CN102232174A - 用于对环境进行光学扫描和测量的设备 - Google Patents

用于对环境进行光学扫描和测量的设备 Download PDF

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CN102232174A
CN102232174A CN2010800034633A CN201080003463A CN102232174A CN 102232174 A CN102232174 A CN 102232174A CN 2010800034633 A CN2010800034633 A CN 2010800034633A CN 201080003463 A CN201080003463 A CN 201080003463A CN 102232174 A CN102232174 A CN 102232174A
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laser beam
laser
equipment
transmitting set
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CN102232174B (zh
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菲利普·舒曼
莱因哈德·贝克
马丁·奥西格
于尔根·吉廷格
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Faro Technologies Inc
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Abstract

本发明涉及一种用于对周围环境进行光学扫描和测量的设备，该设备被设计作为激光扫描器(10)，所述激光扫描器(10)具有发射出发射光束(18)的光发射器(17)；具有对被激光扫描器的周围环境中的对象(O)反射或者在其他情况下被散射的接收光束(20)进行接收的光接收器(21)；具有为多个测量点(X)确定到对象的距离的控制和评估单元(22)，其特征在于，发射光束是具有不同波长的三个激光束(R、G、B)的叠加，所述三个激光束(R、G、B)限定了三维颜色空间。

Description

用于对环境进行光学扫描和测量的设备
技术领域
本发明涉及一种具有权利要求1的通用术语的特征的设备。
背景技术
借助于诸如从例如DE 20 2006 005 643 U1已知且被设计作为激光扫描器的设备，可以对该激光扫描器的环境进行光学扫描和测量。为了获得附加的信息，在激光扫描器上安装有采集RGB信号的行扫描相机，以使得可以通过颜色信息来完善扫描的测量点。相机支架是可旋转的。为了避免视差误差，用于采集其记录的相机被旋转到激光扫描器的垂直旋转轴线上，并且激光扫描器被降低直到相机到达水平旋转轴线为止。该方法需要元件具有高的精度。
发明内容
本发明基于以下目的：建立背景技术中提及的类型的设备的替代设备。该目的是根据本发明、借助于包括权利要求1的特征的方法来实现的。从属权利要求涉及有利的配置。
根据本发明的设备使得可以生成“彩色”发射光束，以使得接收光束得到颜色信息。不再需要扫描的如下联系(link)，该联系是在进行扫描后由具有彩色图片或者具有多色彩图片的测量点的整体形成的。自动避免了视差误差。
获得颜色和亮度信息需要所有的三个激光束。然而，为了确定距离，一个激光束就足够了，优选地，该激光束是被调制的。优选地，用于确定距离的激光束与另外两个激光束相比具有更高的强度。另外两个激光束可以提供关于距离的另外的信息，但是，除此之外，另外两个激光束提供可以用于误差校正的大体上冗余的信息。
对于特殊的应用或操作模式，如果仅单一的、单色激光束是可用的，则是有利的。为了该目的，优选地，以如下方式来设计光发射器，该方式使得三个激光束可以彼此独立地——即单独地——接通和断开，且三个激光束的强度可以彼此独立地——即单独地——被控制，且/或对应的激光器可以彼此独立地——即单独地——安装和拆卸。
为了保护周围环境中的用户及其他人的眼睛，优选地使用具有小于400nm波长的蓝色激光束会是有利的。优选地，另外两个激光束具有比该蓝色激光束的强度更低的强度，即蓝色激光束是主要的。在不根据本发明的方式中，激光扫描器被设计成专门生成具有小于400nm的波长的蓝色激光束。
附图说明
下面，以在附图中示出的示例性实施例为基础更详细地阐明本发明，在附图中：
图1示出了激光扫描器的部分剖视图，以及
图2示出了激光扫描器的示意图。
