CN106772432A - Continuous laser 3-D scanning method and device based on husky nurse law hinge principle - Google Patents
Continuous laser 3-D scanning method and device based on husky nurse law hinge principle Download PDFInfo
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- 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
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a kind of continuous laser 3-D scanning method and device based on husky nurse law hinge principle, including laser, speculum, receiving telescope, photodetector, signal synchronization circuit；Speculum, receiving telescope and photodetector are put according to husky nurse law, speculum is arranged on object plane, practises physiognomy and angle rotatable on the intersection point of focal plane, and signal synchronization circuit control photodetector follows the rotation synchronization upper and lower displacement of speculum to meet husky nurse law all the time；Adjustable mirror is placed before diode laser, speculum reflects the laser light to the object in environment, then optical signal is reflected or reflected away, and optical signal is received by receiving telescope group, and the optical signal that receiving telescope is received is focused on photodetector.The large-scale object dimensional scanning of the applicable distant view of the present invention, the method for employing rotating mirror and the imaging of upper and lower translation detector scanning realizes continuous optical scanning, can obtain the object high accuracy of distant place, clearly scan image.
Description
Technical field
The invention belongs to the Airborne Laser Scan field, the more particularly to continuous laser based on husky nurse law hinge principle
3-D scanning technology.
Background technology
With the development in epoch, we are often required to carry out large-scale three-dimensional body in large area construction area or mountain area
Analysis, to obtain useful information.At present, the image acquired in most of image collecting devices is in itself on two dimensional surface
, in order to more accurately obtain the information required for us, it would be desirable to obtain its three-dimensional image, so various scanning imageries
Technology application and give birth to.Current scanline imaging technique mainly has a point cloud imaging, dual camera imaging technique and traditional based on Sharpe
The laser scanner technique of law.In these three technologies, point cloud imaging and traditional scanning technique based on Sharpe law are profits
Use laser radar technique scanning imagery.Using laser radar technique, we can detect to some places for being difficult to reach,
And it is small to obtain error, high accuracy is clearly imaged.And there is one kind to mainly use two to take the photograph in dual camera imaging technique
As connector analog human eye is imaged.It is known that current point cloud is substantially to be scanned using the method for image procossing,
The complicated digital circuit of this method requirement and quick data acquisition rate.And traditional scanning technique based on Sharpe law
The method scanned using rail mounted, can only realize the imaging of plane, it is impossible to obtain the three-dimensional information of image.Dual camera technology is then
The auxiliary of complicated image mosaic technology is needed, the imbricate sex chromosome mosaicism of stitching image is a great problem of the technology, in addition,
It is also vulnerable to illumination and the influence of surrounding environment.The laser radar of a kind of utilization piezoelectric ceramics and motor control described herein
Imaging technique, this technology can realize the blur-free imaging of traditional point cloud scanning, it is possible to achieve the imaging of 3-D view, but not
Need complicated processing of circuit later data.
The content of the invention
1st, the purpose of the present invention.
The present invention mainly propose it is a kind of flexibly distant objects can on a large scale be scanned and be reconstructed it is sharp
Optical detection and ranging system, solves conventional laser radar scanning system digits processing of circuit complexity, and data collecting system rate request is high
Defect, perfect tradition based on husky formula law scanning technique cannot 3-D scanning defect.
2nd, the technical solution adopted in the present invention.
A kind of continuous laser three-dimensional scanner based on husky nurse law hinge principle of present invention proposition, including laser,
Speculum, receiving telescope, photodetector, signal synchronization circuit；Speculum, receiving telescope and photodetector are according to sand
Nurse law is put, and speculum is arranged on object plane, practises physiognomy and angle rotatable on the intersection point of focal plane, signal synchronization circuit control light
Electric explorer follows the rotation synchronization upper and lower displacement of speculum to meet husky nurse law all the time；Place adjustable anti-before diode laser
Mirror (3) is penetrated, speculum reflects the laser light to the object in environment, and optical signal is reflected or reflected away, light by object again
Signal is received by receiving telescope group, and the optical signal that receiving telescope is received is focused on photodetector.
Further in specific embodiment, also including motor, motion control portion motor servo, motion control portion electricity
Machine servo, motor, speculum are sequentially connected control speculum rotation.
