Three-dimensional scanning device and three-dimensional imaging system

Abstract

The invention provides a three-dimensional scanning device and a three-dimensional imaging system, and the device comprises a laser receiving and transmitting module which is used for transmitting a continuous wave signal and receiving a reflected signal; the angle adjusting mechanism is connected with the laser receiving and transmitting module; wherein the angle adjusting mechanism is provided with an optical path, and a first end of the optical path is communicated with an emission port of the laser transceiver module for emitting continuous wave signals; the prism adjusting module is connected with the angle adjusting mechanism; the prism is arranged in the prism adjusting module and is arranged at the second end of the light path of the angle adjusting mechanism; wherein the prism adjusting module is used for adjusting the angle of a prism; wherein the continuous wave signal is irradiated to a target object through a light path of the angle adjusting mechanism and the prism, the target object reflects the continuous wave signal to the laser receiving and transmitting module, and the reflected signal received by the laser receiving and transmitting module is used for constructing a three-dimensional diagram of the target object. According to the three-dimensional scanning device, the scanning surface can be wider, and the acquisition precision can be higher.

Description

Technical Field

[0001] The present application relates to the field of image acquisition technology, and in particular to a three-dimensional scanning device and a three-dimensional imaging system. Background Art

[0002] A laser three-dimensional (3D) profile detector is a sensor used to measure the surface shape and contour of an object. It obtains the three-dimensional shape information of an object by emitting light or other forms of energy and receiving the reflected energy.

[0003] At present, laser 3D contour detectors mainly use visual methods to perform 3D shape detection based on triangulation. However, due to the influence of the triangulation method, some blind spots cannot be measured, resulting in low measurement accuracy. Summary of the invention

[0004] The purpose of the present application is to provide a three-dimensional scanning device and a three-dimensional imaging system, which can achieve a wider scanning area and higher acquisition accuracy.

[0005] In the first aspect, the present application provides a three-dimensional scanning device, comprising: a laser transceiver module, used to transmit a continuous wave signal and receive a reflected signal; an angle adjustment mechanism connected to the laser transceiver module; wherein the angle adjustment mechanism sets up an optical path, and the first end of the optical path is connected to the emission port of the laser transceiver module for transmitting the continuous wave signal, and the angle adjustment mechanism is used to adjust the angle of the optical path to adjust the direction of the continuous wave signal passing through the optical path; a prism adjustment module connected to the angle adjustment mechanism; a prism installed in the prism adjustment module and installed at the second end of the optical path of the angle adjustment mechanism; wherein the prism adjustment module is used to adjust the angle of the prism; wherein the continuous wave signal passes through the optical path of the angle adjustment mechanism and the prism to irradiate the target object, and the target object reflects the continuous wave signal to the laser transceiver module, and the reflected signal received by the laser transceiver module is used to construct a three-dimensional image of the target object.

[0006] In the above implementation of the present application, an angle adjustment mechanism is provided, through which the light path can be adjusted, thereby adjusting the angle of the light path, so that the emitted signal can be more accurately emitted to the required position, thereby improving the imaging accuracy of the three-dimensional scanning device. Furthermore, a prism adjustment module is also provided, through which the angle of the prism can also be adjusted, so that the emitted signal can be wider.

[0007] In an optional embodiment, the laser transceiver module is connected to the angle adjustment mechanism via a flange, wherein a gap is reserved between the angle adjustment mechanism and the flange; and an edge of the flange is connected to an edge of the angle adjustment mechanism via at least three elastic members.

[0008] In the above implementation, the flange is connected to the angle adjustment mechanism through multiple elastic members. Under the action of the elastic members, the flange and the angle adjustment mechanism can be adjusted at multiple angles, so that the emitted signal can be more accurately emitted to the required position, thereby improving the imaging accuracy of the three-dimensional scanning device. Since the adjustment is achieved under the elastic action of the elastic member, the angle can be adjusted infinitely, thereby making the angle adjustment more flexible.

[0009] In an optional embodiment, the angle adjustment mechanism and the flange connecting portion are provided with a first through hole and a second through hole, and the first through hole and the second through hole are symmetrically positioned; the flange is provided with a third through hole that cooperates with the first through hole, and the flange is provided with a fourth through hole that cooperates with the second through hole; the flange is connected to the angle adjustment mechanism by passing a first connecting member through the first through hole and the third through hole; the flange is connected to the angle adjustment mechanism by passing a second connecting member through the second through hole and the fourth through hole; wherein, the flange and the angle adjustment mechanism swing relative to each other with the first connecting member and the second connecting member as axes.

