CN103857984A - 用于对环境进行光学扫描和测量的装置 - Google Patents

用于对环境进行光学扫描和测量的装置 Download PDF

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CN103857984A
CN103857984A CN201280048465.3A CN201280048465A CN103857984A CN 103857984 A CN103857984 A CN 103857984A CN 201280048465 A CN201280048465 A CN 201280048465A CN 103857984 A CN103857984 A CN 103857984A
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克里斯托弗·伊恩多费尔
莱因哈德·贝克
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    • G—PHYSICS
    • G01—MEASURING; TESTING
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    • G01N2201/00—Features of devices classified in G01N21/00
    • G01N2201/10—Scanning
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Abstract

一种用于对环境进行光学扫描和测量的装置，该装置被设计成激光扫描仪(10)，该激光扫描仪(10)具有基部(14)、能够相对于基部(14)旋转的测头(12)、能够相对于测头(12)旋转的镜(16)，其中在至少一个操作模式下，激光扫描仪(10)借助安装装置(40)安装在推车(W)上，推车(W)使与安装装置(40)固定地连接的基部(14)运动，测头(12)相对于基部(14)置靠，镜(16)旋转，并且测头(12)借助锁定装置(34k、40k)与安装装置(40)锁定。

Description

用于对环境进行光学扫描和测量的装置
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装置。
背景技术
借助例如通过DE202006005643U1获知的、且设计为激光扫描仪的装置，能够对激光扫描仪的环境进行光学扫描和测量。
发明内容
本发明基于提高引言中提到的类型的装置的目的。该目的根据本发明通过包括权利要求1的特征的装置而实现。从属权利要求涉及有利的构造。
可以为激光扫描仪设置不同的操作模式。在至少一个操作模式(螺旋模式)中，激光扫描仪整体上借助推车而运动，基部通过安装装置安装在推车上。测头相对于基部搁置，而镜相对于测头相对于镜的水平轴线旋转。概念“推车”指的是适合用于将操作的激光扫描仪运输的每种车辆。
根据本发明，除了基部与安装装置之间的固定连接之外，测头与安装装置锁定，安装装置与为此目而设置的锁定装置相对应。测头与基部之间的枢转支承因此被桥接并解除。特别地，避免了在基部安装于安装装置上时由测头的不均匀的夹紧而引起的静态应变，并且避免了由测头的转动惯量而引起的动态荷载。
例如通过设置以楔形方式渐缩的一个或更多个圆锥形元件，基部与安装装置的机械连接和/或测头与安装装置的锁定优选地在无后冲的情况下发生。基部与安装装置之间的电气连接为可选的并且例如可以由激光扫描仪——特别是基部——与推车之间的直接(电缆)连接来代替。
在另一操作模式(球面模式)中，基部为固定的，并且镜和测头绕镜和测头的轴线旋转。
镜的旋转轴线的“水平”布置和测头的旋转轴线的“竖直”布置指的是激光扫描仪的理想对齐。在激光扫描仪的对齐相对于理想对齐倾斜的情况下，概念“水平的”和“竖直的”旨在具有更广泛的意义。
