A three-dimensional laser scanner

Abstract

This invention belongs to the technical field of laser measurement equipment and relates to a three-dimensional laser scanner. An electromagnet drives a transparent carrier plate to suspend in the magnetic field of a ring-shaped permanent magnet. The laser beam, reflected by a 45-degree tilted mirror, vertically penetrates the carrier plate, enabling synchronous data collection from the bottom of the measured object. The device is also equipped with an adaptive magnetic adjustment unit that automatically compensates for electromagnetic field intensity based on the carrier plate pressure, maintaining a stable suspension height. The light-absorbing coating on the edge of the carrier plate eliminates stray light interference. This non-contact scanning device avoids the vibration errors of traditional turntables, enabling comprehensive three-dimensional data acquisition in a single measurement, significantly improving measurement efficiency and data accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of laser measuring equipment, in particular to a three-dimensional laser scanner. Background Art

[0002] 3D laser scanning is a non-contact measurement technology that uses laser ranging to obtain the three-dimensional topography of an object's surface. Its basic principle is to use a laser transmitter to project structured light or a line laser onto the surface of the object being measured. A receiver captures the reflected light signal and calculates the laser's time of flight or phase difference to determine the spatial coordinates, ultimately reconstructing a high-precision 3D point cloud model.

[0003] In the field of 3D laser scanning, achieving high-precision, omnidirectional data acquisition has always been a technical challenge. Traditional equipment often uses a contact turntable to drive the workpiece, which introduces mechanical vibrations that can introduce scanning errors. Furthermore, bottom-level data acquisition requires secondary clamping, which not only reduces efficiency but also poses a risk of damage to the precision workpiece due to clamping stress.

[0004] In view of this, the present invention proposes a three-dimensional laser scanner to solve the above technical problems. Summary of the Invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0006] A three-dimensional laser scanner includes a scanning platform on which a laser scanner is movably mounted. An electromagnet is rotatably mounted on the scanning platform. An annular permanent magnet is disposed above the electromagnet and is nested around the periphery of a transparent glass carrier. When the electromagnet is energized, magnetism is generated by the annular permanent magnet, causing the transparent glass carrier to levitate.

[0007] Among them, a reflector is arranged in a ring outside the electromagnet, and the reflector is set at an angle. The laser scanner rotates and scans around the workpiece to be tested on the transparent glass carrier. The light from the laser scanner is reflected by the reflector and reaches the lower end surface of the workpiece to be tested on the transparent glass carrier.

[0008] As a preferred solution of the present invention, a three-dimensional laser scanner is also provided, which also includes a scanning unit. The scanning unit includes a cam frame, which spans the scanning table and is hinged to the scanning table. The laser scanner is fixedly connected to the middle of the cam frame, and the scanning table is fixedly connected to a No. 1 motor. The No. 1 motor is fixedly connected to one side of the cam frame through a belt, thereby driving the cam frame to rotate.

[0009] As a preferred solution of the present invention, a three-dimensional laser scanner is also provided, which also includes a display unit. The display unit includes a No. 2 motor, which is fixedly connected to the lower end surface of the scanning platform. The output shaft of the No. 2 motor is fixedly connected to a turntable, and the turntable is fixedly connected to the electromagnet.

[0010] As a preferred solution of the three-dimensional laser scanner provided by the present invention, the reflector and the turntable form an angle of 45 degrees.

[0011] As a preferred solution of the present invention, a three-dimensional laser scanner is also provided, which also includes an adaptive magnetic adjustment unit. The adaptive magnetic adjustment unit includes a pressure rod, the upper end of the pressure rod is flush with the upper end surface of the transparent glass carrier, and the pressure rod and the transparent glass carrier do not contact.