Further in specific embodiment, also including piezoelectric ceramics, motion control portion piezoelectric ceramics controller, photoelectricity
Detector is connected with piezoelectric ceramics, and piezoelectric ceramics controller controls piezoelectric ceramics up and down motion, and feedback synchronization signal to control
The motor being connected with speculum.
Further in specific embodiment, also including laser alignment original paper, laser alignment original paper is placed on diode and swashs
Before light device, adjustable mirror is placed before laser alignment original paper.
Further in specific embodiment, described laser is diode laser.
The present invention proposes a kind of continuous laser 3-D scanning method based on husky nurse law hinge principle, according to following step
Suddenly carry out：
Step 1, the continuous ray laser scanning means aiming environment to be detected that will be based on husky nurse law hinge principle, open and swash
Light device；
The laser that step 2, laser send reflects the laser light to ring by laser alignment original paper directive speculum, speculum
Optical signal is reflected or reflected away by the object in border, object again；
Step 3, the optical signal of object reflection/refraction are tapped by laser pick-off portion and received, i.e., received by receiving telescope group
Collection optical signal；
The optical signal that step 4, receiving telescope are received is focused on photodetector, the photodetector and the data
Collection analysis part is connected, and distance distribution information can be obtained on the test surface of the detector；
Step 5, photodetector are connected with piezoelectric ceramics, and piezoelectric ceramics is controlled by piezoelectric ceramics controller, is used in combination
Synchronizing signal makes photodetector be synchronized with the movement with motor, using signal synchronization circuit come the motor for controlling to be connected with speculum
To control piezoelectric ceramics controller and motor movement, so that Sharpe is still met while speculum and detector motion determining
Rule.
Further in specific embodiment, by the way of a kind of scanning of push-broom type, the two-dimensional imaging of object is realized；It is real
After the two-dimensional imaging of existing object, with imaging geometry principle, the three-dimensional that can realize in space using motor control speculum
Scanning.
3rd, beneficial effects of the present invention.
(1), the present invention utilizes hinge principle, and the intersection point place that object plane is practised physiognomy with focal plane is calculated by husky nurse law,
Determine a point of rotation G, in system building, speculum, lens and line array CCD/CMOS are put according to Scheimflug laws
Put, and speculum is placed on the position of G points；After the completion of building, when speculum rotates to an angle, by geometric operation,
The distance for moving up and down of line array CCD/CMOS can be calculated, control linear array CCD/ is just can be very good using piezoelectric ceramics
CMOS is moved, and reaches the effect of imaging.
(2), the present invention by way of a kind of scanning of push-broom type, realizes object using laser single pass multiple point
Two-dimensional imaging；After realizing the two-dimensional imaging of object, with imaging geometry principle, can be realized in sky using motor control speculum
Between in 3-D scanning；Compared to the scanning of conventional laser radar line, the present apparatus can realize the 3-D view reconstruct in space.Tradition
Laser scanner technique based on Sharpe law is main to be imaged in visual line of sight (light of sight), and we are only on edge
Laser emission that direction out to be imaged.
(2), use line array CCD/CMOS as detector in the present invention, its measurement range is big and precision is very high, in real time
Transmission light-to-current inversion signal speed is fast.
(3), this laser radar sampling rate is much larger than conventional laser radar, and sample frequency is up to 3KHz.Use cooperatively
Line array CCD/the CMOS of 3000 pixels, the present apparatus can scan at 9,000,000 points each second, compared to the scanning per second of traditional scanning technique
700000 points, scan efficiency is higher.In addition, the present invention uses near infrared light or ultraviolet light, belong to human eye safe waveband.
To sum up, present invention employs continuous ray laser as light source, the spacescan of object is realized using imaging method, profit
The line scan image of the object under different angles is flexibly detected with piezoelectric ceramics or electric machine control system.The present invention is applied to far
The 3-D scanning of the large-scale object of scape, wavelength selection is near infrared light or ultraviolet light wave band, and innovation employs rotary reflection
Mirror and the method for upper and lower translation detector scanning imaging, realize continuous optical scanning, can obtain the object of distant place in high precision, clearly
Scan image.