激光扫描仪的部件布置在测头的两个部件中并且布置在连接所述两个部件的承载结构的横向部分中。承载结构优选地形成激光扫描仪的壳体的一部分，例如形成位于测头的两个部件之间的底部部件和/或中央部件。为了减小激光扫描仪的重量，外壳优选地设置为壳体的一部分、优选为对于测头的两个部件中的每个部件各自具有一个外壳，所述外壳可以由例如塑料之类的轻质材料构成，并且覆盖激光扫描仪的对应部件以便保护这些部件。为了相应地保护外壳，优选地设置有磁轭、优选为对于每个外壳各自具有一个磁轭，所述磁轭局部地覆盖外壳的外侧并且也能够由例如铝之类的轻质材料构成。在替代性构造中可以省略磁轭，例如，如果外壳以更稳定的方式构造并与承载结构连接，则可以省略磁轭。
出于重量考虑而优选为也由铝构成的承载结构优选地设置有用于将部件与光学器件以及与旋转镜固定的壁。该壁还能够将半开的外壳封闭。磁轭优选地沿着外边缘延伸和/或在外壳的外表面上方倾斜地延伸并且固定至承载结构、优选地在磁轭的两个端部处固定至承载结构，如果需要还在磁轭的中央部分中固定至承载结构、在两个壁中的一个壁处固定至承载结构。除了保护功能以外，其他功能可以结合于磁轭中。
因此第一锁定装置——例如固定凹口——优选地构造在磁轭上。设置有支撑在安装装置上的第二锁定装置，第二锁定装置优选为可动掣爪、锁等。可动的第二锁定装置之后接合在固定的第一锁定装置中。还可以将固定的锁定装置和可动的锁定装置向侧头以及向安装装置的分配完全反过来。
基部与安装装置的机械连接装置以及侧头与安装装置之间的锁定装置优选为交叉地布置，以便获得激光扫描仪在安装装置上的尽可能稳定的支撑。用于与推车电气连接的端子优选地设置成与锁定装置相邻并因此位于发射光束可达到的空间角的外部。
附图说明
在下文中基于附图中示出的示例性实施方式对本发明进行更详细的说明，附图中：
图1示出在操作期间的激光扫描仪的示意图，该示意图具有草绘的推车；
图2示出激光扫描仪的立体图；
图3示出安装装置的立体图；以及
图4示出激光扫描仪的仰视图。
具体实施方式
激光扫描仪10设置成对激光扫描仪10的环境进行光学扫描和测量的装置。激光扫描仪10具有测头12和基部14。测头12作为能够绕着竖直轴线旋转的单元安装在基部14上。测头12具有旋转镜16，旋转镜16能够绕着水平轴线旋转。两条旋转轴线的交叉点被指定为激光扫描仪10的中心C10。
测头12还设置有用于发出发射光束18的光发射器17。发射光束18优选为在大约300至1600nm——例如，790nm、905nm或小于400nm——的波长范围内的激光束，然而，原则上，也可以使用具有例如更大波长的其它电磁波。发射光束18例如由正弦或矩形波形调制信号进行调幅。发射光束18由光发射器17发射到旋转镜16上，发射光束18在旋转镜16上转向并发射到环境。通过环境中的对象O反射或以其它方式散射的接收光束20通过旋转镜16再次捕捉到、转向并引导至光接收器21上。发射光束18和接收光束20的方向由旋转镜16和测头12的角位置决定，该角位置取决于它们的对应的旋转驱动器的位置，旋转驱动器的位置又各自由一个编码器记录。
控制和评估单元22具有与测头12中的光发射器17和光接收器21的数据连接，借此，控制和评估单元22的一些部分——例如连接至基部14的计算机——也可以布置在测头12的外部。控制和评估单元22通过发射光束18和接收光束20的传播时间为众多测量点X确定激光扫描仪10与对象O(对象O处示出的点)之间的距离d。为此，例如可以确定并评估两个光束18与20之间的相移。
借助旋转镜16的(快速)旋转而沿着圆圈发生扫描。凭借测头12相对于基部14的(慢速)旋转，整个空间借助圆圈被逐步地扫描。这种测量的测量点X的实体为指定的扫描。对于这种扫描，激光扫描仪10的中心C10限定局部静止参考系的原点。基部14置靠在该局部静止参考系中。
除了距激光扫描仪10的中心C10的距离d，每一个测量点X包括亮度信息，该亮度信息也由控制和评估单元22确定。亮度值为灰度色调值，该灰度色调值例如通过光接收器21的带通过滤和放大信号在测量周期上的归结于测量点X的积分而确定。彩色照相机能够可选地产生图片，借助这些图片，颜色(R、G、B)可以作为值指定给测量点。
显示装置24连接至控制和评估单元22。显示装置24结合到激光扫描仪10中，在当前情况下结合到测头12中。显示装置24显示扫描的预览。
