CN208091391U - A kind of laser 3 d scanner and its scan controller - Google Patents
A kind of laser 3 d scanner and its scan controller Download PDFInfo
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- CN208091391U CN208091391U CN201820682092.XU CN201820682092U CN208091391U CN 208091391 U CN208091391 U CN 208091391U CN 201820682092 U CN201820682092 U CN 201820682092U CN 208091391 U CN208091391 U CN 208091391U
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Abstract
The utility model discloses a kind of laser 3 d scanner and its scan controller, which includes phase type laser scanning circuit, pulse type laser scanning circuit, measurement process module, control module and display module；The input terminal of phase type laser scanning circuit and the input terminal of pulse type laser scanning circuit are connect with the output end of control module, and the output end of phase type laser scanning circuit and the output end of pulse type laser scanning circuit are connect with the input terminal of measurement process module；Control module controls phase type laser scanning circuit and pulse type laser scanning circuit is scanned scanning area to obtain corresponding measured value, measurement module calculates compensation mean value according to measured value, and the measured value for being scanned scanning area acquisition to controlling pulse type laser scanning circuit again using compensation mean value is compensated, to obtain revised scanning result.By the utility model, realize that laser 3 d scanner has higher sweep speed in the case where ensureing measurement accuracy.
Description
Technical field
The utility model is related to the Airborne Laser Scan field more particularly to a kind of laser 3 d scanner and its scannings
Control device.
Background technology
Laser ranging is to use a laser as detection wave beam, measures the linear measure longimetry of reflecting surface range transmission point absolute distance
Instrument.Laser ranging has many advantages, such as non-cpntact measurement, measuring accuracy height, high resolution, strong antijamming capability, in various surveys
It is widely used in amount industry, in military field, or in scientific experimentation, construction production, infrastructure etc., all
It plays an important role.
According to laser distance measuring principle, two kinds of pulsed and phase type can be divided into：
(1) phase laser distance measurement principle is by measuring the laser signal of modulation roundtrip propagation institute shape on testing distance
At phase shift, measure the laser propagation time indirectly, further according to laser propagation speed, find out testing distance.
(2) pulse type laser range measurement principle is that the laser by launching is connect by rangefinder again after object being measured reflects
Receipts, rangefinder while recording laser round-trip time, the half of the light velocity and the product of two-way time is exactly rangefinder and is measured
The distance between object.
In some special application scenarios, measurement distance farther out was both needed, to find, detect several kilometers in time
Outer distant object, and need that there is higher detection accuracy in short range, to carry out being accurately controlled operation.Conventional swashs
Optar, all only a kind of distance measurement mode, cannot meet current measurement demand：Pulsed measurement range is remote but short range have it is blind
Area, precision are low；Phase sends out range accuracy height, and measurement range is small.In the prior art in order to solve technical problem as above, measuring
Two sets of rangefinders are integrated in system, carry out pulsed, phase shift rangefinder respectively, but still can not solve the measurement of short distance small range
When the not high technical problem of sweep speed.
Utility model content
The purpose of this utility model is to provide a kind of laser 3 d scanner and its scan controllers, to realize laser
Spatial digitizer has higher sweep speed in the case where ensureing measurement accuracy.
In order to solve the above technical problems, the technical solution that the utility model uses is：A kind of laser three-D is provided to sweep
Retouch instrument, including phase type laser scanning circuit, pulse type laser scanning circuit, measurement process module, display module and control
Module；The input terminal of the input terminal of the phase type laser scanning circuit and the pulse type laser scanning circuit with it is described
The output end of control module connects, the output end of the phase type laser scanning circuit and the pulse type laser scanning circuit
Output end connect with the input terminal of the measurement process module, the input terminal of the display module and the control module
Output end connects, and the output end of the measurement process module is connect with the input terminal of the control module；The control module control
The phase type laser scanning circuit and pulse type laser scanning circuit is made to be scanned scanning area to obtain corresponding survey
Magnitude, the measurement process module calculate compensation mean value according to the measured value, and the control module utilizes the compensation mean value
The measured value that the scanning area obtains is scanned to pulse type laser scanning circuit described in secondary control again to compensate, to be repaiied
Scanning result after just.