Brief description of the drawings
Fig. 1 is the knot of the continuous ray laser imaging scanner of the hinge principle based on Scheimpflug principle
Structure schematic diagram.1- lasers in figure, 2- laser alignment original papers, 3- speculums, 4- motion control portion motors, 5- motor servos,
6- receiving telescopes, 7- photodetectors (CCD/CMOS), 8- motion control portion piezoelectric ceramics, 9- piezoelectric ceramics controllers,
10- signal synchronization circuits.
Fig. 2 scanning theory figures, G points are the speculum point of rotation as we can see from the figure, when motor control speculum rotates to 1
During position, the position for understanding CCD/CMOS is calculated in black position according to Scheimpflug law combinations geometry, work as reflection
When mirror rotates to 2 position, the position of CCD/CMOS is similarly can obtain, now CCD/CMOS has translated up a segment distance, it is such as empty
Shown in line.So, when motor continuously rotates, we also obtain a series of point on CCD/CMOS, can just be obtained after treatment
To the profile diagram of object.
Fig. 3 is analog scanning figure.
Specific embodiment
Embodiment 1
As shown in figure 1, a kind of continuous ray laser scanning means based on husky nurse law hinge principle that the present embodiment is proposed,
Including 1- diode lasers in figure, 2- laser alignment original papers, 3- speculums, 4- motors, 5- motion control portion motor servos,
6- receiving telescopes, 7- photodetectors (CCD/CMOS), 8- piezoelectric ceramics, 9- motion control portion piezoelectric ceramics controllers,
10- signal synchronization circuits.
A kind of continuous laser three-dimensional scanner based on husky nurse law hinge principle proposed by the present invention, including laser
1st, speculum 3, receiving telescope 6, photodetector 7, signal synchronization circuit 10；Speculum 3, receiving telescope 6 and light electrical resistivity survey
Survey device 7 to be put according to husky nurse law, speculum 3 is arranged on object plane, practises physiognomy and angle rotatable on the intersection point of focal plane, and signal is same
The control photodetector 7 of step circuit 10 follows the rotation synchronization upper and lower displacement of speculum 3 to meet husky nurse law all the time；Diode swashs
Adjustable mirror 3 is placed before light device 1, speculum 3 reflects the laser light to the object in environment, and object again reflects optical signal
Or reflect away, optical signal is received by receiving telescope group 6, and the optical signal that receiving telescope 6 is received is focused at photodetection
On device 7.The present invention is by motor 4, motion control portion motor servo 5, motion control portion motor servo 5, motor 4, reflection
Mirror 3 is sequentially connected control speculum rotation.Described laser 1 is diode laser.
Embodiment 2
Compared to embodiment 1 in, the present invention pass through piezoelectric ceramics 8, motion control portion piezoelectric ceramics controller 9, photoelectricity
Detector 7 is connected with piezoelectric ceramics 8, and the control piezoelectric ceramics 8 of piezoelectric ceramics controller 9 moves up and down, and feedback synchronization signal is come
The motor 4 that control is connected with speculum 3.Before laser alignment original paper 2 is placed on diode laser 1, put before laser alignment original paper 2
Put adjustable mirror 3.
Embodiment 3
Based on the continuous ray laser imaging device of husky nurse law hinge principle, including laser emitting portion, laser pick-off portion
Point, imaging moiety, data collection and analysis part, motion control portion, signal sync section；Described laser emitting portion, swash
Light receiving part is connected with imaging moiety, motion control portion, signal sync section；Part of data acquisition and imaging section split-phase
Even.This technology is calculated by formula and is selected the point of rotation using the hinge principle in Sharpe law, and rotating mirror is changed with reaching
Become laser scanning direction, so as to reach the purpose of scanning.
Laser emitting portion mainly includes continuous laser source (Laser diode), laser alignment original paper, LASER Light Source hair
The continuous laser for going out is incident to destination path direction after laser alignment original paper, and now the target into light path can produce reflected light
Optical signal, the signal is received by laser pick-off portion point receiving telescope；
Imaging moiety includes the data collection and analysis part of one dimensional linear array CCD/CMOS, the line array CCD/CMOS and x systems
It is connected, i.e., receives the echo-signal that line array CCD is collected into by being connected to record with notebook computer, can on linear array CCD/CMOS
To obtain the information such as range distribution, and then obtain the spatial information and scan image of measured target.