[0012] As a preferred solution of the three-dimensional laser scanner provided by the present invention, the lower end of the pressure rod extends to the interior of the sleeve, and the lower end of the pressure rod is fixedly connected to a sealing disk, which is slidably connected to the interior of the sleeve. The bottom of the sleeve is fixedly connected to a catheter, and the other end of the catheter is fixedly connected to the end of the hollow tube. The interior of the hollow tube is slidably connected to a sliding disk, and the end of the sliding disk away from the catheter is fixedly connected to the sliding rod, and the other end of the sliding rod extends out of the hollow tube. A reset spring is nested on the sliding rod, and the two ends of the reset spring are respectively abutted against the sliding disk and the end of the hollow tube.

[0013] As a preferred solution of the three-dimensional laser scanner provided by the present invention, a contact head is fixedly connected to the end of the sliding rod away from the sliding disk, and a No. 1 terminal is fixedly connected to the contact head. A resistor is provided on one side of the contact head, and the contact head slides on the surface of the resistor. The end of the resistor away from the hollow tube is fixedly connected to the No. 2 terminal.

[0014] As a preferred solution of the three-dimensional laser scanner provided by the present invention, terminal No. 1 is connected to the electromagnet through a circuit, and terminal No. 2 is connected to the external power supply through a circuit. The electromagnet, terminal No. 1, contact head, resistor, terminal No. 2 and external power supply form a closed loop.

[0015] As a preferred solution of the three-dimensional laser scanner provided by the present invention, in an initial state, the resistance connection is at a maximum value.

[0016] As a preferred solution of the three-dimensional laser scanner provided by the present invention, a light-absorbing coating is provided on the surface of the annular permanent magnet.

[0017] Beneficial effects of the present invention:

[0018] This invention achieves high-precision non-contact measurement through an innovative magnetic levitation carrier and intelligent optical path design. The electromagnetically driven suspension structure completely eliminates the mechanical vibration interference of traditional contact turntables. Combined with the stable magnetic field formed by the annular permanent magnet, it ensures that the laser scanner always maintains high precision during the acquisition process. The 45° tilted mirror layout allows the laser beam to vertically penetrate the transparent carrier and illuminate the bottom of the measured part after a single reflection. This not only avoids the damage to the workpiece caused by the flipping operation, but also realizes the synchronous acquisition and automatic fusion of the top, side and bottom three-dimensional data. The device is also equipped with an adaptive magnetic adjustment system that can intelligently compensate for the magnetic field strength according to the weight of the measured part and automatically adjust the suspension height to the optimal scanning position, significantly expanding the device's compatibility with workpieces of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0020] in:

[0021] Figure 1 This is a schematic diagram of the overall structure of a three-dimensional laser scanner;

[0022] Figure 2 A schematic diagram of the connection structure between a display unit and a workpiece to be measured in a 3D laser scanner;

[0023] Figure 3 A schematic diagram of the connection structure of a display unit in a 3D laser scanner;

[0024] Figure 4 for Figure 3 A magnified schematic diagram of the structure at center A;

[0025] Figure 5 A schematic diagram of the connection structure of an adaptive magnetic adjustment unit in a three-dimensional laser scanner;

[0026] Figure 6 for Figure 5 A magnified schematic diagram of the structure at C in the middle;

[0027] Figure 7 This is a schematic diagram of the optical path of a three-dimensional laser scanner when the laser scanner is working.

[0028] In the picture:

[0029] 1. Scanning unit; 11. Scanning platform; 12. Moulding frame; 13. Laser scanner; 14. Motor No. 1;

[0030] 2. Display unit; 21. Transparent glass carrier; 22. Ring permanent magnet; 23. Electromagnet; 24. Reflector; 25. Motor No. 2;

[0031] 3. Adaptive magnetic adjustment unit; 31. Rotating disk; 32. Sleeve; 33. Pressure rod; 34. Sealing disk; 35. Conduit; 36. Hollow tube; 37. Sliding disk; 38. Return spring; 39. Contact head; 310. Terminal 1; 311. Resistor; 312. Terminal 2; 313. Sliding rod;