Wherein, the measurement process module includes compensation circuit, arithmetic unit and memory；The input terminal of the memory with
The output end of the output end of the phase type laser scanning circuit and the pulse type laser scanning circuit connects, the storage
The output end of device is connect with the compensation circuit, the arithmetic unit respectively, the output end of the arithmetic unit and the compensation circuit
Input terminal connection.
Wherein, the control module includes control circuit and master control borad, and the input terminal of the master control borad is electric with the compensation
The output end on road connects, and the output end of the master control borad also connects with the input terminal of the control circuit, the display module respectively
Connect, the output end of the control circuit also respectively with the input terminal of the phase type laser scanning circuit, the pulse type laser
The input terminal of scanning circuit connects.
Wherein, the phase type laser scanning circuit includes first laser driver, first laser generator and first
Laser pick-off circuit；The input terminal of the first laser driver is connected to the output end of the control circuit, and described first swashs
The output end of CD-ROM driver is connected to the input terminal of the first laser generator；Wherein, the first laser driver response
The enabling signal that the control circuit is sent out, makes the phase type laser scanning circuit start, and the first laser generator connects
Receive the laser signal of the first laser driver output, and directive measured target；The first laser receiving circuit receives quilt
Survey the reflected laser signal of target.
Wherein, the pulse type laser scanning circuit includes second laser driver, second laser generator, second laser
Receiving circuit and modulator；The input terminal of the second laser driver is connected to the output end of the control circuit, described
Modulator is connected between the output end of the second laser driver and the input terminal of the second laser generator；Wherein,
The second laser driver responds the enabling signal that the control circuit is sent out, and the pulse type laser scanning circuit is made to open
Dynamic, the second laser generator receives the laser signal of the second laser driver output, and directive measured target；It is described
Second laser receiving circuit receives the reflected laser signal of measured target.
In order to solve the above technical problems, another technical solution that the utility model uses is：A kind of laser three-D is provided
Scan controller, the laser three-dimensional scanning control device are swept with a phase type laser scanning circuit and a phase type laser
Scanning circuit connects；The laser three-dimensional scanning control device includes control module and measurement process module, wherein the measured place
It includes compensation circuit, arithmetic unit and memory to manage module, and the control module includes control circuit and master control borad；The memory
The output end of input terminal and the phase type laser scanning circuit and the output end of the pulse type laser scanning circuit connect
It connects, the output end of the memory is connect with the compensation circuit, the arithmetic unit respectively, the output end of the arithmetic unit and institute
State the input terminal connection of compensation circuit；The input terminal of the master control borad is connect with the output end of the compensation circuit, the master control
The output end of plate is also connect with the input terminal of the control circuit, the display module respectively, the output end of the control circuit
Also it is connect respectively with the input terminal of the input terminal of the phase type laser scanning circuit, the pulse type laser scanning circuit；Institute
State control circuit control the phase type laser scanning circuit and pulse type laser scanning circuit to scanning area be scanned with
Corresponding measured value is obtained, the arithmetic unit calculates compensation mean value according to the measured value, and the compensation circuit utilizes the benefit
It repays mean value and the measurement that the scanning area obtains is scanned to pulse type laser scanning circuit described in the control circuit again secondary control
Value compensates, to obtain revised scanning result.
Wherein, the phase type laser scanning circuit includes first laser driver, first laser generator and first
Laser pick-off circuit；The output end of the first laser driver is connected to the input terminal of the first laser generator；It is described
The input terminal of first laser driver is connected to the output end of the control circuit, is sent out with receiving and responding the control circuit
Enabling signal, so that the phase type laser scanning circuit is started, the first laser generator receives the first laser and drives
The laser signal of dynamic device output, and directive measured target；It is reflected that the first laser receiving circuit receives measured target
Laser signal.