[0010] In the above-mentioned implementation method, by connecting the angle adjustment mechanism and the flange through symmetrically arranged connecting parts, the relative position of the angle adjustment mechanism and the flange can be made more stable, and the adjustment of the angle between the angle adjustment mechanism and the flange can be within a controllable range, so that the emitted signal can be emitted to the required position more accurately.

[0011] In an optional embodiment, the flange is sealed and connected to the first end of the light passage of the angle adjustment mechanism via a sealing member.

[0012] In the above implementation, the sealing member is provided to better seal the optical path between the flange and the angle adjustment mechanism, thereby reducing signal leakage; and also reducing the influence of ambient light on the signal.

[0013] In an optional embodiment, the optical path of the angle adjustment mechanism includes a first optical path and a second optical path, and the first optical path forms a specified angle with the second optical path; a galvanometer is provided at the connection between the first optical path and the second optical path for transmitting signals between the first optical path and the second optical path.

[0014] In the above implementation, by setting a galvanometer in the light path, the direction of the light path can be adjusted, so that the steering of the light path can be better achieved, and the entire three-dimensional scanning device does not need to be designed along a straight line, thereby reducing the size of the overall three-dimensional scanning device.

[0015] In an optional embodiment, the angle adjustment mechanism further includes a first driver connected to the galvanometer, for driving the galvanometer to rotate.

[0016] In the above implementation, by setting the first driver, the galvanometer can be adjusted, thereby adjusting the direction of the signal emitted by the angle adjustment mechanism.

[0017] In an optional embodiment, the prism is a Dove prism.

[0018] In the above implementation, by providing a dove prism, spiral scanning can be achieved when the dove prism is rotated by the prism adjustment module, thereby enabling scanning in a wider range.

[0019] In an optional embodiment, the prism adjustment module is pivotally connected to the angle adjustment mechanism; the prism adjustment module includes a second driver, and the driver is used to drive the prism to rotate relative to the angle adjustment mechanism.

[0020] In an optional embodiment, the invention further comprises: a cooling system disposed around the second driver, wherein the cooling system is used to adjust the temperature of the second driver.

[0021] In the above implementation, the second driver may be temperature-controlled by the cooling system, so that the temperature of the second driver may be more stable, and the second driver may be operated in a stable temperature environment, thereby making the operation of the second driver more stable.

[0022] In an optional embodiment, it further includes: a focusing mirror connected to the prism adjustment module, and the signal emitted by the prism passes through the focusing mirror.

[0023] In the above implementation, reconfiguring the focusing mirror can achieve that within a certain object distance range, the image magnification ratio does not change, which can make the three-dimensional scanning more accurate.

[0024] In a second aspect, the present application provides a three-dimensional imaging system, comprising: a processing device and the above-mentioned three-dimensional scanning device; the three-dimensional scanning device scans a target object to obtain a reflection signal; the three-dimensional scanning device also includes a signal processing module for converting the reflection signal into an electrical signal; the processing device processes the electrical signal to obtain a three-dimensional image of the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of a three-dimensional scanning device provided in an embodiment of the present application;

[0027] Figure 2 A cross-sectional schematic diagram of a three-dimensional scanning device provided in an embodiment of the present application;

[0028] Figure 3a A schematic diagram of the coordination structure of the angle adjustment mechanism and the laser transceiver module provided in an embodiment of the present application;

[0029] Figure 3b An exploded diagram of the angle adjustment mechanism and the laser transceiver module provided in the embodiment of the present application;

[0030] Figure 4a A schematic diagram of the structure of a prism adjustment module provided in an embodiment of the present application;

[0031] Figure 4b A cross-sectional view of a prism adjustment module provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of the structure of a three-dimensional scanning device provided in an embodiment of the present application.

[0033] Icons: 110-laser transceiver module; 120-angle adjustment mechanism; 121-galvanometer; 122-first light path; 123-second light path; 124-first driver; 125-first through hole; 126-elastic member; 127-first connecting member; 128-second connecting member; 129-seal; 130-prism adjustment module; 131-rotor; 132-stator; 133-lens barrel; 1341-first bearing; 1342-second bearing; 135-lens pressure plate; 136-motor connector; 137-water cooling connector; 140-prism; 150-focusing lens; 160-flange. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0035] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be interpreted as a limitation of the present application.