[0032] 99. Parts to be tested. DETAILED DESCRIPTION

[0033] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] Example 1:

[0035] like Figure 1 、 Figure 2 、 Figure 3 and Figure 7 As shown, a three-dimensional laser scanner includes a scanning platform 11, on which a laser scanner 13 is movably provided. An electromagnet 23 is rotatably provided on the scanning platform 11, and an annular permanent magnet 22 is provided above the electromagnet 23. The annular permanent magnet 22 is nested in the periphery of a transparent glass carrier 21. When the electromagnet 23 is energized, magnetism is generated, so that the annular permanent magnet 22 drives the transparent glass carrier 21 to levitate; after the electromagnet 23 is energized, magnetism is generated, so that the annular permanent magnet 22 repels the annular permanent magnet 22, thereby driving the transparent glass carrier 21 to levitate. The transparent glass carrier 21 allows the laser emitted by the laser scanner 13 to pass through, so that the laser falls on the bottom of the workpiece 99 to form a three-dimensional model.

[0036] A reflector 24 is arranged in a ring around the outer side of the electromagnet 23. The reflector 24 is tilted. The laser scanner 13 rotates and scans the test piece 99 on the transparent glass carrier 21. The light from the laser scanner 13 is reflected by the reflector 24 and reaches the lower end surface of the test piece 99 on the transparent glass carrier 21. When scanning the test piece 99, the laser scanner 13 rotates around the test piece 99, thereby scanning the top and sides of the test piece 99. When the laser scanner 13 shines horizontally on the reflector 24, the reflector 24 can reflect the laser light vertically upward, so that the laser light passes through the transparent glass carrier 21 and shines on the lower end of the test piece 99, thereby collecting shape information of the lower end of the test piece 99.

[0037] The scanning unit 1 includes a cam frame 12, which spans the scanning platform 11 and is hinged to the scanning platform 11. The laser scanner 13 is fixedly connected to the middle of the cam frame 12. The scanning platform 11 is fixedly connected to a No. 1 motor 14. The No. 1 motor 14 is fixedly connected to one side of the cam frame 12 via a belt, thereby driving the cam frame 12 to rotate.

[0038] The display unit 2 includes a second motor 25 , which is fixedly connected to the lower end surface of the scanning platform 11 . The output shaft of the second motor 25 is fixedly connected to a turntable 31 , and the turntable 31 is fixedly connected to the electromagnet 23 .

[0039] Reflector 24 and turntable 31 form a 45-degree angle. At this 45-degree angle, when laser scanner 13 shines horizontally on reflector 24, the laser light is reflected vertically onto the bottom of object 99, thereby improving the scanning accuracy of laser scanner 13. (By emitting laser light vertically onto the outer wall of object 99, laser scanner 13 can obtain information such as the depth of the edges and corners of the object 99.)

[0040] A light-absorbing coating is provided on the surface of the annular permanent magnet 22. The light-absorbing coating can prevent the laser from being irradiated on the annular permanent magnet 22 and being reflected, which would cause inaccurate information collected by the laser scanner 13.

[0041] In this embodiment, the electromagnet 23 is first energized to obtain magnetism, which then causes the annular permanent magnet 22 to cause the transparent glass carrier 21 to levitate. The object under test 99 is then placed on the transparent glass carrier 21. The first motor 14 is then turned on, driving the cam frame 12 to slowly rotate around the object under test 99. Simultaneously, the laser scanner 13 continuously emits laser light to illuminate the object under test 99, generating three-dimensional data of the sides and top of the object under test 99.