Wherein, the pulse type laser scanning circuit includes second laser driver, second laser generator, second laser
Receiving circuit and modulator；The modulator is connected to the output end and second laser hair of the second laser driver
Between the input terminal of raw device；The input terminal of the second laser driver is connected to the output end of the control circuit, to receive
And the enabling signal that the control circuit is sent out is responded, so that the pulse type laser scanning circuit is started, the second laser hair
Raw device receives the laser signal of the second laser driver output, and directive measured target；The second laser receiving circuit
Receive the reflected laser signal of measured target.
Wherein, the laser three-dimensional scanning control device is also connect with a display module.
Wherein, the display module includes driving circuit and display, the output end of the control circuit and the driving
The input terminal of circuit connects, and the output end of the driving circuit is connect with the input terminal of the display.
The utility model has the beneficial effects that：The case where being different from the prior art, a kind of laser provided by the utility model
Spatial digitizer and its scan controller, on same scanner simultaneously Pulse-width modulation formula 3 D laser scanning and phase type
Laser scanning sets a few place's targets, while being measured to region using pulsed and phase in the region for needing to scan；
For same target, the measurement result of impulse method and phase method is analyzed, on the basis of the higher phase method of precision, to arteries and veins
The measured value for rushing method compensates, and obtains the penalty coefficient at the target；The penalty coefficient that different targets obtain is added
Power calculates, and obtains penalty coefficient mean value, and compensate meter using the result that penalty coefficient mean value measures pulsed mensuration
It calculates, obtains revised scanning result.By compensating calibration to pulsed laser scanning data so that entire scanning
There is pulsed sweep speed, there is the precision for having had both phase type scanning.
Description of the drawings
Fig. 1 is the structural schematic diagram of the laser 3 d scanner in the utility model embodiment.
Specific implementation mode
For the ease of understanding the utility model, with reference to the accompanying drawings and detailed description, the utility model is carried out more
Detailed description.
Unless otherwise defined, technical and scientific term all used in this specification and the skill for belonging to the utility model
The normally understood meaning of technical staff in art field is identical.Art used in the description of the utility model in this specification
Language is intended merely to the purpose of description specific embodiment, is not intended to limitation the utility model.Art used in this specification
Language "and/or" includes any and all combinations of one or more relevant Listed Items.
Referring to Fig. 1, being the laser three-dimensional scanning in the utility model embodiment with the structural schematic diagram of instrument.The laser
Spatial digitizer 10 includes phase type laser scanning circuit 11, pulse type laser scanning circuit 12, measurement process module 13, display
Module 14 and control module 15.The input terminal of the phase type laser scanning circuit 11 and pulse type laser scanning circuit 12
Input terminal is connect with the output end of control module 15, the output end and pulse type laser of the phase type laser scanning circuit 11
The output end of scanning circuit 12 is connect with the input terminal of the measurement process module 13, the input terminal of the display module 14 and control
The output end of module 15 connects, and the output end of the measurement process module 13 is connect with the input terminal of control module 15.
Wherein, which includes：Compensation circuit 131, memory 132 and arithmetic unit 133.The memory
132 input terminal connects with the output end of the output end of phase type laser scanning circuit 11 and pulse type laser scanning circuit 12
It connects, the output end of the memory 132 is connect with compensation circuit 131, arithmetic unit 133 respectively, the output end and benefit of the arithmetic unit 133
Repay the input terminal connection of circuit 131.
The control module 15 includes control circuit 151 and master control borad 152, wherein the input terminal of master control borad 152 and compensation electricity
The output end on road 131 connects, and the output end of master control borad 152 also connects with the input terminal of control circuit 151, display module 14 respectively
It connects.The output end of the control circuit 151 is also electric with the input terminal of phase type laser scanning circuit 11, pulse type laser scanning respectively
The input terminal on road 12 connects.
