CN-121995349-A - Laser scanning device

CN121995349ACN 121995349 ACN121995349 ACN 121995349ACN-121995349-A

Abstract

The application provides a laser scanning device. The laser scanning device comprises an optical module, a linear motion module and a rotary motion module, wherein the optical module is used for emitting a detection light beam and receiving a feedback light beam emitted by an object to be detected so as to acquire image information of the object to be detected, the linear motion module is used for controlling the optical module to perform linear motion relative to the object to be detected, and the rotary motion module is used for controlling the optical module to perform rotary motion relative to the object to be detected. The application realizes the linear movement and the rotary movement of the optical module by arranging the linear movement module and the rotary movement module which are matched with the optical module, not only can reduce the volume and the weight of the laser scanning device, but also can change the emission angle of the detection beam, and is suitable for the detection of various objects to be detected, thereby improving the flexibility of the laser scanning device.

Inventors

WANG MING
ZHANG YUNLONG
LIU FUHUISHENG
JIN SHAOFENG

Assignees

深圳市深视智能科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (10)

1. A laser scanning device, characterized in that the laser scanning device comprises: the optical module is used for emitting a detection light beam and receiving a feedback light beam emitted by the object to be detected so as to acquire image information of the object to be detected; the linear movement module is used for controlling the optical module to perform linear movement relative to the object to be detected; and the rotary motion module is used for controlling the optical module to perform rotary motion relative to the object to be detected.
2. The laser scanning device of claim 1, wherein the rotational movement module comprises a bracket, the optical module is disposed in the bracket, and the optical module is rotationally movable relative to the bracket; The linear motion module comprises a linear guide rail, the support is in transmission connection with the linear guide rail, and the linear guide rail is used for guiding the support and the optical module to perform linear motion.
3. The laser scanning device of claim 1, wherein the optical module comprises: a laser emitter for emitting a probe beam; A lens for receiving the feedback beam; the image sensor is electrically connected with the lens and is used for acquiring image information of the object to be detected; Wherein, laser emitter, camera lens, image sensor constitutes Sha Mcheng like the light path.
4. The laser scanning device of claim 1, wherein the laser scanning device further comprises: The optical module, the linear motion module and the rotary motion module are all arranged in the accommodating space; And the optical filter covers the opening, and the detection light beam and the feedback light beam can pass through the optical filter.
5. The laser scanning device of claim 1, wherein the laser scanning device has a first scanning mode, the step of the first scanning mode comprising: the rotary motion module controls the optical module to perform rotary motion so that the detection light beam is perpendicular to the to-be-detected object; The linear motion module controls the optical module to perform linear motion and perform laser scanning.
6. The laser scanning device of claim 1, wherein the laser scanning device has a second scanning mode, the step of the second scanning mode comprising: the rotary motion module controls the optical module to perform rotary motion so that the detection light beam and the object to be detected are arranged at an acute angle; The linear motion module controls the optical module to perform linear motion and perform laser scanning.
7. The laser scanning device as claimed in claim 6, further comprising a processor electrically connected to the optical module, wherein after the second scanning mode is performed, the raw point cloud data of each line acquired by the processor is The correction point cloud data is obtained after being processed by the processor ; The laser scanning device meets the following conditions: , , Wherein the rotation movement module controls the rotation angle of the optical module to be 。
8. The laser scanning device of claim 1, wherein the laser scanning device has a third scanning mode, the step of the third scanning mode comprising: The linear motion module controls the optical module to move to a first linear limit, and the rotary motion module controls the optical module to rotate along a first direction so as to enable the optical module to rotate to the first rotary limit; The rotary motion module controls the optical module to perform rotary motion along a second direction and perform laser scanning, the second direction is opposite to the first direction, and when the detection light beam is perpendicular to the to-be-detected object, the rotary motion module stops rotating; the linear motion module controls the optical module to perform linear motion and perform laser scanning, and when the optical module moves to a second linear limit, the linear motion module stops moving, and the second linear limit and the first linear limit are positioned on two opposite sides of a moving track of the optical module for performing linear motion; The rotary motion module controls the optical module to perform rotary motion along the second direction and perform laser scanning, and when the optical module rotates to the second rotation limit, the optical module stops laser scanning.
9. The laser scanning device as claimed in claim 8, further comprising a processor electrically connected to the optical module, wherein after the third scanning mode is performed, the polar coordinate system point cloud data along the YZ plane acquired by the processor is The rectangular coordinate system point cloud data is obtained after the processing by the processor ; The laser scanning device meets the following conditions: , , ; the optical module is used for detecting the object to be detected, wherein the optical path direction of the detection light beam is taken as an X axis of a rectangular coordinate system, the translation direction of the detection light beam relative to the object to be detected is taken as a Y axis of the rectangular coordinate system, and the direction of the detection light beam, which is close to or far from the optical module, is taken as a Z axis of the rectangular coordinate system; the optical module is positioned on a plane for rotation, the rotation center of the optical module is taken as (0, 0), the detection point of the detection beam which is emitted to the object to be detected on the YZ plane is taken as (a, b), and the rotation movement module controls each rotation angle of the optical module Taking a contour, n as the number of times of contour acquisition, And n is not equal to 0.
10. The laser scanning device of claim 9, wherein the processor is further configured to generate point cloud data for the rectangular coordinate system And carrying out uniform sampling processing, wherein the uniform point cloud data obtained after the processing by the processor is ; The step of uniform sampling processing includes: acquiring a position greater than n multiplied by delta in the rectangular coordinate system point cloud data ; Acquiring a position less than n multiplied by delta in the rectangular coordinate system point cloud data ; The Z-axis coordinates corresponding to the n x delta position are calculated: wherein, the method comprises the steps of, The movement distance along the Y axis is preset for the linear movement of the optical module and the laser scanning.