[0042] Because the test piece 99 is placed on the transparent glass carrier 21, the laser scanner 13 cannot enter directly below the transparent glass carrier 21 to collect data from the bottom of the test piece 99 (because there is a magnetic field between the annular permanent magnet 22 and the electromagnet 23, the laser scanner 13 will destroy the magnetic field after entering the magnetic field, making the transparent glass carrier 21 unable to float). At this time, the laser scanner 13 emits laser light through the horizontal reflector 24, as shown in FIG. Figure 7 The laser light path diagram shown in the figure enables the laser to be reflected by the reflector 24 and then vertically illuminate the bottom of the test object 99, thereby obtaining three-dimensional data of the bottom of the test object 99. This data is then integrated with the previous three-dimensional data of the side and top of the test object 99 to form a complete three-dimensional model of the test object 99.

[0043] At the same time, when performing the above-mentioned scanning, the No. 2 motor 25 can be operated, and the No. 2 motor 25 drives the electromagnet 23 to rotate through the turntable 31. The electromagnet 23 drives the annular permanent magnet 22 and the transparent glass carrier 21 to rotate through magnetism, and finally the workpiece to be tested 99 rotates, so that each surface of the workpiece to be tested 99 can be scanned by the laser scanner 13.

[0044] In the above process, the electromagnet 23 is used to rotate the transparent glass carrier 21 and the test piece 99, so that the test piece 99 is completely scanned by the laser scanner 13. This prevents the test piece 99 from vibrating due to rotation during scanning by the laser scanner 13. For example, using a traditional contact method to rotate the transparent glass carrier 21 and the test piece 99 would generate significant vibration, thus causing inaccurate data collected by the laser scanner 13. At the same time, the reflective mirror 24 and the turntable 31 are arranged at a 45-degree angle, so that the laser scanner 13 can scan the bottom of the test piece 99 in a horizontal direction, eliminating the need to flip the test piece 99, which can easily cause damage to the test piece 99.

[0045] Example 2:

[0046] As shown in the figure, a 3D laser scanner includes an adaptive magnetic adjustment unit 3, which includes a pressure rod 33. The upper end of the pressure rod 33 is flush with the upper end surface of the transparent glass carrier 21, and the pressure rod 33 and the transparent glass carrier 21 do not contact each other. The transparent glass carrier 21 is always suspended and does not contact other structures. This is to prevent large mechanical vibrations during rotational scanning, which could cause inaccurate data scanned by the laser scanner 13.

[0047] The lower end of the pressure rod 33 extends to the interior of the sleeve 32, and the lower end of the pressure rod 33 is fixedly connected to a sealing disk 34, which is slidably connected to the interior of the sleeve 32. The bottom of the sleeve 32 is fixedly connected to a conduit 35, and the other end of the conduit 35 is fixedly connected to the end of the hollow tube 36. The interior of the hollow tube 36 is slidably connected to a sliding disk 37, and the end of the sliding disk 37 away from the conduit 35 is fixedly connected to a sliding rod 313, and the other end of the sliding rod 313 extends out of the hollow tube 36. A return spring 38 is nested on the sliding rod 313, and the two ends of the return spring 38 are respectively abutted against the sliding disk 37 and the end of the hollow tube 36.

[0048] The end of the sliding rod 313 away from the sliding disk 37 is fixedly connected to the contact head 39, and the contact head 39 is fixedly connected to the first terminal 310. A resistor 311 is provided on one side of the contact head 39. The contact head 39 slides on the surface of the resistor 311, and the end of the resistor 311 away from the hollow tube 36 is fixedly connected to the second terminal 312.

[0049] The first terminal 310 is connected to the electromagnet 23 through the circuit, and the second terminal 312 is connected to the external power supply through the circuit. The electromagnet 23, the first terminal 310, the contact head 39, the resistor 311, the second terminal 312 and the external power supply form a closed loop.

[0050] In the initial state, the resistor 311 is connected to the maximum value.