Further, which includes first laser driver 111, first laser generator
112 and first laser receiving circuit 113.The input terminal of the first laser driver 111 is connected to the output of control circuit 151
End, the output end of the first laser driver 111 are connected to the input terminal of first laser generator 112.Wherein, first laser is driven
The enabling signal that dynamic 111 response control circuit 151 of device is sent out, makes the phase type laser scanning circuit 11 start, first laser hair
Raw device 112 receives the laser signal of 11 output of first laser driver, and directive measured target.First laser receiving circuit 113
Receive the reflected laser signal of measured target.
The pulse type laser scanning circuit 12 swashs including second laser driver 121, second laser generator 122, second
Optical receiving circuit 123 and modulator 124.The input terminal of the second laser driver 121 is connected to the output of control circuit 151
End, the modulator 124 are connected between the output end of second laser driver 121 and the input terminal of second laser generator 123.
Wherein, the enabling signal that 121 response control circuit 151 of second laser driver is sent out, makes the pulse type laser scanning circuit 12
Start, second laser generator 122 receives the laser signal of 12 output of second laser driver, and directive measured target.Second
Laser pick-off circuit 123 receives the reflected laser signal of measured target.
The detailed operation of laser 3 d scanner described in the utility model is：
(1) transmitting laser signal is scanned scanning area：Control circuit 151 responds the startup that master control borad 152 is sent
Signal, controls first laser driver 111 respectively and second laser driver 121 starts, and makes corresponding first laser generator
112 generate laser signal, and second laser generator 122 is made to generate continuous pulsed laser signal, are sent to measured target；
(2) laser signal returned is received to obtain scanning result：The laser signal returned by measured target swashs through first
Optical receiving circuit 113 obtains the first measured value of M groups, is transferred to measurement process module 13, also passes through second laser receiving circuit 123
The second measured value of N groups is obtained, measurement process module 13 is transferred to.The measurement process module 13 stores the scanning result received
Into memory 132.
(3) mean value computation is compensated：Arithmetic unit 133 reads the first measured value of M groups from memory 132 and N groups second measure
Value, analyzes first measured value of M groups and the second measured value of N groups, and corresponding calculate is worth on the basis of the first measured value and is compensated
Coefficient, and penalty coefficient mean value is calculated to whole penalty coefficients.
(4) measurement result compensates, including：
It is scanned with pulse type laser and obtains scanning result：Compensation circuit 131 reads arithmetic unit 133 and penalty coefficient is calculated
Mean value, master control borad 152 generate corresponding enabling signal according to penalty coefficient mean value, and control circuit 151 is made to respond the enabling signal
Enabling signal is sent to pulse type laser scanning circuit 12, second laser driver 121 responds the enabling signal and starts the pulse
Formula laser scanning circuit 12 makes the modulator 124 by both scan velocity modulation to maximum value, and corresponding second laser is made to occur
Device 122 generates laser signal, and measured target is sent to maximum sweep rate；Wherein, the enabling signal that control circuit 151 is sent
It also carries the control instruction of both scan velocity modulation to maximum value.
Scanning result is compensated：The laser signal returned by measured target obtains M through second laser receiving circuit 123
Group third measured value, is transferred to measurement process module 13.The measurement process module 13 stores the scanning result received to depositing
In reservoir 132.Compensation circuit 131 reads the third measured value preserved in storage 134, and using the penalty coefficient mean value to institute
Third measured value is stated to compensate to obtain revised scanning result.
Further, which also sends control instruction to driving circuit 141, makes the driving display of driving circuit 141
Device 142 shows the scanning result through overcompensation, to show the scanning result of accurate scanning area.