Description

Laser scanning device Technical Field The application belongs to the technical field of laser scanning, and particularly relates to a laser scanning device. Background In the industrial field, the 3D profile measuring instrument generally needs to introduce an external motion module in the use process, and is matched with a laser to realize scanning, so that the volume and the weight are large, the installation and the use of a customer are inconvenient, and the use cost is increased. In addition, the external movement module can not adjust the emission angle of laser, and the flexibility is not enough. Disclosure of Invention In view of this, the present application provides a laser scanning apparatus including: the optical module is used for emitting a detection light beam and receiving a feedback light beam emitted by the object to be detected so as to acquire image information of the object to be detected; the linear movement module is used for controlling the optical module to perform linear movement relative to the object to be detected; and the rotary motion module is used for controlling the optical module to perform rotary motion relative to the object to be detected. The optical module is arranged in the bracket and can perform rotary motion relative to the bracket; The linear motion module comprises a linear guide rail, the support is in transmission connection with the linear guide rail, and the linear guide rail is used for guiding the support and the optical module to perform linear motion. Wherein, optical module includes: a laser emitter for emitting a probe beam; A lens for receiving the feedback beam; the image sensor is electrically connected with the lens and is used for acquiring image information of the object to be detected; Wherein, laser emitter, camera lens, image sensor constitutes Sha Mcheng like the light path. Wherein, the laser scanning device further includes: The optical module, the linear motion module and the rotary motion module are all arranged in the accommodating space; And the optical filter covers the opening, and the detection light beam and the feedback light beam can pass through the optical filter. Wherein, the laser scanning device has a first scanning mode, the step of the first scanning mode includes: the rotary motion module controls the optical module to perform rotary motion so that the detection light beam is perpendicular to the to-be-detected object; The linear motion module controls the optical module to perform linear motion and perform laser scanning. Wherein the laser scanning device has a second scanning mode, and the step of the second scanning mode comprises the following steps: the rotary motion module controls the optical module to perform rotary motion so that the detection light beam and the object to be detected are arranged at an acute angle; The linear motion module controls the optical module to perform linear motion and perform laser scanning. Wherein the laser scanning device further comprises a processor electrically connected with the optical module, and after the second scanning mode is performed, each row of original point cloud data acquired by the processor isThe correction point cloud data is obtained after being processed by the processor; The laser scanning device meets the following conditions:,, Wherein the rotation movement module controls the rotation angle of the optical module to be 。 Wherein the laser scanning device has a third scanning mode, and the step of the third scanning mode includes: The linear motion module controls the optical module to move to a first linear limit, and the rotary motion module controls the optical module to rotate along a first direction so as to enable the optical module to rotate to the first rotary limit; The rotary motion module controls the optical module to perform rotary motion along a second direction and perform laser scanning, the second direction is opposite to the first direction, and when the detection light beam is perpendicular to the to-be-detected object, the rotary motion module stops rotating; the linear motion module controls the optical module to perform linear motion and perform laser scanning, and when the optical module moves to a second linear limit, the linear motion module stops moving, and the second linear limit and the first linear limit are positioned on two opposite sides of a moving track of the optical module for performing linear motion; The rotary motion module controls the optical module to perform rotary motion along the second direction and perform laser scanning, and when the optical module rotates to the second rotation limit, the optical module stops laser scanning. The laser scanning device further comprises a processor electrically connected with the optical module, and after the third scanning mode is performed, the polar coordinate system point cloud data along the YZ plane acquired by the processor isThe rectangular coordinate system point cloud d