CN106840007A - A kind of spacescan system and method for combination adjustable laser range finding probe array and intelligent terminal - Google Patents
A kind of spacescan system and method for combination adjustable laser range finding probe array and intelligent terminal Download PDFInfo
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- CN106840007A CN106840007A CN201710222724.4A CN201710222724A CN106840007A CN 106840007 A CN106840007 A CN 106840007A CN 201710222724 A CN201710222724 A CN 201710222724A CN 106840007 A CN106840007 A CN 106840007A
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- range finding
- adjustable laser
- laser range
- finding probe
- angle
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of combination adjustable laser range finding probe array and the spacescan system and method for intelligent terminal, system is included apart from acquisition subsystem, angle control subsystem and control management subsystem, apart from the linear transducer array that acquisition subsystem includes being made up of adjustable laser range finding probe, linear transducer array is arranged on support plate, each adjustable laser range finding probe or so and swing, to expand the sweep limits of linear transducer array；Angle control subsystem adjusts the direction of adjustable laser range finding probe, linear transducer array is directed at fixed setting, while coordinate completing Scan orientation operation apart from acquisition subsystem；Control management subsystem is connected with apart from acquisition subsystem, angle control subsystem respectively, display measurement distance, deviation angle, and calculates, records, sharing scanning coordinate data.The present invention uses simple logic, with Multi probe measurement, can solve large-range measuring demand on the premise of certainty of measurement is ensured.
Description
Technical field
The present invention relates to 3-D scanning technical field, especially a kind of combination adjustable laser for broad range of data collection
The spacescan system and method for range finding probe array and intelligent terminal.
Background technology
3-D scanning technology is in recent years by the technical field of extensive concern.It is public to apple from the Kinect of Microsoft
Department purchase Primsense, then the realsense widelyd popularize to Intel belongs to 3-D scanning technology.3-D scanning
The basis of technology, is exactly by 3-D scanning device, the distance of origin of a certain object point in output front apart from 3-D scanning device.
Photo taking type spatial digitizer is a kind of three-dimensional scanning measurement equipment of high-speed, high precision, and application is at present in the world
State-of-the-art structure light noncontact photographic measurement principle.Regarded using a kind of integrated structure light technology, phase measurement, computer
The complex three-dimensional non-contact measuring technology of feel technology.It uses white light raster scanning, with non-contact three-dimensional scan mode
Work, full-automatic splicing, has the advantages that high efficiency, high accuracy, high life, high-res, is particularly well-suited to complex free bent
Face reverse modeling, is mainly used in research and development of products design（RD, such as rapid shaping, three-dimensional digital, three dimensional design, three-dimensional are vertical
Swept-volume etc.）, reverse-engineering（RE, such as reverse scanning, reverse engineer）And three-dimensional values（CAV）, it is product development, Quality Detection
Indispensable instrument.Spatial digitizer is also called that laser copies several machines or 3D copies several machines in some areas.
Laser scanning, is a kind of technology that target panoramic view data and model are rebuild from complicated entity or outdoor scene.Laser
Scanner is used successfully to multiple fields, such as commercial measurement, topographic survey, historical relic's protection, City Modeling, parallel detection, reverse work
Journey and virtual reality etc..
3-D scanning on a large scale is applied to using above-mentioned prior art, is had the following disadvantages：
（1）The subject matter of prior art is to be taken pictures collection using high precision, and certainty of measurement is high, but brings gathered data therewith
It is excessive, collected for the scan data of large-scale sample and be construed as limiting.In scanning process, mistake is easily caused using logical join
Generation.
（2）Prior art shows extremely outstanding in small range accurate measurement, but cannot in large-scale mapping operation use
Measurement meets.
（3）Existing e measurement technology equipment needs the Continuous plus of logic, when one-shot measurement needs to carry out pausing operation,
Measurement needs can be caused to restart.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of combination adjustable laser range finding probe array with intelligent terminal
Spacescan system and method, the system uses simple logic, with Multi probe measurement, can ensure the premise of certainty of measurement
Under, solve large-range measuring demand.