Specifically, scanning area is scanned and obtains the first measured value of M groups and the second measured value of N groups, can usually led to
The following two kinds mode is crossed to carry out：
(1) target is not set up in scanning area：Phase type laser scanning circuit 11 is then respectively started to sweep with pulse type laser
Scanning circuit 12 is scanned scanning area, directly acquires the first measured value of M groups (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym,
Zm) and the second measured value of N groups (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
(2) several positions are preselected in scanning area, and a target is arranged in corresponding each position：Phase is then respectively started
Formula laser scanning circuit 11 is scanned scanning area with pulse type laser scanning circuit 12, with each target of correspondence point
It Huo get not the first measured value of M groups (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N groups (X '1, Y '1, Z '1),
(X’2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
It will be directed to both scan modes below, the operation principle of the utility model laser three-dimensional scanning will be illustrated.
(1) target is not set up in scanning area
Obtaining the first measured value of M groups (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N groups (X '1,
Y’1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) when, the principle that arithmetic unit 133 calculates penalty coefficient mean value is as follows：
Second measured value of N groups is compared with first measured value of M groups respectively, screening control methods is while comparing
X and Y value, to filter out M group second measured value close with first measured value；Wherein, predetermined number is less than according to difference value
Value judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M groups and second measured value of M groups that filters out is extracted respectively, is obtained
(Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m)；
The penalty coefficient K is calculated using following formulam=Zm-Zn m, wherein KmFor penalty coefficient；And
To the M obtained penalty coefficient KmIt averages to be compensated Coefficient Mean K.
Correspondingly, compensation circuit 131 mends the Z coordinate of the third measured value using the penalty coefficient mean value K
It repays, to obtain revised scanning result.
In another embodiment, the principle of the calculating of arithmetic unit 133 penalty coefficient mean value is as follows：
Second measured value of N groups is compared with first measured value of M groups respectively, screening control methods is while comparing
X and Y value, to filter out M group second measured value close with first measured value；Wherein, predetermined number is less than according to difference value
Value judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M groups and second measured value of M groups that filters out is extracted respectively, is obtained
(Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m)；
Using least square method to calculating (Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation relation.
Correspondingly, compensation circuit 131 calculates the Z coordinate of the third measured value according to the transformation relation, to be become
It gets the Z coordinate after transformation in return, obtains revised scanning result.
(2) several positions are preselected in scanning area, and a target is arranged in corresponding each position
Corresponding each target obtains the first measured value of M groups (X respectively1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and
The second measured value of N groups (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n), it is equal that arithmetic unit 133 calculates penalty coefficient
The principle of value is as follows：
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same mark respectively
First measured value of target and X, Y, the Z coordinate of the second measured value, obtain：
(X1, X2…XN) and (X '1, X '2…X’N)
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)
(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；
Penalty coefficient is calculated using following formula, respectively：KX=X-X ', KY=Y-Y ', KZ=Z-Z ', wherein KX、KY、
KZThe penalty coefficient of respectively X, Y, Z coordinate value；
Respectively to N number of penalty coefficient KX、KY、KZIt averages to be compensated Coefficient Mean KX、KY、KZ。
Correspondingly, compensation circuit 131 utilizes the penalty coefficient mean value KX、KY、KZTo X, Y, Z of the third measured value
Coordinate compensates respectively, to obtain revised scanning result.
In another embodiment, the principle of the calculating of arithmetic unit 133 penalty coefficient mean value is as follows：
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same mark respectively
First measured value of target and X, Y, the Z coordinate of the second measured value, obtain：
(X1, X2…XN) and (X '1, X '2…X’N)
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)
(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；
(X is calculated using least square method1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN) and (Y '1, Y '2…Y
’N), (Z1, Z2…ZN) and (Z '1, Z '2…Z’N) between transformation relation.
Correspondingly, compensation circuit 131 calculates X, Y, the Z coordinate of the third measured value according to the transformation relation, with into
Row converted after X, Y, Z coordinate, obtain revised scanning result.