具体实施方式
激光扫描器10被设置作为用于对激光扫描器10的环境进行光学扫描和测量的设备。激光扫描器10具有测量头12和基座14。测量头12安装在基座14上作为可以绕着垂直轴线旋转的单元。测量头12具有反射镜16，该反射镜16可以绕着水平轴线旋转。两个旋转轴线的交点称为激光扫描器10的中心C10。
测量头12还设置有用于发射出发射光束18的光发射器17。发射光束18是具有不同波长的、在波长大约为300nm至1000nm的可见范围内的(诸如790nm、555nm和375nm的)三个激光束R、G和B的叠加。以如下方式选择三个激光束R、G和B的波长，该方式使得它们限定三维RGB颜色空间，即使得它们在可见范围内良好地分布。激光发射器17具有三个激光二极管17R、17G、17B(或其他的激光器)，这些激光二极管中的每个生成三个激光束R、G或B中的一个。通过将三个自由激光束R、G和B馈送到光发射器17的准直仪中，或者通过将它们馈送到公用光纤中，然后再将公用光纤馈送到准直仪中，可以进行叠加。
发射光束18中的三个激光束R、G、B中的至少一个——优选地所有三个激光束R、G、B——是调幅的，该调幅例如采用正弦波形调制信号或者采用矩形波形调制信号。光发射器17将发射光束18发射到反射镜16上，发射光束18在反射镜16上被转向并被发射到环境中。在环境中被对象O反射或者被散射的接收光束20被反射镜16捕获、被转向并被定向到光接收器21上。发射光束18的方向和接收光束20的方向是由反射镜16和测量头12的角位置导致的，反射镜16和测量头12的角位置取决于反射镜16和测量头12的对应的旋转驱动装置的位置，旋转驱动装置的位置又是由一个编码器记录的。控制和评估单元22具有到测量头12中的光发射器17及光接收器21的数据连接，由此，部分控制和评估单元(例如连接到基座14的计算机)也可以布置在测量头12的外部。控制和评估单元22根据发射光束18和接收光束20的传播时间为多个测量点X确定激光扫描器10(即中心C10)和对象O(处的受辐照点)之间的距离d。为了该目的，确定并评估两个光束18和20之间的相移。
扫描借助于反射镜16的(快速)旋转沿着圆周进行。由于测量头12相对于基座14的(缓慢)旋转，以圆周被逐步地扫描整个空间。这种测量的测量点X的整体称为扫描。激光扫描器10的中心C10为这种扫描限定了激光扫描器10的静止参考系，在该静止参考系中基座14静止。例如在US 7,430,068 B2和DE 20 2006 005 643 U1中，对激光扫描器10的进一步的细节、以及特别是对测量头12的设计的进一步的细节进行了描述，其各个公开通过引用被合并。
为了通过对相移的评估来确定测量点X的距离d，仅使用三个波长中的一个——即三个激光束R、G和B中被调制的激光束——是足够的。如果需要，与另外两个光束相比，该束可以具有一定程度上更高的强度(即电磁波的功率)。基本上，所有的波长都是同样地适合的。然而，就(由于人眼的感受器的性能而可以用小于400nm的波长来更好地实现的)对眼睛的保护而言，有利的是将(具有比400nm更短的波长的)蓝色激光束B用于确定测量点X的距离d。如果另外的两个激光束R和G也是调制的，则对它们的评估可以用来消除环境光或者用于获得附加的距离信息。
除了到激光扫描器10的中心C10的距离d之外，每个测量点X还包括也由控制和评估单元22确定的颜色和亮度信息，即激光束R、G和B的三个颜色中的任何颜色的亮度值。每个亮度值分别对应于如下灰色调值，该灰色调值是例如通过在测量点X的测量期间对由测量点X——即针对三个激光束R、G和B中的任何一个——产生的、光接收器21的被带通滤波且被放大的信号进行积分来确定的。因此，所有三个激光束R、G和B都为获得颜色和亮度信息做出了贡献。
可选地，可以按如下方式来设计光发射器17，该方式使得三个激光束R、G和B可以彼此独立地接通和断开，以及优选地，使得也可以控制三个激光束的强度。于是，发射光束18的组成可以根据应用进行修改。如果例如仅要测量距离d和亮度(灰调值)，那么使用例如蓝色激光束B而让另外两个激光束R和G断开是足够的。模块化设计也可以用于光发射器17，以使得用于生成三个激光光束R、G和B的激光二极管可以彼此独立地安装和拆卸，例如作为插入式元件等。如果可适用，则仅永久地安装对于生成用来确定距离d的激光束来说是必须的激光二极管。
附图标记列表
10 激光扫描器
12 测量头
14 基座
16 反射镜
17 光发射器
17R、17G、17B 激光二极管
18 发射光束
20 接收光束
21 光接收器
22 控制和评估单元
d 距离
C10 激光扫描器的中心
O 对象
R、G、B 激光束
X 测量点