In order to solve the above technical problems, the technical solution used in the present invention is：One kind combines adjustable laser range finding probe
The spacescan system of array and intelligent terminal, it is characterised in that including apart from acquisition subsystem, angle control subsystem and control
Tubulation manages subsystem, wherein：
The linear transducer array for including being made up of adjustable laser range finding probe apart from acquisition subsystem, linear transducer array is arranged at support plate
On, the independent rotation space of each adjustable laser range finding probe is left on support plate, each adjustable laser range finding probe is only at its
Left and right and swing in vertical rotation space, to expand the sweep limits of linear transducer array, each adjustable laser range finding probe
Independent to collect range information, the angle-data and measurement distance of each adjustable laser range finding probe can carry out independent calculating；
The angle control subsystem adjusts the direction of adjustable laser range finding probe, linear transducer array is directed at fixed setting, while
Coordinate and complete Scan orientation operation apart from acquisition subsystem；
The control management subsystem be connected with apart from acquisition subsystem, angle control subsystem respectively, display measurement distance, inclined
Angle is moved, and calculated, recorded, sharing scanning coordinate data.
Further preferred is made to such scheme, the adjustable laser range finding probe parallel equidistant arrangement form linear transducer array,
It is mating spherical surfaces between adjustable laser range finding probe and support plate, adjustable laser range finding probe is rotated in support plate around the centre of sphere, can
Laser ranging probe lower section is adjusted to be provided with angle control subsystem.
Further preferred is made to such scheme, the angle control subsystem includes left-right adjusting mechanism and front and rear regulation machine
Structure, wherein left-right adjusting mechanism are located at linear transducer array lower section, and it controls each adjustable laser range finding probe around the centre of sphere in right and left
To pendulum angle, front and rear governor motion is located at the lower section of left-right adjusting mechanism, its control often row adjustable laser range finding probe around ball
The heart is in fore-and-aft direction pendulum angle；Front and rear governor motion is fixedly supported to the level of bottom by the fixed chuck positioned at two ends
In supporting table.
Further preferred is made to such scheme, the left-right adjusting mechanism includes left regulation motor, right regulation motor and skin
Belt wheel, wherein its middle belt pulley are located at each adjustable laser range finding probe lower section, and are found range by belt wheel drive adjustable laser
Probe swings around the centre of sphere；Linear transducer array is divided into left-half and right half part, wherein left-half and right half part linear transducer array
Belt pulley be sequentially connected in series by belt, form link gear, the adjustable laser range finding probe of left-half and right half part is made
It it is one group, equidirectional swing, the adjustable laser range finding probe of left-half is driven by the left regulation motor positioned at left end, right side
The adjustable laser range finding probe divided is driven by the right regulation motor positioned at right-hand member.
Further preferred is made to such scheme, synchronizer is provided between the left regulation motor and right regulation motor；It is adjacent
Gearratio between two belt pulleys keeps constant, and with the adjustable laser range finding probe in a line, its angle that swings is by two
Hold and be sequentially reduced to centre.
Further preferred is made to such scheme, the front and rear governor motion includes fixed a line adjustable laser range finding probe
Horizontal single-row support plate, laterally the lower surface of single-row support plate is provided with the gear being engaged with, wherein swashing positioned at the adjustable of first half
Gear below ligh-ranging probe is forward swing gear, and the gear below the adjustable laser range finding probe of latter half is put after being
Gear, two intermeshing breast wheels are provided between forward swing gear and rear pendulum gear, and two breast wheels are respectively at forward swing tooth
Wheel and rear pendulum gear engagement, wherein belt transmission between pendulum gear and front and rear regulation motor afterwards.
Further preferred is made to such scheme, the left-right adjusting mechanism is provided with left and right angular transducer, front and rear regulation
Mechanism is provided with front and rear angles sensor, and left-right adjusting mechanism and front and rear governor motion adjust rotational angle by controller,
Left and right angular transducer and front and rear angles sensor collection rotational angle feed back to controller.