More than, a kind of laser 3 d scanner and its scan controller proposed in the utility model embodiment,
Pulse-width modulation formula 3 D laser scanning and phase type laser scanning simultaneously on same scanner, in the region for needing to scan,
A few place's targets are set, while region is measured using pulsed and phase；For same target, by impulse method and phase method
Measurement result analyzed, on the basis of the higher phase method of precision, the measured value of impulse method is compensated, and obtain this
Penalty coefficient at target；The penalty coefficient that different targets obtain is weighted, obtains penalty coefficient mean value, and utilize
The result that penalty coefficient mean value measures pulsed mensuration compensates calculating, obtains revised scanning result.By right
Pulsed laser scanning data compensates calibration so that entire scanning has pulsed sweep speed, has both
The precision of phase type scanning.
It should be noted that giving the preferable implementation of the utility model in the specification and its attached drawing of the utility model
Mode, still, the utility model can be realized by many different forms, however it is not limited to which this specification is described to be implemented
Mode, these embodiments are not as the additional limitation to the utility model content, the purpose of providing these embodiments is that making
It is more thorough and comprehensive to the understanding of the disclosure of the utility model.Also, above-mentioned each technical characteristic continues to be combined with each other, and is formed
The various embodiments not being enumerated above are accordingly to be regarded as the range of the utility model specification record；Further, to this field
For those of ordinary skill, it can be modified or changed according to the above description, and all these modifications and variations should all belong to
The protection domain of the appended claims for the utility model.
Claims (10)
1. a kind of laser 3 d scanner, which is characterized in that including phase type laser scanning circuit, pulse type laser scanning electricity
Road, measurement process module, display module and control module；The input terminal and the arteries and veins of the phase type laser scanning circuit
The input terminal for rushing formula laser scanning circuit is connect with the output end of the control module, the phase type laser scanning circuit
The output end of output end and the pulse type laser scanning circuit is connect with the input terminal of the measurement process module, described
The input terminal of display module is connect with the output end of the control module, the output end of the measurement process module and the control
The input terminal of module connects；
The control module controls the phase type laser scanning circuit and pulse type laser scanning circuit and is carried out to scanning area
To obtain corresponding measured value, the measurement process module calculates compensation mean value, the control mould according to the measured value for scanning
Block scans the measurement that the scanning area obtains using the compensation mean value to pulse type laser scanning circuit described in secondary control again
Value compensates, to obtain revised scanning result.
2. laser 3 d scanner according to claim 1, which is characterized in that the measurement process module includes compensation electricity
Road, arithmetic unit and memory；The output end of the input terminal of the memory and the phase type laser scanning circuit and described
The output end of pulse type laser scanning circuit connects, the output end of the memory respectively with the compensation circuit, the operation
Device connects, and the output end of the arithmetic unit is connect with the input terminal of the compensation circuit.
3. laser 3 d scanner according to claim 1, which is characterized in that the control module include control circuit and
The output end of master control borad, the input terminal of the master control borad and compensation circuit connects, the output end of the master control borad also respectively with institute
The input terminal connection of control circuit, the display module is stated, the output end of the control circuit also swashs with the phase type respectively
The input terminal connection of the input terminal of optical scanning circuit, the pulse type laser scanning circuit.
4. laser 3 d scanner according to claim 3, which is characterized in that the phase type laser scanning circuit includes
First laser driver, first laser generator and first laser receiving circuit；The input terminal of the first laser driver
It is connected to the output end of the control circuit, the output end of the first laser driver is connected to the first laser generator
Input terminal；
Wherein, the first laser driver responds the enabling signal that the control circuit is sent out, and the phase type laser is made to sweep
Scanning circuit starts, and the first laser generator receives the laser signal of the first laser driver output, and directive is tested
Target；The first laser receiving circuit receives the reflected laser signal of measured target.