[0037] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] 3D contour detectors can be used in various application scenarios, such as industrial production, robot navigation, and 3D mapping. Different application scenarios have different requirements for detectors. For example, high-speed and high-precision measurement is required in industrial production; for another example, the requirements for speed and accuracy are relatively lower in 3D mapping scenarios.

[0039] At present, laser 3D profile detectors mainly use visual methods to detect 3D shapes based on triangulation. However, this triangulation method is greatly affected by external ambient light, which leads to low accuracy. In addition, due to the influence of triangulation, some blind spots cannot be measured.

[0040] Based on the above research, an embodiment of the present application may provide a three-dimensional scanning device that can adjust the optical path to make the three-dimensional scanning more accurate.

[0041] like Figure 1 As shown, the embodiment of the present application provides a three-dimensional scanning device, which can include a laser transceiver module 110, an angle adjustment mechanism 120, a prism adjustment module 130 and a prism 140 (such as Figure 4b shown).

[0042] The laser transceiver module 110 can be used to transmit a continuous wave signal and receive a reflected signal.

[0043] Exemplarily, the continuous wave signal may be a frequency modulated continuous wave (Frequency Modulated Continuous Wave, FMCW for short).

[0044] The angle adjustment mechanism 120 is connected to the laser transceiver module 110 , and the continuous wave signal emitted by the laser transceiver module 110 passes through the laser transceiver module 110 .

[0045] The angle adjustment mechanism 120 sets an optical path, and the first end of the optical path is connected to the emission port of the laser transceiver module 110 for emitting the continuous wave signal. The angle adjustment mechanism 120 is used to adjust the angle of the optical path to adjust the direction of the continuous wave signal passing through the optical path.

[0046] The angle adjustment mechanism 120 is also connected to the prism adjustment module 130 . The laser transceiver module 110 and the prism adjustment module 130 are distributed on both sides of the angle adjustment mechanism 120 .

[0047] The prism 140 is installed in the prism adjustment module 130 and is installed at the second end of the light path of the angle adjustment mechanism 120. The prism adjustment module 130 is used to adjust the angle of the prism 140.

[0048] The prism adjustment module 130 can drive the prism 140 to rotate, so as to adjust the angle of the prism 140. Exemplarily, the prism adjustment module 130 can rotate with the prism 140 as the rotation center, so as to drive the prism 140 to rotate.

[0049] The angle adjustment mechanism 120 and the prism adjustment module 130 can form a plane scanning module. The plane scanning module can adjust the orientation of the emitted signal through the adjustment of the angle adjustment mechanism 120 and the prism adjustment module 130, thereby achieving the adjustment of the scanning surface.

[0050] The continuous wave signal emitted by the laser transceiver module 110 passes through the angle adjustment mechanism 120 and the prism 140 in sequence. The continuous wave signal passes through the optical path of the angle adjustment mechanism 120 and the prism 140 and irradiates the target object, and the target object reflects the continuous wave signal to the laser transceiver module 110.

[0051] Optionally, the prism 140 may be a Dove prism 140 .

[0052] The reflected signal received by the laser transceiver module 110 can be used to construct a three-dimensional image of the target object.

[0053] In one embodiment, the three-dimensional scanning device may further include a signal processing module, a processor, and a memory. The signal processing module of the three-dimensional scanning device may process the reflected signal to convert the optical signal into an electrical signal. The memory may store a three-dimensional image construction program, and when the processor executes the three-dimensional image construction program, it may process the optical signal obtained by the signal processing module to construct a three-dimensional image of the target object.

[0054] Optionally, the three-dimensional scanning device may further include a display screen, which may be used to display a three-dimensional image of the target object.

[0055] In another embodiment, the three-dimensional scanning device may be connected to a processing device, which may obtain the reflected signal received by the laser transceiver module 110 and process it to construct a three-dimensional image of the target object.

[0056] Exemplarily, the processing device may include a signal processing module, a processor, and a memory. The signal processing module of the processing device may process the reflected signal to convert the optical signal into an electrical signal. The memory may store a three-dimensional image construction program, and when the processor executes the three-dimensional image construction program, it may process the electrical signal obtained by the signal processing module to construct a three-dimensional image of the target object.

[0057] Optionally, the processing device may further include a display screen, which may be used to display a three-dimensional image of the target object.

[0058] In one embodiment, the three-dimensional scanning device may further include a signal processing module, which may process the reflected signal to convert the optical signal into an electrical signal.