Motion control portion include piezoelectric ceramics, piezoelectric ceramics controller, motor, motor servo (comprising motor drive) and
Speculum.Speculum is installed together with motor, CCD/CMOS is installed together with piezoelectric ceramics, motor and motor servo
Install, rotated using motor control speculum, while piezo ceramic motion is controlled using piezoelectric ceramics controller, so as to drive
CCD/CMOS is moved, and it is met Scheimpflug laws, and then be clearly imaged.
When piezoelectric ceramics and motor movement is controlled, in order that the face of focal plane three of object plane phase plane and lens is handed over all the time
In a bit, hinge principle is met, demonstrate,prove piezoelectric ceramics controller using signal synchronization control portion code insurance and motor servo motion is synchronous,
Control speculum is consistent with CCD/CMOS angular turns.Signal Synchronization Control part can by input signal control piezoelectric ceramics and
Motor is synchronized with the movement.
Continuous laser source used is near infrared light/ultraviolet-ray diode laser；Input sync signal be square wave and
Sine wave, makes signal synchronously be input into signal synchronization circuit by programming.
The imaging range finding side that continuous ray laser scanning means based on husky nurse law hinge principle described in the present embodiment is used
Method：Laser is sent along target direction by the continuous wave laser of laser emitting portion, laser sends through laser alignment original paper and is mapped to instead
Penetrate on mirror and reflected by speculum, can be scanned by this laser penetration when the object in environment appears in light path, object is anti-
The received telescope of optical signal penetrated/reflect is converged on CCD/CMOS, and rotating mirror, using the method for imaging geometry, makes
Speculum is acquired by imaging moiety in different angle reflection laser to optical signal；Finally, by data collection and analysis
Part is connected with computer, in can obtaining respective optical path using Sharpe law of imagery (Scheimpflug principle)
Different distance and its intensity signal, and the profile information of object is obtained, so as to realize scanning the function of object.Specifically include with
Lower step：
(1) the continuous ray laser scanning means based on husky nurse law hinge principle is aimed at into environment to be detected, opens laser
Light source 1.
(2) by the directive speculum of laser alignment original paper 2, speculum is reflected the laser light to the laser that LASER Light Source 1 sends
Optical signal is reflected or reflected away by the object in environment, object again.
(3) optical signal of object reflection/refraction is tapped by laser pick-off portion and received, i.e., by receiving telescope group 6 to these
Optical signal carries out reception collection.
(4) optical signal that receiving telescope 6 is received is focused on photodetector 7.The photodetector and the data
Collection analysis part is connected, i.e., the echo-signal being collected into is recorded by being connected with notebook computer, in the detection of the detector
Distance distribution information can be obtained on face.
(5) photodetector 7 is connected with piezoelectric ceramics 8, and piezoelectric ceramics is controlled by piezoelectric ceramics controller 9, is used in combination
Synchronizing signal controls the motor 4 being connected with speculum 3, photodetector is synchronized with the movement with motor.Using the synchronous electricity of signal
To control piezoelectric ceramics controller and motor movement, (such as Fig. 1, motor control speculum rotates around G points, piezoelectric ceramics control on road 10
Device is pressed to dotted arrow direction) so that still meeting Sharpe law while speculum and detector motion.
In the present invention, laser 1 is diode laser, 2 laser alignment original papers, 3 speculums, 4 motors, 5 motion controls
Part machine servo, 6 receiving telescopes, 7 photodetectors (CCD/CMOS), 8 piezoelectric ceramics, 9 motion control portion piezoelectric ceramics
Controller, 10 signal synchronization circuits etc. are existing matured product or the product that can be processed using original paper, using this
The function that a little existing products or processing original paper have, the system of the present invention of structure, it is possible to use the method for imaging geometry
In the case where this radar system is not rotated, (operation motor and piezo ceramic motion, such as Fig. 2) realizes sweeping for conventional radar
Effect is retouched, and obtains the distance distribution information that conventional radar is provided, the scanning profile of also object is as shown in Figure 3.
Above-mentioned real system is the present invention preferably implementation method, but embodiments of the present invention do not receive above-described embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, it is simple
Change, should be equivalent substitute mode, be included within protection scope of the present invention.