A kind of spacescan method, the method uses above-mentioned combination adjustable laser range finding probe array and the sky of intelligent terminal
Between scanning system, it is characterised in that obtain as follows each adjustable laser range finding probe to measurement body surface measurement
Coordinate of the point relative to system（X、Y、Z）：
Step S1：The coordinate of an independent adjustable laser range finding probe correspondence system is（x、y、z）Left and right directions is X-axis, preceding
Rear direction is Y-axis, and above-below direction is Z axis；
Step S2：To locating tab assembly body surface measurement point, detect distance is adjustable laser range finding probeL；
Step S3：After adjustable laser range finding probe completes alignment collection, the folder of range finding probe left and right directions and vertical direction is obtained
Angleα, the angle of fore-and-aft direction and vertical directionβ；
Step S4：Control management subsystem is according to paid-in range data L, left and right and front and rear deviation angleα, β, draw measurement
The coordinate of body surface measurement point relative system（X、Y、Z）,
Step S5：Control management subsystem controls angle control subsystem, adjustment regulation motor changes measurement alignment position；
Step S6：Control management subsystem controls angle control subsystem, the measurement position after angular transducer collection changes is pressed from both sides
Angle and the range information of this moment adjustable laser range finding probe；
Step S7：, by gathering, calculating, recording, arranging multiple measurement data, display measurement thing surface is or not control management subsystem
With the spatial positional information of measurement point, simulated object result is drawn.
It is using the beneficial effect produced by above-mentioned technical proposal：
（1）Combination adjustable laser range finding probe array and the spacescan system of intelligent terminal in the present invention, are swashed using adjustable
The linear transducer array of ligh-ranging Probe arrangement, swinging and swing for horizontal direction is carried out to linear transducer array, by control
Pendulum angle, while measured using multiple independent probes simultaneously, with reference to simple logical operation, can ensure certainty of measurement
Under the premise of, solve large-range measuring demand, it is possible to coordinate alignment system；
（2）In the present invention, to adjustable laser ranging probe travel direction adjustment, while gathering angle of rotation using angular transducer
Degree, feeds back to controller, and coordinates alignment system, realizes the pause and continuation of measurement, and Zhi Chixu points restart function, further excellent
Change measurement sampling process, degree of regulation is set, it is ensured that the realization of certainty of measurement；
（3）Linear transducer array in the present invention, using left and right adjusting motor and front and rear regulation motor, to adjustable laser range finding probe reality
Homogeneous angular regulation and the equal angular regulatory function of fore-and-aft direction of left and right method are showed, by setting rational motorized feed
Precision, can rationally set the range of needs of certainty of measurement, improve scanning accuracy, accelerate the carrying out of scanning process；
（4）Spacescan method in the present invention, it is only necessary to range data L, deviation angleαWithβ,Exported by simple logic,
Locus coordinate can be obtained, arithmetic speed is improved and is calculated succinct, efficiency high.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is system composition frame diagram of the invention；
Fig. 2 is the signal transmission flow figure of angle control subsystem in the present invention；
Fig. 3 is the linear transducer array figure apart from acquisition subsystem in the present invention；
Fig. 4 is the structure chart of angle control subsystem in the present invention（A-A sectional views in Fig. 3）；
Fig. 5 is the structure chart of angle control subsystem in the present invention（B-B revolved sectional views in Fig. 3）；
Fig. 6 is apart from acquisition subsystem position correction schematic diagram in the present invention；
In figure：1st, adjustable laser range finding probe, 2, support plate, 3, fixed chuck, 4, level support platform, 7, left and right angular transducer,
8th, front and rear angles sensor, 9, controller, 10, right regulation motor, 11, left regulation motor, 12, belt pulley, 13, front and rear regulation dress
Put, 14, horizontal single-row support plate, 15, forward swing gear, 16, breast wheel, 17, put gear afterwards, 18, front and rear regulation motor.
Specific embodiment
Accompanying drawing 1 is the spacescan system composition framework signal with reference to adjustable laser range finding probe array and intelligent terminal
Figure, the system mainly uses laser ranging part alignment target measurement thing, each laser ranging probe to collect range information, shape
Numbered into array data and preserved, correspondence probe offset angle, simultaneously simulative display measures thing model for computing.It specifically includes distance and adopts
Subsystem, angle control subsystem and control management subsystem, each subsystem include signal transmission module and power supply mould
Block, apart from acquisition subsystem with the positional information and range information gathered in laser array, is transferred to control management subsystem, control
Tubulation is managed after subsystem enters treatment to information, is sent to angle control subsystem, and angle control subsystem is adjusted the distance collection subsystem
System is controlled, and adjusts its direction and scope, can gather information as needed；Meanwhile, gathered in laser array and believed
During breath, by the angular transducer being placed in acquisition subsystem, acquisition angles information, and angle information is fed back
Extremely control management subsystem, controls management subsystem information transmission extremely apart from acquisition subsystem, can be to laser array
Acquisition range be corrected.Between above-mentioned three subsystems, information is mutually transmitted, form including orientation, feedback and
The intelligent scanning system that adjustment is integrated, realizes large-scale information scanning.