[0059] The three-dimensional scanning device can be connected to a processing device, which can obtain the optical signal obtained by the signal processing module and process it to construct a three-dimensional image of the target object.

[0060] Exemplarily, the processing device may include a signal processing module, a processor and a memory.

[0061] The memory may store a three-dimensional image construction program, and when the processor executes the three-dimensional image construction program, it may process the electrical signal determined by the three-dimensional scanning device to construct a three-dimensional image of the target object.

[0062] In the above implementation, since the three-dimensional scanning device can adjust the optical path through the angle adjustment mechanism 120, it can collect more and more accurate laser point clouds. Based on the more and more accurate laser point clouds, the three-dimensional image of the target object can be determined more accurately.

[0063] In an optional implementation, the optical path of the angle adjustment mechanism 120 may be linear, and the continuous wave signal emitted by the laser transceiver module 110 may enter from one end of the optical path and exit from the other end of the optical path.

[0064] In another optional embodiment, the optical path of the angle adjustment mechanism 120 can form a specified angle. A galvanometer 121 is provided at the vertex of the angle, and the galvanometer 121 can illuminate two ports of the optical path. The continuous wave signal emitted by the laser transceiver module 110 can enter from one port of the optical path, illuminate the galvanometer 121, and the galvanometer 121 illuminates the signal to the other port of the optical path and passes out.

[0065] The specified angle may be an acute angle, an obtuse angle, a right angle, etc. For example, the specified angle may be 90°, 120°, 130°, 60°, etc.

[0066] Exemplarily, the optical path of the angle adjustment mechanism 120 may include a first optical path 122 and a second optical path 123, and the first optical path 122 and the second optical path 123 form a specified angle. A galvanometer 121 is provided at the connection between the first optical path 122 and the second optical path 123 for transmitting signals between the first optical path 122 and the second optical path 123.

[0067] exist Figure 2 In the example shown, the first light passage 122 and the second light passage 123 form an angle of 90°. The galvanometer 121 is disposed at the junction of the first light passage 122 and the second light passage 123 .

[0068] In one example, the first light passage 122 and the second light passage 123 may be in the shape of a cuboid, the opening of the first light passage 122 may be one of the ports of the light passage, and the opening of the second light passage 123 may be another port of the light passage. The shape of the opening of the first light passage 122 may be a square, and the shape of the opening of the second light passage 123 may also be a square.

[0069] In the above embodiment, the galvanometer 121 may be at a 45° angle to the inner wall of the first light passage 122.

[0070] The galvanometer 121 may be at an angle of 45° to the inner wall of the second light passage 123. Of course, the galvanometer 121 may be at other angles to the inner wall of the first light passage 122.

[0071] In order to more conveniently adjust the direction of the signal through the angle adjustment mechanism 120 , an adjustment device may also be provided to adjust the angle of the galvanometer 121 .

[0072] In one embodiment, the angle adjustment mechanism 120 may be provided with a first driver 124 connected to the galvanometer 121, and the first driver 124 may drive the galvanometer 121 to rotate. After the galvanometer 121 rotates, it may form different angles with the inner wall of the first light passage 122, and may also form different angles with the inner wall of the second light passage 123.

[0073] Optionally, the first driver 124 may be a motor, which may include an encoder, and the encoder may feed back to the processing device the adjustment angle of the galvanometer 121. Exemplarily, the adjustment angle of the galvanometer 121 may be fed back to a three-dimensional image construction program running in the processing device.

[0074] By adjusting the angle between the galvanometer 121 and the inner wall of the optical path, the continuous wave signal can be refracted to different angles when incident on the galvanometer 121, so that the continuous wave signal can be emitted from the other end of the optical path at different angles.

[0075] In another embodiment, the angle adjustment mechanism 120 may be provided with an adjustment rod (not shown) connected to the galvanometer 121 , and the angle of the galvanometer 121 may be adjusted by rotating the adjustment rod.

[0076] One end of the adjusting rod is connected to the galvanometer 121, and the other end of the adjusting rod extends to the outside of the angle adjustment mechanism 120. By rotating the end of the adjusting rod extending to the outside of the angle adjustment mechanism 120, the galvanometer 121 is driven to rotate.

