 can be various with data processing function
Module, in the present embodiment, the first data processing circuit 131 and the second data processing circuit 132 are FPGA (Field-
Programmable Gate Array, field programmable gate array).
In sum, there-dimensional laser scanning device provided in an embodiment of the present invention includes rotary module, stuck-module and swashs
Light generating unit.Rotary module is rotatably arranged on stuck-module, and rotary module includes Laser emission component, laser pick-off
Component and data handling component.The present invention produces laser by laser generating unit, and laser shaping is tool by Laser emission component
There is the alignment laser of the angle of visual field and the space where projecting object, and the alignment that object is reflected back is received by laser pick-off component
Laser carries out opto-electronic conversion and obtains electric signal, and data handling component is processed electric signal to obtain the space three of target object
Dimension data.The present invention improves the scan efficiency of there-dimensional laser scanning device by alignment laser rotary ground scanning target object,
And simple structure, it is easy to install, it is cheap.
In the description of the invention, it is necessary to explanation, the orientation or position of the instruction such as term " level ", " interior ", " outward "
Relation is or the orientation or position that the invention product is usually put when using based on orientation shown in the drawings or position relationship
Relation, is for only for ease of the description present invention and simplifies description, must have rather than the device or element for indicating or imply meaning
Have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.Additionally, term " the
One ", " second " etc. is only used for distinguishing description, and it is not intended that indicating or implying relative importance.
Additionally, the term such as term " level ", " vertical ", " pendency " is not offered as requiring part abswolute level or pendency, and
Can be to be slightly tilted.It is not the expression structure if " level " refers to only its direction with respect to more level for " vertical "
Must be fully horizontal, and can be to be slightly tilted.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one
The connection of body ground；Can mechanically connect, or electrically connect, or communicate to connect；Can be joined directly together, it is also possible to
It is indirectly connected to by intermediary, can is two connections of element internal.For the ordinary skill in the art, may be used
Above-mentioned term concrete meaning in the present invention is understood with concrete condition.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
It is further defined and is explained.
Claims (10)
1. a kind of there-dimensional laser scanning device, it is characterised in that the there-dimensional laser scanning device includes rotary module, stent
Block and laser generating unit, the rotary module are rotatably arranged on the stuck-module, and the rotary module includes swashing
Light emission component, laser pick-off component and data handling component, the laser generating unit are configured as sending laser, described to swash
Light emission component be configured as by the laser shaping that the laser generating unit sends be the alignment laser with the angle of visual field and to
Alignment laser described in spatial emission where target object, the laser pick-off component is configured as receiving anti-via target object
The alignment laser penetrated simultaneously carries out opto-electronic conversion to obtain electric signal, and the data handling component is configured as processing the electric signal
To obtain the space three-dimensional data of target object.
2. there-dimensional laser scanning device according to claim 1, it is characterised in that the Laser emission component includes laser
Collimator apparatus and alignment generating device of laser, the laser collimation device are configured as swashing that the laser generating unit sends
Light be adjusted to collimation laser, the alignment generating device of laser be configured as be by the laser shaping of the collimation after the adjustment
Alignment laser with the angle of visual field.
3. there-dimensional laser scanning device according to claim 2, it is characterised in that the alignment generating device of laser is non-
Sphere-prism.
4. there-dimensional laser scanning device according to claim 2, it is characterised in that the Laser emission component also includes light
Road guidance unit, the light path guidance unit is configured as the laser after the laser collimation device is adjusted and guides, and makes
Laser alignment ground after the adjustment enters the alignment generating device of laser.
5. there-dimensional laser scanning device according to claim 4, it is characterised in that the light path guidance unit includes first
Speculum and the second speculum, first speculum are arranged at the stuck-module, and second speculum is arranged at described
Rotary module, first speculum is configured as the laser reflection after the laser collimation device is adjusted to described second anti-
Mirror is penetrated, second speculum reflexes to the alignment laser with being configured as the laser alignment for reflecting first speculum
Generating means.
6. there-dimensional laser scanning device according to claim 1, it is characterised in that the laser pick-off component includes optically focused
Unit and array detection unit, the light focusing unit are configured as being converged the alignment laser that target object reflects, described
Array detection unit is configured as the alignment laser being accumulated described in reception.
7. the there-dimensional laser scanning device according to claim any one of 1-6, it is characterised in that the rotary module is also wrapped
Turntable and angle position encoder are included, the angle position encoder, Laser emission component and laser pick-off component are mounted on
The turntable, the stuck-module includes angle position decoder and motor, and the motor is connected with the turntable, the angle
Position coder is configured as measuring the pivoting angle data of the turntable, and the angle position decoder is configured as understanding institute
Pivoting angle data is stated to obtain the anglec of rotation of the turntable.