[0051] In this embodiment, when the test piece 99 is placed on the transparent glass carrier 21, due to the gravity of the test piece 99, the pressure rod 33 drives the sealing disk 34 to slide down in the sleeve 32, and the turntable 31 also drops outside the scanning area, compressing the gas in the sleeve 32 into the hollow tube 36 through the conduit 35, and then the gas pushes the sliding disk 37 to move in the hollow tube 36, and the sliding disk 37 pushes the sliding rod 313 to move, and the reset spring 38 is compressed. When the sliding rod 313 moves, it drives the contact head 39 to slide on the resistor 311, so that the value of the connected resistor 311 decreases, thereby increasing the current in the circuit, thereby enhancing the magnetism of the electromagnet 23, and increasing the repulsive force on the annular permanent magnet 22, so that the annular permanent magnet 22 drives the transparent glass carrier 21 to move upward into the scanning area, so that it can be successfully scanned by the laser scanner 13.

[0052] In the above process, it can be understood that the greater the weight of the test piece 99, the greater the distance the transparent glass carrier 21 and the pressure rod 33 descend, and thus more gas enters the hollow tube 36 from the sleeve 32, the longer the distance the sliding plate 37 drives the sliding rod 313 to move, and the longer the distance the contact head 39 slides on the resistor 311, which makes the resistance value of the connected circuit smaller, the current of the circuit increases, and ultimately the magnetism of the electromagnet 23 increases, so that the repulsive force between the electromagnet 23 and the annular permanent magnet 22 is greater, so that there is enough force to drive the transparent glass carrier 21 to drive the test piece 99 to move upward to the scanning area.

[0053] By adaptively adjusting the magnetic strength of the electromagnet 23 according to the weight of the object to be tested 99 , the transparent glass carrier 21 is always in the scanning position, maintaining a stable suspension height, and improving the accuracy of the scanning without the need for manual height adjustment.

[0054] The workflow is as follows:

[0055] First, the electromagnet 23 is energized to obtain magnetism, and then the annular permanent magnet 22 drives the transparent glass carrier 21 to levitate, and then the workpiece 99 to be tested is placed on the transparent glass carrier 21. Then, the No. 1 motor 14 is turned on, and the No. 1 motor 14 drives the cam frame 12 to slowly rotate around the workpiece 99 to be tested. At the same time, the laser scanner 13 continuously emits laser to illuminate the workpiece 99 to form three-dimensional data of the side and top of the workpiece 99. Because the workpiece 99 to be tested is placed on the transparent glass carrier 21, the laser scanner 13 cannot enter directly under the transparent glass carrier 21 to collect data on the bottom of the workpiece 99. At this time, the laser scanner 13 emits laser through the horizontal reflector 24, as shown in FIG. Figure 7The laser light path diagram shown enables the laser to be reflected by the reflector 24 and then vertically illuminate the bottom of the test object 99, thereby obtaining three-dimensional data of the bottom of the test object 99. This data is then integrated with the previous three-dimensional data of the side and top of the test object 99 to form a complete three-dimensional model of the test object 99. Simultaneously, during the above-mentioned scanning, the second motor 25 can be activated. The second motor 25 drives the electromagnet 23 to rotate via the turntable 31. The electromagnet 23, through magnetism, drives the annular permanent magnet 22 and the transparent glass carrier 21 to rotate, ultimately rotating the test object 99, so that every surface of the test object 99 can be scanned by the laser scanner 13. In the above process, when the test piece 99 is placed on the transparent glass carrier 21, due to the gravity of the test piece 99, the pressure rod 33 drives the sealing disk 34 to slide down in the sleeve 32, and the turntable 31 also drops outside the scanning area, compressing the gas in the sleeve 32 into the hollow tube 36 through the conduit 35, and then the gas pushes the sliding disk 37 to move in the hollow tube 36, and the sliding disk 37 pushes the sliding rod 313 to move, and the reset spring 38 is compressed. When the sliding rod 313 moves, it drives the contact head 39 to slide on the resistor 311, so that the value of the connected resistor 311 decreases, thereby increasing the current in the circuit, thereby enhancing the magnetism of the electromagnet 23, and increasing the repulsive force on the annular permanent magnet 22, so that the annular permanent magnet 22 drives the transparent glass carrier 21 to move upward into the scanning area, so that it can be successfully scanned by the laser scanner 13.