激光扫描仪10具有承载结构30，承载结构30用作测头12的“骨架”并且激光扫描仪10的不同部件固定在承载结构30处。在当前情况下，金属承载结构30由铝制成并且为整件的。在基部14上方，承载结构30具有从外部可见的横向部分30a，并且横向部分30a在两个端部处承载两个壁30b，这两个壁30b彼此平行并从横向部分30a向上突出。两个外壳32——优选地由塑料材料组成——构造成向一侧开口的壳体。两个外壳32中的每一个外壳覆盖激光扫描仪10的固定至承载结构30的组件的一部分，并且两个外壳32中的每一个外壳指定两个壁30b中的将该外壳固定(通过密封件密封)的一个壁。壁30b和外壳32因此用作激光扫描仪10的壳体。
在两个外壳32a中的每一个外壳上的外侧布置有优选为金属质的磁轭34，该磁轭34局部地覆盖并因此保护指定的外壳32。每个磁轭34固定至承载结构30，并且更为精确地固定在横向部分30a的底部上。在当前情况下，每个磁轭34由铝制成并在基部14的侧部处拧合至横向部分30a。每个磁轭34从该磁轭34的位于横向部分30a的底部处的固定点倾斜地延伸至指定的外壳32的下一个外角部，磁轭34从该外角部沿着外壳32的外边缘延伸至外壳32的位于上方的外角部、在外壳32的上侧向上倾斜地延伸至壁30b、沿着壁30b延伸较短的距离、并且之后在在外壳32的上侧与描述的路径镜像对称地延伸、倾斜地延伸至另一外角部、沿着外壳32的外边缘延伸至外壳32的位于下方的外角部、并倾斜地延伸至位于横向部分30a的底侧处的另一紧固点。
两个磁轭34一起划定了(凸形)空间，两个外壳32完全地布置在该空间内，即，两个磁轭34一起在外壳32的全部外边缘和外表面上方突出。在顶部和底部上，磁轭34的倾斜节段在外壳32的顶部和/或底部上方突出，在四个其它侧边上，两个节段各自沿着外壳32的外边缘延伸。外壳32因此广泛地受到保护。虽然磁轭34中的每一个磁轭主要具有保护功能、特别是对于可能损坏外壳32和激光扫描仪10的布置在下方的组件的冲击具有保护功能，但其它功能——例如用于承载激光扫描仪10和/或照明器的夹紧可能性——可以结合到一个或两个磁轭34中。
例如在DE102009055988B3中描述了激光扫描仪10的设计的进一步的细节，所述专利的相关公开内容明确地结合到本文中。
为激光扫描仪10设置了两个不同的操作模式。
在球面模式中，基部14以固定的方式布置在环境中。镜16绕着该镜16的水平轴线旋转，而测头12绕着该侧头12的竖直轴线旋转。这两个旋转限定球面，激光扫描仪10借助于该球面对其环境进行(完全)扫描。
在螺旋模式中，基部14相对于基部14的环境沿着线运动，镜16绕着镜16的水平轴线旋转，而测头12相对于基部14搁置。沿着线的旋转和运动限定螺线，激光扫描仪10借助于该螺线而对其环境进行(局部)扫描。原则上，该线可以具有任何形状。然而，该线通常将由直的和/或稍微弯曲的节段构成。
对于螺旋模式，激光扫描仪10安装在推车W上——例如安装在机动车辆上。为此设置有安装装置40，安装装置40以机械和电气的方式与推车W和激光扫描仪10这两者固定地连接。
在示例性实施方式中，安装装置40具有大致呈圆柱形的基本体40a，该基本体40a的直径稍大于基部14的直径。两对固定销40p(在当前情况下为可旋转的螺钉)从安装装置40的基本体40a的上表面突出，用于与适合的固定孔14p相互作用的所述固定销40p构造在基部14的底侧上。经由固定销40p进行的预先定位会受到后冲。这就是两个另外的定位销40f——用于与适合的定位孔14f相互作用的所述两个另外的定位销40f构造在基部14的底侧上——从安装装置40的上表面突出的原因。每个定位销40f布置在成对的两个固定销40p之间。当固定销40p进入指定的固定孔14p——即拧入指定的固定孔14p中——时，定位销40f进入指定的定位孔14f。定位销40f构造成是(相对于基本体40a)固定的。这两个定位销40f中的至少一个定位销优选地具有锥形端部，锥形端部在进入指定的定位孔14f时确保不存在后冲(力的锁合)。除了机械固定元件，还设置了电气连接元件，在当前情况下，电气连接元件设置在基本体40a的上表面上，还在基部14的底侧设置有具有平坦的触头并且适合于基部14的一体接触衬套40s，还设置有具有弹簧销的一体接触插塞14s。