[0077] By setting the light path into two sections with an angle, and setting the galvanometer 121 in the light path, the direction of the light path can be adjusted, which can better achieve the steering of the light path, so that the entire three-dimensional scanning device does not need to be designed along a straight line, thereby reducing the size of the entire three-dimensional scanning device. By setting the first driver 124, the galvanometer 121 can be adjusted, so that the direction of the continuous wave signal emitted by the angle adjustment mechanism 120 can be adjusted.

[0078] In order to increase the flexibility of the angle adjustment mechanism, it is also convenient to install and disassemble the angle adjustment mechanism 120 and the laser transceiver module 110. Figure 3a As shown, the angle adjustment mechanism 120 can be connected to the laser transceiver module 110 via a flange 160 .

[0079] In this embodiment, a gap is reserved between the angle adjustment mechanism 120 and the flange 160. The gap can facilitate the adjustment of the relative position and angle between the angle adjustment mechanism 120 and the laser transceiver module 110.

[0080] Optionally, the edge of the flange 160 is connected to the edge of the angle adjustment mechanism 120 via at least three elastic members 126. Figure 3b In the example shown, the edge of the flange 160 is connected to the edge of the angle adjustment mechanism 120 via four elastic members 126 .

[0081] The elastic member 126 may be a spring. For example, the elastic member 126 may be a rectangular spring.

[0082] The flange 160 can be fixedly connected to the laser transceiver module 110, and the flange 160 can also be installed with the angle adjustment mechanism 120 through several elastic members 126. Figure 3b In the example shown, four elastic members 126 are evenly distributed on the outer circumference of the flange 160 .

[0083] For example, one end of the elastic member 126 may be fixedly connected to the flange 160 , and the other end of the elastic member 126 may be connected to the angle adjustment mechanism 120 .

[0084] In order to make the relative angle between the angle adjustment mechanism 120 and the laser transceiver module 110 controllable, in addition to the connection through a plurality of elastic members 126 , some fixed connection points may also be provided.

[0085] like Figure 3b As shown, the connection portion between the angle adjustment mechanism 120 and the flange 160 is provided with a first through hole 125 and a second through hole (not shown), and the first through hole 125 and the second through hole are symmetrically located. Figure 3b Taking the angle shown as an example, the first through hole 125 is arranged on the upper side of the angle adjustment mechanism 120 , and the second through hole is arranged on the lower side of the angle adjustment mechanism 120 .

[0086] The flange 160 may be provided with a third through hole that matches with the first through hole 125 , and the flange 160 may also be provided with a fourth through hole that matches with the second through hole.

[0087] The first connecting member 127 can pass through the first through hole 125 and the third through hole to connect the flange 160 to the angle adjustment mechanism 120. The second connecting member 128 can pass through the second through hole and the fourth through hole to connect the flange 160 to the angle adjustment mechanism 120.

[0088] The flange 160 and the angle adjustment mechanism 120 swing relative to each other with the first connecting member 127 and the second connecting member 128 as axes.

[0089] Exemplarily, the first connecting member 127 and the second connecting member 128 may be cylindrical pins.

[0090] The connecting line of the first connecting member 127 and the second connecting member 128 can be on the same straight line. With the connecting line of the first connecting member 127 and the second connecting member 128 as the axis, the angle adjustment mechanism 120 and the laser transceiver module 110 can swing relative to each other. The angle adjustment mechanism 120 and the laser transceiver module 110 can swing relative to each other to adjust the direction in which the continuous wave signal emitted by the laser transceiver module 110 penetrates the angle adjustment mechanism 120.

[0091] Generally, there may be some additional light in the scene where the three-dimensional scanning device is used. In order to avoid the influence of the ambient light on the three-dimensional scanning device, the flange 160 and the first end of the light path of the angle adjustment mechanism 120 are sealed and connected by a seal 129.

[0092] The port of the light passage of the angle adjustment mechanism 120 may be circular, and the seal 129 may also be a circular seal 129. Exemplarily, the seal 129 may be a sealing structure made of elastic material. For example, the seal 129 may be a rubber ring.

[0093] In order to make the scanning angle of the three-dimensional scanning device more flexible, the prism adjustment module 130 and the angle adjustment mechanism 120 can also achieve relative rotation.

[0094] Optionally, the prism adjustment module 130 may be pivotally connected to the angle adjustment mechanism 120 .

[0095] The prism adjustment module 130 includes a second driver, which is used to drive the prism 140 to rotate relative to the angle adjustment mechanism 120 .