It is above-mentioned to be used to be scanned remote object thing apart from acquisition subsystem, and each point distance is adopted in determining object
The distance of collection equipment, it specifically includes the linear transducer array being made up of adjustable laser range finding probe 1, and linear transducer array is arranged at support plate 2
On, arrangement mode of the adjustable laser range finding probe 1 on support plate 2 is arranged for parallel equidistant, the rectangular probe array of formation, such as attached
Shown in Fig. 3, specially the matrix arrangement mode of the row of 3 row 17, totally 51 adjustable laser range finding probes 1.In order to realize that each is adjustable
The adjustable angle of laser ranging probe 1, leaves the independent rotation space of each adjustable laser range finding probe 1 on support plate 2, each
Adjustable laser range finding probe 1 left and right and swing in its independent rotation space, to expand the sweep limits of linear transducer array.Tool
Body is the parallel equidistant arrangement form linear transducer array of adjustable laser range finding probe 1, is between adjustable laser range finding probe 1 and support plate 2
Mating spherical surfaces, adjustable laser range finding probe 1 is rotated in support plate 2 around the centre of sphere, realizes adjustable laser range finding probe 1 at any angle
Adjustment, its adjustment mechanism is to be located at the lower section of tune laser ranging probe 1 to be provided with angle control subsystem.Each above-mentioned adjustable laser
Range finding probe 1 can independently collect range information, and the angle-data and measurement distance of each adjustable laser range finding probe 1 can be carried out
It is independent to calculate.
It is in spreading the linear transducer array for being formed by adjustable laser range finding probe 1 apart from the operation principle of acquisition subsystem,
Each probe is independently collected into the range data of measurement thing.It is range information group suppression that all probe collections are arrived, storage, aobvious
Show, correspond to simulate measurement thing shape facility on computers.
The direction of the angle control subsystem adjustment adjustable laser range finding probe 1 in the system, makes linear transducer array to fiducial mark
Direction is determined, while coordinate completing Scan orientation operation apart from acquisition subsystem；It is achieved in that angle control subsystem is for example attached
Shown in Figure 4 and 5, left-right adjusting mechanism and front and rear governor motion are specifically provided with, wherein left-right adjusting mechanism is located at linear transducer array
Lower section, it controls each adjustable laser range finding probe 1 around the centre of sphere in left and right directions pendulum angle, and front and rear governor motion is located at left and right
The lower section of governor motion, its control often row adjustable laser range finding probe 1 around the centre of sphere in fore-and-aft direction pendulum angle；Front and rear regulation machine
Structure is fixedly supported in the level support platform 4 of bottom by the fixed chuck 3 positioned at two ends, is in whole system persistently steady
Determine state.
In order to realize the feedback regulation to linear transducer array, left and right angular transducer 7 is provided with left-right adjusting mechanism, it is front and rear
Governor motion is provided with front and rear angles sensor 8, and left-right adjusting mechanism and front and rear governor motion adjust rotation by controller 9
Angle, left and right angular transducer 7 and the collection rotational angle of front and rear angles sensor 8 feed back to controller 9, so in front and rear regulation
The double closed-loop control system formed between mechanism, left-right adjusting mechanism and controller 9, as shown in Figure 2, two closed-loop control systems
System independent operating, the direction to support plate 2 is accurately adjusted, and according to the information of scanning, is realized adjustable laser range finding probe 1 and is existed
Left and right and the feedback regulation of front and rear corner, realize Based Intelligent Control, and total composition is simple, and control is easy to implement, whole
Body cost is controllable.
The structure chart of left-right adjusting mechanism is given in accompanying drawing 4, left-right adjusting mechanism includes left regulation motor 11, right regulation
Motor 10 and belt pulley 12, so that 3 rows 17 in scheming arrange totally 51 probe matrix matrixes of probe composition as an example, wherein linear transducer array
It is divided into left-half and right half part, the 8 row adjustable laser range finding probes 1 and 8 row adjustable lasers of right half part of left-half
The lower section of range finding probe 1 is provided with belt pulley 12, belt pulley 12 and the lower surface friction of adjustable laser range finding probe 1, in belt pulley
During 12 rotation, adjustable laser range finding probe 1 is driven to be swung around the centre of sphere.Belt pulley 12 is 2 step cones, left-half and right half part
The belt pulley 12 of linear transducer array is sequentially connected in series by belt, forms two groups of link gears, left-half and right half part it is adjustable
Laser ranging probe 1 as one group, equidirectional swing, the adjustable laser range finding probe 1 of left-half is by the left tune positioned at left end
Section motor 11 is driven, and the adjustable laser range finding probe 1 of right half part is driven by the right regulation motor 10 positioned at right-hand member.