在安装装置40的基本体40a的周向表面上，安装装置40具有用于与推车W机械连接的至少两个拧入式孔40u(或者替代地为其它固定装置)和用于与推车W电气连接的至少一个端子。借助电气连接元件14a、40a和40v两者，将数据和能量传递。也可以交换指定给基部14和安装装置40的凸形电气连接元件和凹形电气连接元件。这对于机械连接元件14f、14p、40f和40p同样适用。
安装装置40借助上述的机械连接元件14f、14p、40f和40p在激光扫描仪10的基部14处机械连接，并借助电气连接元件14s和40s与激光扫描仪10电气连接。在螺旋模式期间推车进行搅动运动的情况下，测头12通过其惯性可以抵抗侧头12的枢轴在基部14中所承受的变化的力矩。根据本发明，安装装置40因此不仅与基部14固定地连接，并且还与测头12锁定。为此，安装装置40与磁轭34相互作用——并因此与承载结构30相互作用。
两个磁轭34在紧邻它们与承载结构30的固定位置处——即在当前情况下横向部分30a处的拧入点处——具有第一锁定装置34k。两个第一锁定装置34k因此固定至承载结构30。第一锁定装置34k各自在当前情况下构造为磁轭34中的凹口(具有以楔形方式渐缩的侧面)，该凹口相对于测头12的旋转轴线径向向外开口。这两个第一锁定装置34k因而在相反方向上开口。第一锁定装置34k还可以形成在承载结构30上(即，与承载结构30构造为整件的)或者可以为独立的部件，该独立的部件固定至磁轭34或固定至承载结构30的其它部分。
安装装置40具有位于安装装置40的基本体40a上的并且与成对的固定销40p和定位销40f中的每一者偏置的枕块40i。枕块40i由几乎呈正方形的截面以弧形方式弯曲。优选为构造成一整件的枕块40i具有位于枕块40i的中心、中央区域、以及位于枕块40i的侧部的翼部区域。翼部区域用于固定对应的枕块40i，更为精确地，用于接收固定螺钉，并且在枕块40i以另一方式固定时可以省略翼部区域。中央区域相对于翼部区域升高，使得如果基部14支承在基本体40a的上表面上，则枕块40i的翼部区域与磁轭34间隔开。然而，对于预先定位，每个枕块40i的中央区域能够定尺寸成使得每个枕块40i的中央区域在指定的磁轭34之间接合。
每个枕块40i枢转地安装第二锁定装置40k，第二锁定装置40k在当前情况下构造为销形锁，该销形锁具有对其进行支承的支撑部。第二锁定装置40k可以相对于基本体40a从径向初始位置枢转到轴向最终位置中(并且返回)。优选地，例如借助具有位于初始位置与最终位置之间的死点的弹簧而在初始位置与最终位置提供第二锁定装置40k的预偏压。在修改的实施方式中，仅为最终位置提供预偏压。第二锁定装置40k优选为手动枢转。鉴于以上情况，定位销40f和第二锁定装置40k交叉地布置，即，连接线交叉，在当前情况下以90°的角度交叉。然而，替代性布置也是可能的。用于与推车W电气连接的至少一个电气连接元件40v优选地设置成与第二锁定装置40k相邻，在当前情况下设置在枕块40i中的一个枕块的中央区域下方，并且因此设置在发射光束18所达到的空间角的外部。
为了将安装装置40与激光扫描仪10连接，激光扫描仪10放置成使得激光扫描仪10的基部14位于基本体40a上并借助定位销40f和定位孔14f定位，同时在最终位置没有后冲。与此同时，接触插塞14s插入到接触衬套40s中。固定销40p之后运动，即拧入到固定孔14p中，基部14因此在没有后冲的情况下与安装装置40连接。最终，第二锁定装置40k枢转到第二锁定装置40k的最终位置中。在到达最终位置前不久，第二锁定装置40k从径向方向靠近构造为凹口的指定的第一锁定装置34k并最终接合在第一锁定装置34k中——如果需要的话通过沿着凹口的侧面滑动(所述侧面以楔形方式渐缩)，直至测头12在没有后冲的情况下与安装装置40锁定。