5. laser 3 d scanner according to claim 3, which is characterized in that the pulse type laser scanning circuit includes
Second laser driver, second laser generator, second laser receiving circuit and modulator；The second laser driver
Input terminal is connected to the output end of the control circuit, the modulator be connected to the second laser driver output end and
Between the input terminal of the second laser generator；
Wherein, the second laser driver responds the enabling signal that the control circuit is sent out, and the pulse type laser is made to sweep
Scanning circuit starts, and the second laser generator receives the laser signal of the second laser driver output, and directive is tested
Target；The second laser receiving circuit receives the reflected laser signal of measured target.
6. a kind of laser three-dimensional scanning control device, which is characterized in that the laser three-dimensional scanning control device and a phase type
Laser scanning circuit and phase type laser scanning circuit connection；The laser three-dimensional scanning control device includes control module
And measurement process module, wherein the measurement process module includes compensation circuit, arithmetic unit and memory, the control module
Including control circuit and master control borad；The output end and arteries and veins of the input terminal of the memory and the phase type laser scanning circuit
Rush the output end connection of formula laser scanning circuit, the output end of the memory respectively with the compensation circuit, the arithmetic unit
Connection, the output end of the arithmetic unit are connect with the input terminal of the compensation circuit；The input terminal of the master control borad and the benefit
The output end connection of circuit is repaid, the output end of the master control borad also connects with the input terminal of the control circuit, display module respectively
Connect, the output end of the control circuit also respectively with the input terminal of the phase type laser scanning circuit, the pulse type laser
The input terminal of scanning circuit connects；
The control circuit controls the phase type laser scanning circuit and pulse type laser scanning circuit and is carried out to scanning area
Scanning is to obtain corresponding measured value, and the arithmetic unit calculates compensation mean value according to the measured value, and the compensation circuit utilizes
The compensation mean value scans the scanning area to pulse type laser scanning circuit described in the control circuit again secondary control and obtains
Measured value compensate, to obtain revised scanning result.
7. laser three-dimensional scanning control device according to claim 6, which is characterized in that the phase type laser scanning electricity
Road includes first laser driver, first laser generator and first laser receiving circuit；The first laser driver
Output end is connected to the input terminal of the first laser generator；The input terminal of the first laser driver is connected to the control
The output end of circuit processed makes the phase type laser scanning electricity to receive and respond the enabling signal that the control circuit is sent out
Road starts, and the first laser generator receives the laser signal of the first laser driver output, and directive measured target；
The first laser receiving circuit receives the reflected laser signal of measured target.
8. laser three-dimensional scanning control device according to claim 6, which is characterized in that the pulse type laser scanning electricity
Road includes second laser driver, second laser generator, second laser receiving circuit and modulator；The modulator connection
Between the output end and the input terminal of the second laser generator of the second laser driver；The second laser driving
The input terminal of device is connected to the output end of the control circuit, to receive and respond the enabling signal that the control circuit is sent out,
The pulse type laser scanning circuit is set to start, the second laser generator receives swashing for the second laser driver output
Optical signal, and directive measured target；The second laser receiving circuit receives the reflected laser signal of measured target.
9. laser three-dimensional scanning control device according to claim 6, which is characterized in that the laser three-dimensional scanning control
Device is also connect with a display module.
10. laser three-dimensional scanning control device according to claim 9, which is characterized in that the display module includes driving
Dynamic circuit and display, the output end of the master control borad are connect with the input terminal of the driving circuit, the driving circuit it is defeated
Outlet is connect with the input terminal of the display.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059799A (en) * | 2018-05-08 | 2018-12-21 | 安捷睿（厦门）机器人有限公司 | A kind of laser 3 d scanner and its scan method and scan controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059799A (en) * | 2018-05-08 | 2018-12-21 | 安捷睿（厦门）机器人有限公司 | A kind of laser 3 d scanner and its scan method and scan controller |
| CN109059799B (en) * | 2018-05-08 | 2024-03-22 | 安捷睿（厦门）机器人有限公司 | Laser three-dimensional scanner, scanning method thereof and scanning control device |
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