In concrete operations, in order to ensure the rotational angle of left-half and the adjustable laser range finding probe 1 for having half part
It is identical, it is provided with synchronizer between left regulation motor 11 and right regulation motor 10, it is ensured that two motors have identical corner.
Adjustment corner after, in order to ensure each adjustable laser range finding probe 1 transmitting laser continue keep with distribution, it is desirable to group
Each anglec of rotation of adjustable laser range finding probe 1 is different, ecto-entad, and its anglec of rotation so requires same group to successively decrease successively
Gearratio between two neighboring belt pulley 12 keeps constant, with the adjustable laser range finding probe 1 in a line, its angle that swings
Degree is sequentially reduced from two ends to centre.The mechanism is driven by an independent driving structure, using multilevel transmission structure, keeps vertical
Probe property skew in gradient.
Accompanying drawing 5 is the structure chart of front and rear governor motion, and totally 51 probe matrix squares of probe composition are arranged with 3 rows 17 in scheming
The concrete composition and motion mode of the mechanism are illustrated as a example by battle array.Front and rear governor motion specifically includes fixed a line adjustable laser and surveys
Away from the single-row support plate 14 of transverse direction of probe 1,3 single-row support plates 14 of transverse direction are provided with figure, in the horizontal single-row support plate 14 of 1 and 3 rows
Lower surface middle part be provided with and have the gear that is engaged with, wherein the gear of the horizontal lower section of single-row support plate 14 of the 1st row is forward swing tooth
The gear of the horizontal lower section of single-row support plate 14 of the 15, the 3rd row of wheel puts gear 17 after being, is set between forward swing gear 15 and rear pendulum gear 17
There are two intermeshing breast wheels 16, two breast wheels 16 are engaged respectively at forward swing gear 15 and rear pendulum gear 17, wherein after
Belt transmission between pendulum gear 17 and front and rear regulation motor 18.
In front and rear governor motion, 17 driving wheels of gear are put afterwards, it drives the single-row support plate 14 of transverse direction of the 3rd row to swing,
Realize that the adjustable laser range finding probe 1 of full line, around centre of sphere swing, is put gear 17 and engaged with breast wheel 16, by two afterwards
Between wheel 16 transition, make the rotation direction of forward swing gear 15 with it is rear pendulum gear 17 conversely, forward swing gear 15 drive the 1st row adjustable laser
Range finding probe 1 is around centre of sphere swing.Forward swing gear 15 is identical with the rear pendulum number of teeth of gear 17, and its pendulum angle is identical, so exists
Under the drive of front and rear regulation motor 18, the swing of the fore-and-aft direction of the 1st and 3 row adjustable laser range finding probe 1 is realized, the 2nd row is adjustable
Laser ranging probe 1 keeps different.If the line number of adjustable laser range finding probe 1 increases, can be symmetrical arranged, by belt or gear
The kind of drive, ecto-entad pendulum angle successively decreases successively, keeps the lateral symmetry skew of adjustable laser range finding probe 1.
In addition, before and after above-mentioned in governor motion, breast wheel 16 could be arranged to 1, straight by front and rear regulation motor 18
Tape splicing moves breast wheel 16, realizes forward swing gear 15 and puts rotating backward for gear 17 afterwards.
Control management subsystem in the system is mainly and is calculated by other subsystem gathered datas, the subsystem
It is connected with apart from acquisition subsystem, angle control subsystem respectively, display measurement distance, deviation angle, and calculates, records, dividing
Enjoy scanning coordinate data.
The operation principle of control management subsystem：When probe is scanned operation, scanning array can be visited to each scanning
The measurement point of head, carries out modeling, under analog references coordinate system, according to each probe measurement go out it is inclined with probe apart from L
Angle [alpha], β are moved, the respective coordinates under the corresponding analog references system of correspondence measurement point are calculated, so that the simulating reality corresponding points,
Realize 3-D scanning operation.The Data Integration of multiple point, forms dot matrix three-dimensional model, completes the realization of scanning.Simultaneous computer
Can certainty of measurement according to demand, adjustment probe offset angle is set, increase sweep limits or lifting scanning fineness.