通过最迟在第二锁定装置40k枢转到第二锁定装置40k的最终位置之前使测头12相对于测头12的关于基部14的角位置尽可能精确地对齐，优选地得到了完全无应变的锁定，使得借助锁定装置34k和40k，仅仅需要消除或减小测头12的旋转驱动器的后冲。由于测头12的角位置借助编码器记录，因此所述编码器的校准是极其有利的。替代地，可以设置旋转驱动器的平稳的空转运动或旋转驱动器的大反冲，使得锁定装置34k和40k自身实现测头12的精确对齐。
附图标记列表
10    激光扫描仪
12    测头
14    基部
14f   定位孔
14p   固定孔
14s   接触插塞
16    镜
17    光发射器
18    发射光束
20    接收光束
21    光接收器
22    控制和评估单元
24    显示装置
30    承载结构
30a   横向部分
30b   壁
32    外壳
34    磁轭
34k   第一锁定装置
40    安装装置
40a   基本体
40f   定位销
40k   第二锁定装置
40i   枕块
40p   固定销
40s   接触衬套
40u   拧入孔
40v   电气连接元件
C10   激光扫描仪的中心
d     距离
O     对象
W     推车
X     测量点

Claims (10)

1.一种用于对环境进行光学扫描和测量的装置，所述装置设计为激光扫描仪(10)，所述激光扫描仪(10)具有基部(14)、能够相对于所述基部(14)旋转的测头(12)、能够相对于所述测头(12)旋转的镜(16)，其中，在至少一个操作模式中，所述激光扫描仪(10)借助安装装置(40)安装在推车(W)上，所述推车(W)使与所述安装装置(40)固定地连接的所述基部(14)运动，所述测头(12)相对于所述基部(14)搁置，并且所述镜(16)旋转，其特征在于，在所述操作模式中，所述测头(12)借助锁定装置(34k、40k)与所述安装装置(40)锁定。
2.根据权利要求1所述的装置，其特征在于，设置有机械的和可选的电气的连接装置(14f、14p、14s、40f、40p、40s)，所述连接装置(14f、14p、14s、40f、40p、40s)在所述基部(14)与所述安装装置(40)之间相互作用。
3.根据前述权利要求之一所述的装置，其特征在于，所述测头(12)具有承载结构(30)和至少一个第一锁定装置(34k)，所述至少一个第一锁定装置(34k)固定至所述承载结构(30)。
4.根据权利要求3所述的装置，其特征在于，作为所述激光扫描仪(10)的壳体的一部分，至少一个外壳(32)设置在所述测头(12)上，所述外壳的外部由至少一个磁轭(34)部分地覆盖，所述至少一个磁轭(34)用作保护装置并固定至所述承载结构(30)。
5.根据权利要求4所述的装置，其特征在于，所述第一锁定装置(34k)特别是作为凹口而构造在所述磁轭(34)上，所述凹口相对于所述测头的旋转轴线径向向外地指向。
6.根据前述权利要求之一所述的装置，其特征在于，所述安装装置(40)支撑至少第二锁定装置(40k)。
7.根据权利要求6所述的装置，其特征在于，所述安装装置(40)具有至少一个枕块(40i)，所述至少一个枕块(40i)枢转地支撑所述第二锁定装置(40k)。
8.根据前述权利要求之一所述的装置，其特征在于，所述安装装置(40)具有基本体(40a)，所述基部(14)通过所述基部(14)的底侧而支承在所述基本体(40a)的表面上，并且机械的和电气的连接装置(40f、40p、40s)布置在所述基本体(40a)的表面上。
9.根据权利要求7和8所述的装置，其特征在于，所述枕块(40i)布置在所述基本体(40a)的上表面上。
10.根据前述权利要求之一所述的装置，其特征在于，在所述侧头(12)中设置有光发射器(17)和光接收器(21)，所述光发射器(17)将发射光束(18)发出，所述发射光束(18)通过所述镜(16)转向到环境中，所述光接收器(21)将接收光束(20)接收，所述接收光束(20)由所述激光扫描仪(10)的环境中的对象(O)反射或以其它方式散射，其中，控制和评估单元(22)为众多测量点(X)中的每一个测量点至少确定距所述对象(O)的距离。
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