8. there-dimensional laser scanning device according to claim 7, it is characterised in that the data handling component includes laser
Drive circuit, seed optical detection circuit, back-ray detection circuit, circuit for controlling motor and data processing circuit, the data processing
Circuit is all connected with the laser drive circuit, seed optical detection circuit, back-ray detection circuit, circuit for controlling motor,
The data processing circuit is configured as controlling the laser drive circuit to drive the laser generating unit to send laser
And the laser generating unit feedack is received, and
It is configured as controlling the seed optical detection circuit to detect the seed light and receive described that the laser generating unit sends
The seed optical pulse signal of seed optical detection circuit feedback, and
Be configured as that laser pick-off unit described in controlling the back-ray detection circuit probe receives reflects via target object
Alignment laser and receive the light echo pulse signal of the back-ray detection electronic feedback, and
It is configured as controlling the circuit for controlling motor to drive the motor and receiving the circuit for controlling motor feedack.
9. there-dimensional laser scanning device according to claim 8, it is characterised in that the data processing circuit includes first
Data processing circuit and the second data processing circuit, first data circuit and the seed light are explored the way circuit, the light echo
Detection circuit is all connected with, and second data circuit is electrically connected with the laser drive circuit, circuit for controlling motor, and described
One data circuit and second data circuit are communicated to connect, and first data processing circuit is configured as what basis was received
The seed optical pulse signal of the seed optical detection circuit feedback and the light echo pulse signal of the back-ray detection electronic feedback
Carry out distance calculation, obtain the distance and gray scale of target object, second data processing circuit is configured as completing laser drive
The algorithm of dynamic circuit and the algorithm of circuit for controlling motor, and to external equipment output data and communicated.
10. there-dimensional laser scanning device according to claim 9, it is characterised in that the laser generating unit is arranged at
The stuck-module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611270417.5A CN106767513A (en) | 2016-12-30 | 2016-12-30 | There-dimensional laser scanning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611270417.5A CN106767513A (en) | 2016-12-30 | 2016-12-30 | There-dimensional laser scanning device |
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| CN106767513A true CN106767513A (en) | 2017-05-31 |
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| CN201611270417.5A Pending CN106767513A (en) | 2016-12-30 | 2016-12-30 | There-dimensional laser scanning device |
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| CN108089198A (en) * | 2017-12-11 | 2018-05-29 | 同方威视技术股份有限公司 | Three-dimensional scanner, robot and data processing method |
| CN108127217A (en) * | 2018-01-16 | 2018-06-08 | 中国计量大学 | Spiral heat exchanger edge weld guides the welder and method of welding automatically |
| CN109188548A (en) * | 2018-08-24 | 2019-01-11 | 河南中光学集团有限公司 | Sweep type laser scanning, detecting system in a kind of high speed week |
| CN109471126A (en) * | 2017-09-07 | 2019-03-15 | 南京理工大学 | A kind of vibration for linear array laser radar turns to combine circumferential scanning device |
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| CN109471126A (en) * | 2017-09-07 | 2019-03-15 | 南京理工大学 | A kind of vibration for linear array laser radar turns to combine circumferential scanning device |
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| CN108127217A (en) * | 2018-01-16 | 2018-06-08 | 中国计量大学 | Spiral heat exchanger edge weld guides the welder and method of welding automatically |
| CN108127217B (en) * | 2018-01-16 | 2023-12-05 | 中国计量大学 | Welding device and method for automatic guided welding of end face weld joint of spiral plate type heat exchanger |
| CN109188548A (en) * | 2018-08-24 | 2019-01-11 | 河南中光学集团有限公司 | Sweep type laser scanning, detecting system in a kind of high speed week |
| CN111279219A (en) * | 2019-01-09 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device and mobile platform |
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| WO2021138763A1 (en) * | 2020-01-06 | 2021-07-15 | 深圳市大疆创新科技有限公司 | Three-dimensional scanning apparatus and method |
| CN111722241A (en) * | 2020-05-18 | 2020-09-29 | 深圳奥锐达科技有限公司 | Multi-line scanning distance measuring system and method and electronic equipment |
| CN111722241B (en) * | 2020-05-18 | 2023-09-05 | 深圳奥锐达科技有限公司 | Multi-line scanning distance measuring system, method and electronic equipment |
| CN112731414B (en) * | 2020-12-15 | 2024-07-05 | 武汉万集信息技术有限公司 | Receiving system of multi-line laser radar and multi-line laser radar |
| CN112731414A (en) * | 2020-12-15 | 2021-04-30 | 武汉万集信息技术有限公司 | Receiving system of multi-line laser radar and multi-line laser radar |
| CN114353662A (en) * | 2021-12-31 | 2022-04-15 | 天津大学 | Passive multi-target receiving and transmitting integrated scanning base station |
| CN114353662B (en) * | 2021-12-31 | 2023-09-01 | 天津大学 | Passive multi-target receiving and transmitting integrated scanning base station |
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