According to above-mentioned principle, develop with reference to adjustable laser range finding probe array and the spacescan system of intelligent terminal
Method, obtains each adjustable laser range finding probe 1 to measurement body surface measurement point relative to system as follows
Coordinate（X、Y、Z）：
Step S1：The coordinate of an independent correspondence system of adjustable laser range finding probe 1 is（x、y、z）Left and right directions is X-axis, preceding
Rear direction is Y-axis, and above-below direction is Z axis；
Step S2：To locating tab assembly body surface measurement point, detect distance is adjustable laser range finding probe 1L；
Step S3：After adjustable laser range finding probe 1 completes alignment collection, the folder of range finding probe left and right directions and vertical direction is obtained
Angleα, the angle of fore-and-aft direction and vertical directionβ；
Step S4：Control management subsystem is according to paid-in range data L, left and right and front and rear deviation angleα, β, draw measurement
The coordinate of body surface measurement point relative system（X、Y、Z）,
Step S5：Control management subsystem controls angle control subsystem, adjustment regulation motor changes measurement alignment position；
Step S6：Control management subsystem controls angle control subsystem, the measurement position after angular transducer collection changes is pressed from both sides
Angle and the range information of this moment adjustable laser range finding probe 1；
Step S7：, by gathering, calculating, recording, arranging multiple measurement data, display measurement thing surface is or not control management subsystem
With the spatial positional information of measurement point, simulated object result is drawn.
In sum, it is of the invention in concrete application, as a example by from top measurement sand drift volume：Will be of the invention adjustable sharp
The probe matrix of the composition of ligh-ranging probe 1, being aligned need to measure sand drift straight down.Each adjustable laser range finding probe 1 measure away from
With a distance from sand drift, drive device adjustment structure laser ranging probe direction, angular transducer collection angle offset data.Synchro angle
Degree offset data and laser ranging data, simulative display measurement sand ionization formula.Control management subsystem according to passback angle with
Distance, draws measurement sand drift volume.
Claims (8)
1. the spacescan system of a kind of combination adjustable laser range finding probe array and intelligent terminal, it is characterised in that including distance
Acquisition subsystem, angle control subsystem and control management subsystem, wherein：
It is described to include by adjustable laser range finding probe apart from acquisition subsystem（1）The linear transducer array of composition, linear transducer array is arranged at
Support plate（2）On, in support plate（2）On leave each adjustable laser range finding probe（1）Independent rotation space, each adjustable laser survey
Away from probe（1）Left and right and swing in its independent rotation space, to expand the sweep limits of linear transducer array, each is adjustable to swash
Ligh-ranging is popped one's head in（1）Range information can be independently collected, each adjustable laser range finding probe（1）Angle-data and measurement distance
Independent calculating can be carried out；
The angle control subsystem adjusts adjustable laser range finding probe（1）Direction, make linear transducer array be aligned fixed setting, together
Shi Peihe completes Scan orientation operation apart from acquisition subsystem；
The control management subsystem be connected with apart from acquisition subsystem, angle control subsystem respectively, display measurement distance, inclined
Angle is moved, and calculated, recorded, sharing scanning coordinate data.
2. the spacescan system of a kind of combination adjustable laser range finding probe array according to claim 1 and intelligent terminal
System, it is characterised in that the adjustable laser range finding probe（1）Parallel equidistant arrangement form linear transducer array, adjustable laser range finding probe
（1）With support plate（2）Between be mating spherical surfaces, adjustable laser range finding probe（1）In support plate（2）It is interior to be rotated around the centre of sphere, swash adjustable
Ligh-ranging is popped one's head in（1）Lower section is provided with angle control subsystem.
3. the spacescan system of a kind of combination adjustable laser range finding probe array according to claim 2 and intelligent terminal
System, it is characterised in that the angle control subsystem includes left-right adjusting mechanism and front and rear governor motion, wherein left and right adjusting machine
Structure is located at linear transducer array lower section, and it controls each adjustable laser range finding probe（1）It is front and rear around the centre of sphere in left and right directions pendulum angle
Governor motion is located at the lower section of left-right adjusting mechanism, and it controls often row adjustable laser range finding probe（1）Around the centre of sphere in fore-and-aft direction
Pendulum angle；Front and rear governor motion is by the fixed chuck positioned at two ends（3）, it is fixedly supported to the level support platform of bottom（4）
On.