[0096] For example, Figure 4a and 4b As shown, Figure 4a is a schematic diagram of the structure of the prism adjustment module 130, Figure 4b 1 is a cross-sectional view of the prism adjustment module 130. A hollow area is provided in the second driver, and the dove prism 140 can be installed in the hollow area.

[0097] The dove prism 140 can be fixedly mounted in the hollow area of ​​the second driver. When the second driver is activated, the operating second driver can drive the dove prism 140 to rotate.

[0098] Optionally, the second driver may be a motor, such as Figure 4b As shown, the outer ring of the hollow area is the rotor 131 and the stator 132 of the motor. When the motor is working, the rotor 131 rotates, driving the prism 140 in the hollow area to rotate.

[0099] like Figure 4bAs shown, a lens barrel 133 may be disposed in the rotor 131 , and a hollow area for accommodating the Dove prism 140 is formed in the lens barrel 133 .

[0100] The lens pressing plates 135 may be provided at both ends of the lens barrel 133, and the position of the dove prism 140 in the lens barrel 133 may be relatively stable through the lens pressing plates 135. Figure 4b As shown, the shapes of the lens pressing plates 135 at both ends can match the shapes of the lens barrel 133 and the dove prism 140 .

[0101] Optionally, the lens pressing plate 135 may be a hollow structure, and the center of the lens pressing plate 135 close to the angle adjustment mechanism 120 may be provided for a light passage to penetrate through the angle adjustment mechanism 120 .

[0102] In this embodiment, the motor may also be disposed on the first bearing 1341 and the second bearing 1342 of the lens barrel 133 .

[0103] The motor may further include an encoder, and the motor may further be provided with a motor connector 136 .

[0104] In order to better maintain the working stability of the second driver, the prism adjustment module 130 may further include: a cooling system disposed around the second driver, the cooling system being used to adjust the temperature of the second driver.

[0105] The cooling system includes a circulating water cooling pipe arranged around the second driver. The circulating water cooling pipe can be provided with a water inlet and a water return port. The second driver can be cooled by coolant flowing into the circulating water cooling pipe.

[0106] The cooling system may also include a water cooling plate disposed around the second driver, the water cooling plate being provided with a water inlet and a water return port, and the second driver is cooled by coolant flowing into the water cooling plate.

[0107] like Figure 4b As shown, the water cooling joint 137 of the cooling system can be connected to a water supply system to obtain cooling liquid.

[0108] In this embodiment, Figure 5 As shown, the three-dimensional scanning device may further include a focusing lens 150 .

[0109] The focusing lens 150 may be connected to the prism adjustment module 130 , and the signal emitted by the prism 140 is emitted through the focusing lens 150 .

[0110] Optionally, the focusing lens 150 may be a telecentric field lens.

[0111] The focal length of the telecentric field lens can be F250mm. When the focal length is F250mm, the scanning diameter of the three-dimensional scanning device is 30mm. Of course, based on the size of the scanning surface, the focal length can also be selected from other values.

[0112] Among them, within the defocus range of ±5mm, the difference between the 0 focus and defocus diameters of any scanning circle is controlled within 10um.

[0113] In the above-mentioned embodiment of the present application, a measurement method of laser coaxial transmission and reception can be adopted based on the coherent reception principle of frequency modulated continuous waves. This method is relatively less affected by ambient light, can better support narrow measurement spaces, and will not produce unmeasurable areas due to dead angles. Higher-precision measurements can be achieved, reaching sub-micron or even nanometer levels. In addition, with the help of the angle adjustment mechanism 120 and the prism adjustment module 130, the angle of the output continuous wave signal can be adjusted to achieve measurement of a wider plane, so as to achieve high-precision three-dimensional contour scanning.

[0114] The present application provides a three-dimensional imaging system, which may include: a processing device and a three-dimensional scanning apparatus.

[0115] The processing device and the three-dimensional scanning device can be electrically connected, and the processing device can obtain the signal obtained by the three-dimensional scanning device.

[0116] The three-dimensional scanning device scans the target object to obtain a reflection signal.

[0117] The three-dimensional scanning device also includes a signal processing module for converting the reflected signal into an electrical signal. The processing device processes the electrical signal to obtain a three-dimensional image of the target object.

[0118] The three-dimensional scanning device may be a three-dimensional scanning device similar to the three-dimensional scanning device provided in the aforementioned embodiment. For other details about the three-dimensional scanning device provided in the embodiment of the present application, please refer to the description in the aforementioned embodiment, which will not be repeated here.