[0056] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional laser scanner, comprising a scanning platform (11), characterized in that: A laser scanner (13) is movably provided on the scanning platform (11), an electromagnet (23) is rotatably provided on the scanning platform (11), an annular permanent magnet (22) is provided above the electromagnet (23), and the annular permanent magnet (22) is nested in the periphery of the transparent glass carrier (21). When the electromagnet (23) is energized, magnetism is generated so that the annular permanent magnet (22) drives the transparent glass carrier (21) to suspend; A reflective mirror (24) is arranged in a ring outside the electromagnet (23), and the reflective mirror (24) is tilted. The laser scanner (13) rotates and scans around the test piece (99) on the transparent glass carrier (21). The light on the laser scanner (13) is reflected by the reflective mirror (24) and reaches the lower end surface of the test piece (99) on the transparent glass carrier (21); It also includes an adaptive magnetic adjustment unit (3), the adaptive magnetic adjustment unit (3) includes a pressure rod (33), the upper end of the pressure rod (33) is flush with the upper end surface of the transparent glass carrier (21), and the pressure rod (33) and the transparent glass carrier (21) do not contact; The lower end of the pressure rod (33) extends into the interior of the sleeve (32), the lower end of the pressure rod (33) is fixedly connected to a sealing disk (34), the sealing disk (34) is slidably connected inside the sleeve (32), the bottom of the sleeve (32) is fixedly connected to a guide tube (35), the other end of the guide tube (35) is fixedly connected to the end of the hollow tube (36), the interior of the hollow tube (36) is slidably connected to a sliding disk (37), the end of the sliding disk (37) away from the guide tube (35) is fixedly connected to a sliding rod (313), the other end of the sliding rod (313) extends out of the hollow tube (36), a return spring (38) is nested on the sliding rod (313), and the two ends of the return spring (38) are respectively in contact with the sliding disk (37) and the end of the hollow tube (36); One end of the sliding rod (313) away from the sliding disk (37) is fixedly connected to a contact head (39), a first terminal (310) is fixedly connected to the contact head (39), a resistor (311) is provided on one side of the contact head (39), the contact head (39) slides on the surface of the resistor (311), and one end of the resistor (311) away from the hollow tube (36) is fixedly connected to a second terminal (312); The first terminal (310) is connected to the electromagnet (23) through the circuit, and the second terminal (312) is connected to the external power supply through the circuit. The electromagnet (23), the first terminal (310), the contact head (39), the resistor (311), the second terminal (312) and the external power supply form a closed loop.

2. The three-dimensional laser scanner according to claim 1, wherein: The scanning unit (1) further comprises a scanning unit (1), wherein the scanning unit (1) comprises a cam frame (12), the cam frame (12) spans the scanning platform (11) and is hinged to the scanning platform (11), a laser scanner (13) is fixedly connected to the middle of the cam frame (12), a No. 1 motor (14) is fixedly connected to the scanning platform (11), and the No. 1 motor (14) is fixedly connected to one side of the cam frame (12) via a belt, thereby driving the cam frame (12) to rotate.

3. The three-dimensional laser scanner according to claim 1, wherein: The display unit (2) further comprises a display unit (2), the display unit (2) comprising a second motor (25), the second motor (25) being fixedly connected to the lower end surface of the scanning platform (11), the output shaft of the second motor (25) being fixedly connected to a turntable (31), and the turntable (31) and the electromagnet (23) being fixedly connected.

4. The three-dimensional laser scanner according to claim 1, wherein: The reflector (24) and the turntable (31) are at an angle of 45 degrees.

5. The three-dimensional laser scanner according to claim 4, wherein: In the initial state, the resistor (311) is connected to the maximum value.

6. The three-dimensional laser scanner according to claim 1, wherein: A light-absorbing coating is provided on the surface of the annular permanent magnet (22).

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