4. the spacescan system of a kind of combination adjustable laser range finding probe array according to claim 3 and intelligent terminal
System, it is characterised in that the left-right adjusting mechanism includes left regulation motor（11）, right regulation motor（10）And belt pulley（12）, its
In its middle belt pulley（12）Positioned at each adjustable laser range finding probe（1）Lower section, and by belt pulley（12）Drive adjustable laser
Range finding probe（1）Swung around the centre of sphere；Linear transducer array is divided into left-half and right half part, and wherein left-half and right half part is visited
The belt pulley of head array（12）It is sequentially connected in series by belt, forms the adjustable laser of link gear, left-half and right half part
Range finding probe（1）As one group, equidirectional swing, the adjustable laser range finding probe of left-half（1）By the left tune positioned at left end
Section motor（11）Drive, the adjustable laser range finding probe of right half part（1）By the right regulation motor positioned at right-hand member（10）Drive.
5. the spacescan system of a kind of combination adjustable laser range finding probe array according to claim 4 and intelligent terminal
System, it is characterised in that the left regulation motor（11）With right regulation motor（10）Between be provided with synchronizer；Two neighboring belt pulley
（12）Between gearratio keep it is constant, with the adjustable laser range finding probe in a line（1）, its swing angle from two ends to
Centre is sequentially reduced.
6. the spacescan system of a kind of combination adjustable laser range finding probe array according to claim 3 and intelligent terminal
System, it is characterised in that governor motion includes fixed a line adjustable laser range finding probe before and after described（1）The single-row support plate of transverse direction
（14）, horizontal single-row support plate（14）Lower surface be provided with the gear being engaged with, wherein positioned at first half adjustable laser survey
Away from probe（1）The gear of lower section is forward swing gear（15）, positioned at the adjustable laser range finding probe of latter half（1）The gear of lower section
It is rear pendulum gear（17）, in forward swing gear（15）With rear pendulum gear（17）Between be provided with two intermeshing breast wheels（16）,
Two breast wheels（16）Respectively at forward swing gear（15）With rear pendulum gear（17）Engagement, wherein after put gear（17）With front and rear regulation
Motor（18）Between belt transmission.
7. the spacescan system of a kind of combination adjustable laser range finding probe array according to claim 3 and intelligent terminal
System, it is characterised in that the left-right adjusting mechanism is provided with left and right angular transducer（7）, front and rear governor motion is provided with front-and-back angle
Degree sensor（8）, left-right adjusting mechanism and front and rear governor motion pass through controller（9）To adjust rotational angle, left and right angle is passed
Sensor（7）With front and rear angles sensor（8）Collection rotational angle feeds back to controller（9）.
8. a kind of spacescan method, the combination adjustable laser range finding any one of the method usage right requirement 1~7 is visited
The spacescan system of head array and intelligent terminal, it is characterised in that obtain the range finding of each adjustable laser as follows and visit
Head（1）Coordinate to measurement body surface measurement point relative to system（X、Y、Z）：
Step S1：An independent adjustable laser range finding probe（1）The coordinate of correspondence system is（x、y、z）Left and right directions is X-axis,
Fore-and-aft direction is Y-axis, and above-below direction is Z axis；
Step S2：Adjustable laser range finding probe（1）To locating tab assembly body surface measurement point, detecting distance isL；
Step S3：Adjustable laser range finding probe（1）After completing alignment collection, range finding probe left and right directions is obtained with vertical direction
Angleα, the angle of fore-and-aft direction and vertical directionβ；
Step S4：Control management subsystem is according to paid-in range data L, left and right and front and rear deviation angleα, β, draw measurement
The coordinate of body surface measurement point relative system（X、Y、Z）,
Step S5：Control management subsystem controls angle control subsystem, adjustment regulation motor changes measurement alignment position；
Step S6：Control management subsystem controls angle control subsystem, the measurement position after angular transducer collection changes is pressed from both sides
Angle and this moment adjustable laser range finding probe（1）Range information；
Step S7：, by gathering, calculating, recording, arranging multiple measurement data, display measurement thing surface is or not control management subsystem
With the spatial positional information of measurement point, simulated object result is drawn.
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