[0119] The three-dimensional scanning device can scan the target object to obtain a reflection signal that can reflect the contour of the target object and form a contour signal.

[0120] Exemplarily, the reflected continuous wave signal received by the laser transceiver module 110 may be used as a profile signal.

[0121] The signal processing module can convert the contour signal to form an electrical signal.

[0122] The processing device processes the electrical signal to obtain a three-dimensional image of the target object.

[0123] The processing device may include a memory and a processor. The memory and the processor are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these elements may be electrically connected to each other via one or more communication buses or signal lines. The above-mentioned processor is used to execute the executable module stored in the memory.

[0124] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory is used to store programs, and the processor executes the program after receiving the execution instruction. The steps executed by the processing device defined in the process disclosed in any embodiment of the present application can be implemented by the processor.

[0125] The above-mentioned processor may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0126] The processing device may also include a display screen, which may be used to display the three-dimensional image of the target object.

[0127] Exemplarily, the processing device may use the signal obtained based on the three-dimensional scanning device as point cloud data.

[0128] Exemplarily, a beam of continuous wave signal emitted by the laser transceiver module 110 irradiates the surface of the target object, and the reflected continuous wave signal can carry information such as the position and distance of the target object. Exemplarily, each time the laser transceiver module 110 emits, a laser point information of the target object can be obtained. The laser point information can include information such as the position and distance of the target object.

[0129] Through the adjustment of the angle adjustment mechanism 120 and the prism adjustment module 130, the output continuous wave signal can follow the spiral scanning circle, and it is possible to record the laser point information of the reflected target object while scanning. In this way, a large number of laser points can be output, thereby forming a laser point cloud corresponding to a large number of laser points.

[0130] The following describes the process of imaging a target object based on a three-dimensional imaging system with reference to some examples.

[0131] The processing device may run a target application, and the target application may be used to realize three-dimensional image construction of the target object. The target application may be a three-dimensional image construction program.

[0132] The target application can send a signal transmission instruction to the laser transceiver module 110, and the laser transceiver module 110 can transmit a continuous wave signal after receiving the instruction. The continuous wave signal is irradiated onto the target object through the plane scanning module formed by the angle adjustment mechanism 120 and the prism adjustment module 130, and the continuous wave signal irradiated onto the target object is reflected. The reflected continuous wave signal passes through the plane scanning module to reach the laser transceiver module 110, and the laser transceiver module 110 can give the received reflected signal to the signal processing module, and the signal processing module converts the optical signal collected by the laser transceiver module 110 into an electrical signal and feeds it back to the target application.

[0133] In this embodiment, after the target application sends a signal transmission instruction to the laser transceiver module 110, it can also send control instructions to the first driver 124 for controlling the angle adjustment of the galvanometer 121 in the angle adjustment mechanism 120 and the second driver for controlling the rotation of the prism 140, so as to adjust the orientation of the emitted signal through the adjustment of the angle adjustment mechanism 120 and the prism adjustment module 130, thereby achieving adjustment of the scanning surface.

[0134] The target application can calculate the electrical signal to obtain a three-dimensional image of the target object.

[0135] Specifically, the laser transceiver module 110 of the three-dimensional scanning device can determine the Z-axis coordinate of the target object based on the emitted signal and the received signal.

[0136] The Z-axis coordinate of the target object can be determined based on the coherent reception principle of frequency modulated continuous waves. For example, the distance to the target can be calculated by analyzing the phase difference between the signal reflected back by the laser transceiver module 110 and the signal emitted.

[0137] The galvanometer 121 can adjust the swing angle through the first driver 124, and adjust the diameter of the scanning surface based on the swing angle. The encoder can feed back the adjustment angle of the galvanometer 121 to the target application.

[0138] In one example, the rotation frequency of the second driver of the prism adjustment module 130 can be 50Hz-300Hz, which drives the rotation frequency of the dove prism 140 in the prism adjustment module 130 to be 50Hz-300Hz. Based on this, the scanning frequency of the scanning target object realized by the three-dimensional scanning device is 100Hz. z -600H z .

[0139] During the rotation of the second driver, the encoder of the second driver can also feed back the rotation angle to the target application in real time.