Claims (11)

1.一种用于对环境进行光学扫描和测量的设备，所述设备被设计作为激光扫描器(10)，所述激光扫描器(10)具有发射出发射光束(18)的光发射器(17)；具有对被所述激光扫描器(10)的周围环境中的对象(O)反射或者在其他情况下被散射的接收光束(20)进行接收的光接收器(21)；具有为多个测量点(X)确定到所述对象(O)的距离的控制和评估单元(22)，其特征在于，所述发射光束(18)是具有不同波长的三个激光束(R、G、B)的叠加，所述三个激光束(R、G、B)限定了三维颜色空间。
2.根据权利要求1所述的设备，其特征在于，所述光发射器(17)具有各自生成所述三个激光束(R、G、B)中的一个的三个激光二极管(17R、17G、17B)或者其他激光器。
3.根据权利要求1或2所述的设备，其特征在于，通过将三个自由激光束(R、G、B)馈送到所述光发射器(17)的准直仪中，或者通过将所述三个自由激光束(R、G、B)馈送到一个公用光纤中，然后再将所述公用光纤馈送到所述光发射器(17)的所述准直仪，进行所述三个激光束(R、G、B)的所述叠加。
4.根据前述权利要求中的任一项所述的设备，其特征在于，所有三个激光束(R、G、B)一起用于为所述测量点(X)确定颜色和亮度信息。
5.根据前述权利要求中的任一项所述的设备，其特征在于，所述三个激光束(R、G、B)中的一个用于确定所述距离(d)，而另外两个激光束(R、G、B)用于附加的距离信息和/或误差校正。
6.根据权利要求5所述的设备，其特征在于，在所述三个激光束(R、G、B)中，用于确定所述距离(d)的所述激光束与所述另外两个激光束(R、G、B)相比具有更高的强度。
7.根据权利要求5或6所述的设备，其特征在于，在所述三个激光束(R、G、B)中，用于确定所述距离(d)的所述激光束具有比400nm更短的波长。
8.根据前述权利要求中的任一项所述的设备，其特征在于，以如下方式设计所述光发射器(17)，所述方式使得所述三个激光束(R、G、B)可以彼此独立地接通和断开，以及特别地，使得能够控制所述三个激光束(R、G、B)的强度。
9.根据前述权利要求中的任一项所述的设备，其特征在于，以如下方式设计所述光发射器(17)，所述方式使得用于生成所述三个激光束(R、G、B)的所述激光二极管(17R、17G、17B)或者其他激光器能够彼此独立地安装和拆卸。
10.根据前述权利要求中的任一项所述的设备，其特征在于，所述激光扫描器(10)具有旋转反射镜(16)，借助于所述旋转反射镜(16)，所述发射光束(18)被发射且所述接收光束(20)被捕获。
11.根据权利要求10所述的设备，其特征在于，所述激光扫描器(10)具有测量头(12)，所述测量头(12)绕着垂直轴线旋转，而所述反射镜(16)绕着水平轴线旋转。
CN2010800034633A 2009-03-25 2010-03-22 用于对环境进行光学扫描和测量的设备 Expired - Fee Related CN102232174B (zh)

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CN104081156A (zh) * 2012-01-30 2014-10-01 赫克斯冈技术中心 具有扫描功能和单点测量模式的测绘仪器
CN104155756A (zh) * 2014-07-23 2014-11-19 中国电子科技集团公司第十一研究所 一种光学搜索方法及系统
CN104251995A (zh) * 2013-06-27 2014-12-31 杭州中科天维科技有限公司 彩色激光三维扫描技术
CN104603575A (zh) * 2012-09-06 2015-05-06 法罗技术股份有限公司 具有附加的感应装置的激光扫描仪
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