Claims (7)
1. a kind of continuous laser three-dimensional scanner based on husky nurse law hinge principle, it is characterised in that：Including laser
(1), speculum (3), receiving telescope (6), photodetector (7), signal synchronization circuit (10)；Speculum (3), reception are looked in the distance
Mirror (6) and photodetector (7) are put according to husky nurse law, speculum (3) be arranged on object plane, practise physiognomy with the intersection point of focal plane
Angle rotatable, signal synchronization circuit (10) controls photodetector (7) to follow the rotation synchronization upper and lower displacement of speculum (3) to begin
Meet husky nurse law eventually；Adjustable mirror (3) is placed before diode laser (1), speculum (3) is reflected the laser light in environment
Object, object again by optical signal reflect or reflect away, optical signal by receiving telescope group (6) receive, receive prestige
The optical signal that remote mirror (6) is received is focused on photodetector (7).
2. the continuous laser three-dimensional scanner based on husky nurse law hinge principle according to claim 1, its feature exists
In：Also include motor (4), motion control portion motor servo (5), motion control portion motor servo (5), motor (4), reflection
Mirror (3) is sequentially connected control speculum rotation.
3. the continuous laser three-dimensional scanner based on husky nurse law hinge principle according to claim 1, its feature exists
In：Also include piezoelectric ceramics (8), motion control portion piezoelectric ceramics controller (9), photodetector (7) and piezoelectric ceramics (8)
It is connected, piezoelectric ceramics controller (9) controls piezoelectric ceramics (8) up and down motion, and feedback synchronization signal to control and speculum (3)
Connected motor (4).
4. the continuous laser three-dimensional scanner based on husky nurse law hinge principle according to claim 1, its feature exists
In：Also include laser alignment original paper (2), before laser alignment original paper (2) is placed on diode laser (1), laser alignment original paper
(2) adjustable mirror (3) is placed before.
5. the continuous laser three-dimensional scanner based on husky nurse law hinge principle according to claim 1, its feature exists
In：Described laser (1) is diode laser.
6. a kind of continuous laser 3-D scanning method based on husky nurse law hinge principle, it is characterised in that enter in accordance with the following steps
OK：
Step 1, the continuous ray laser scanning means aiming environment to be detected that will be based on husky nurse law hinge principle, open laser
(1)；
The laser that step 2, laser (1) send is by laser alignment original paper (2) directive speculum, and speculum (3) is anti-by laser
The object in environment is mapped to, optical signal is reflected or reflected away by object again；
Step 3, the optical signal of object reflection/refraction are tapped by laser pick-off portion and received, i.e., received by receiving telescope group (6) and adopted
Collection optical signal；
The optical signal that step 4, receiving telescope (6) are received is focused on photodetector (7), the photodetector (7) and institute
State data collection and analysis part to be connected, distance distribution information can be obtained on the test surface of the detector；
Step 5, photodetector (7) are connected with piezoelectric ceramics (8), and piezoelectric ceramics is controlled by piezoelectric ceramics controller (9),
And the motor (4) being connected with speculum (3) is controlled with synchronizing signal, photodetector is synchronized with the movement with motor, using letter
Number synchronous circuit (10) controls piezoelectric ceramics controller and motor movement so that while speculum and detector motion according to
So meet Sharpe law.
7. the continuous laser 3-D scanning method based on husky nurse law hinge principle according to claim 6, its feature exists
In：By the way of a kind of scanning of push-broom type, the two-dimensional imaging of object is realized；After realizing the two-dimensional imaging of object, with imaging
Geometrical principle, the 3-D scanning that can realize in space using motor control speculum.
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Cited By (14)
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| CN107422335A (en) * | 2017-06-26 | 2017-12-01 | 苏州优函信息科技有限公司 | Line source terrain detection sand nurse laser radar |
| CN108761486A (en) * | 2018-05-16 | 2018-11-06 | 大连理工大学 | New pattern laser radar system based on Scheimpflug principles |
| CN109188546A (en) * | 2018-08-24 | 2019-01-11 | 河南中光学集团有限公司 | A kind of big visual field sniper laser scanning, detecting device |
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