[0140] The scanning method implemented by the three-dimensional scanning device can be: the galvanometer 121 swings at a constant low speed, and the dove prism 140 rotates at a constant speed, so as to realize a spiral scanning circle. The horizontal and vertical coordinates of the target object obtained based on the above scanning method can be expressed as:

[0141] X (t) =2×f×ω 1(t) ×t×cos(2×ω 2(t) ×t);

[0142] Y (t) =2×f×ω 1(t) ×t×sin(2×ω2(t)×t);

[0143] Among them, X (t) , Y (t) represents the coordinates obtained by scanning the target object at time t, f is the focal length of the focusing mirror 150, ω1(t) represents the angular velocity of the first driver 124 at time t; ω2(t) represents the angular velocity of the second driver at time t.

[0144] The above method can be used to obtain the three-dimensional coordinates of each point on the target object obtained by each signal scan. The three-dimensional coordinates of many points on the target object can be obtained through multi-angle surface scanning to form point cloud data of the target object. The target application can construct a three-dimensional map of the target object based on the point cloud data.

[0145] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0146] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A three-dimensional scanning device, characterized in that: include: Laser transceiver module, used to transmit continuous wave signals and receive reflected signals; An angle adjustment mechanism connected to the laser transceiver module; wherein the angle adjustment mechanism is provided with an optical path, a first end of the optical path is connected to an emission port of the laser transceiver module for emitting a continuous wave signal, and the angle adjustment mechanism is used to adjust the angle of the optical path to adjust the direction of the continuous wave signal passing through the optical path; A prism adjustment module connected to the angle adjustment mechanism; A prism installed in the prism adjustment module and installed at the second end of the light path of the angle adjustment mechanism; wherein the prism adjustment module is used to adjust the angle of the prism; The continuous wave signal is irradiated onto the target object through the optical path of the angle adjustment mechanism and the prism, and the target object reflects the continuous wave signal to the laser transceiver module. The reflected signal received by the laser transceiver module is used to construct a three-dimensional image of the target object.

2. The three-dimensional scanning device according to claim 1, characterized in that: The laser transceiver module is connected to the angle adjustment mechanism via a flange, wherein a gap is reserved between the angle adjustment mechanism and the flange; The edge of the flange is connected to the edge of the angle adjustment mechanism through at least three elastic members.

3. The three-dimensional scanning device according to claim 2, characterized in that: The angle adjustment mechanism and the flange connection portion are provided with a first through hole and a second through hole, and the first through hole and the second through hole are symmetrically located; The flange is provided with a third through hole matching with the first through hole, and the flange is provided with a fourth through hole matching with the second through hole; The flange is connected to the angle adjustment mechanism by passing a first connecting member through the first through hole and the third through hole; the flange is connected to the angle adjustment mechanism by passing a second connecting member through the second through hole and the fourth through hole; Wherein, the flange and the angle adjustment mechanism swing relative to each other with the first connecting member and the second connecting member as axes.

4. The three-dimensional scanning device according to claim 2, characterized in that: The flange is sealed and connected to the first end of the light passage of the angle adjustment mechanism via a sealing member.

5. The three-dimensional scanning device according to claim 1, characterized in that: The light path of the angle adjustment mechanism includes a first light path and a second light path, wherein the first light path and the second light path form a specified angle; A galvanometer is provided at the connection between the first optical path and the second optical path, for transmitting signals between the first optical path and the second optical path.

6. The three-dimensional scanning device according to claim 5, characterized in that: The angle adjustment mechanism also includes a first driver connected to the galvanometer, and is used to drive the galvanometer to rotate.

7. The three-dimensional scanning device according to claim 1, characterized in that: The prism is a Dove prism.

8. The three-dimensional scanning device according to claim 1, characterized in that: The prism adjustment module is pivotally connected to the angle adjustment mechanism; The prism adjustment module includes a second driver, which is used to drive the prism to rotate relative to the angle adjustment mechanism.

9. The three-dimensional scanning device according to claim 8, characterized in that: Also includes: A cooling system is arranged around the second driver, and the cooling system is used to adjust the temperature of the second driver.

10. The three-dimensional scanning device according to any one of claims 1 to 9, characterized in that: Also includes: A focusing lens connected to the prism adjustment module, through which the signal emitted by the prism is emitted.

11. A three-dimensional imaging system, characterized in that: include: A processing device and a three-dimensional scanning device according to any one of claims 1 to 10; The three-dimensional scanning device scans the target object to obtain a reflection signal; The three-dimensional scanning device also includes a signal processing module for converting the reflection signal into an electrical signal; The processing device processes the electrical signal to obtain a three-dimensional image of the target object.

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