Laser three-dimensional scanning device based on optical cam

Abstract

The invention relates to a laser three-dimensional scanning device based on an optical cam. The laser three-dimensional scanning device comprises the optical cam and a reflector array arranged on the optical cam. The optical cam rotates along the rotation axis of the optical cam so as to drive the reflector array to rotate. And the laser beam is reflected to the surface of the to-be-scanned object through the rotating reflector array to form diffuse reflection return light, and the diffuse reflection return light is reflected by the rotating reflector array to form laser return light, so that a three-dimensional scanning result of the to-be-scanned object is obtained according to the laser return light. According to the invention, the problem of low laser three-dimensional scanning accuracy caused by easy deflection of a scanning light path due to complex mechanism and insufficient shock resistance of a discrete component in a traditional scheme is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of laser three-dimensional scanning technology, and in particular to a laser three-dimensional scanning device based on an optical cam. Background Technology

[0002] Laser 3D scanning typically refers to the precise control of the laser propagation path in three-dimensional space to create a 3D model of an object. In applications such as lidar, industrial inspection, and 3D communication, scanning of objects often needs to be completed within a short timeframe. The mechanical reliability of the scanning components and the efficiency of the optical path control directly affect the scanning accuracy and equipment lifespan.

[0003] Traditional laser scanning solutions typically employ discrete components such as precision-coordinated clickers and lens groups to scan the object. However, their structure is complex, and they are prone to optical path misalignment under external vibration and impact. Therefore, it is impossible to simultaneously ensure scanning accuracy and the mechanical reliability of the device. Summary of the Invention

[0004] Based on the foregoing analysis, the main objective of this invention is to provide a laser three-dimensional scanning device based on an optical cam, which solves the problem that the traditional solution is prone to optical path deviation due to the complex mechanism of discrete components and insufficient shock resistance, resulting in low accuracy of laser three-dimensional scanning.

[0005] To address this, the present invention provides a laser three-dimensional scanning device based on an optical cam, comprising: an optical cam and a reflector array disposed on the optical cam; wherein the optical cam rotates along its rotation axis to drive the reflector array to rotate; and a laser beam is reflected by the rotating reflector array to the surface of the object to be scanned, forming diffuse reflection backlight, and the diffuse reflection backlight is reflected by the rotating reflector array to form laser backlight, so as to obtain the scanning result of the object to be scanned based on the laser backlight.

[0006] Preferably, the reflector array includes a plurality of reflectors; and the plurality of reflectors are disposed at the same position on the optical cam; or the plurality of reflectors are distributed on the optical cam.

[0007] As a further preferred embodiment, when the plurality of reflectors are distributed on the optical cam, the system further includes: the plurality of reflectors being distributed on the side of the optical cam; and / or the plurality of reflectors being distributed on the edge of the optical cam.

[0008] As a further preferred embodiment, the normal directions of the plurality of mirrors all form axial deflection angles of the same angle with the axis of rotation; or the normal directions of the plurality of mirrors all form axial deflection angles of different angles with the axis of rotation; wherein, the field of view is defined as FOV, and the angles of all axial deflection angles are within the range of -0.5FOV to +0.5FOV.

[0009] As a further preferred embodiment, the normal directions of the plurality of reflectors and the tangent of the rotation radius of the optical cam all form a tangential deflection angle of the same angle, and the angle of the tangential deflection angle is in the range of -0.5FOV to +0.5FOV.

[0010] As a further preferred embodiment, the normal directions of the plurality of mirrors and the tangent of the rotation radius of the optical cam all form tangential deflection angles of different angles, the angles of which are in the range of -0.5FOV to +0.5FOV.

[0011] Preferably, the optical cam is a rotating body, or a combination of at least two rotating bodies.

[0012] Preferably, the mirror array is fixed to the optical cam; or the mirror array and the optical cam are integrally machined.

[0013] Preferably, the optical cam has a counterweight structure on its rotation axis to counteract the rotational inertia force generated when the optical cam rotates; and the counterweight structure is fitted and connected to the optical cam; or the counterweight structure is fixedly connected to the surface of the optical cam.

[0014] Preferably, the system also includes a laser emitter and a laser detector; the laser emitter is used to emit the laser beam; and the laser detector is used to receive the laser return light.

[0015] The laser three-dimensional scanning device based on an optical cam of the present invention has the following beneficial effects: First, unlike traditional solutions that rely on complex coordination mechanisms involving discrete motors and lens groups, this solution uses an optical cam combined with a reflector array on it, reducing mechanical connections and thus significantly improving shock resistance. This effectively suppresses optical path deviation under external vibration and shock, ensuring the stability of the scanning process.

[0016] Secondly, unlike traditional solutions that are prone to optical path deviation and reduced scanning accuracy in vibrating environments, this solution achieves continuous and stable reflection and acquisition of laser backlight by driving a reflector array with a rotating optical cam, thereby directly improving the accuracy and reliability of laser scanning.

[0017] Furthermore, unlike traditional solutions which are complex and difficult to maintain, this solution is compact and easy to control; at the same time, due to the simplified component coordination mechanism, the failure rate is significantly reduced and the service life of the equipment is extended.

[0018] Furthermore, in order to achieve accurate scanning of a large area of ​​the object to be scanned, as the reflector array is rotated by the optical cam, the reflectors on it can continuously receive and reflect the laser beam at different angles, thereby significantly improving the accuracy of subsequent laser return acquisition and ensuring the accuracy of scanning the object to be scanned. Attached Figure Description

[0019] Figure 1 This is a front view schematic diagram of the structure of the laser three-dimensional scanning device in Embodiment 6 of the present invention; Figure 2 This is a front view schematic diagram of the structure of the laser three-dimensional scanning device in Embodiment 7 of the present invention; Figure 3 This is a top view schematic diagram of the structure of the laser three-dimensional scanning device in Embodiment 7 of the present invention; Reference numerals: 1. Optical cam, 2. Mirror array, 3. Object to be scanned. Detailed Implementation

[0020] The present invention will now be described in more detail with reference to the accompanying drawings. It should be noted that the following description of the present invention with reference to the accompanying drawings is merely illustrative and not restrictive.

[0021] Where possible, the various embodiments described below can be rearranged to form other embodiments not shown in the following description; the various technical features described below can also be rearranged to form other embodiments not shown in the following description.

[0022] Example 1: To address the problem of low accuracy in laser 3D scanning caused by the complex discrete component mechanisms and insufficient shock resistance of traditional solutions, which easily lead to optical path misalignment, this embodiment provides a laser 3D scanning device based on an optical cam 1, as shown in the attached figure. Figure 1 Appendix Figure 2 Or attached Figure 3 As shown, the laser 3D scanning device mainly includes an optical cam and a reflector array 2 mounted on the optical cam. The optical cam, as a single rigid motion unit, significantly simplifies the motion structure and greatly improves the overall rigidity and shock resistance of the device. When the optical cam rotates along its axis of rotation, it drives the reflector array to rotate. At this time, the externally incident directional laser beam is reflected by the rotating reflector array onto the surface of the object to be scanned 3, forming diffuse reflection. This diffuse reflection is then reflected by the rotating reflector array to form laser reflection. During operation, the reflector array rotates integrally with the optical cam, ensuring the constancy of the relative positions between the reflector surfaces and the precise consistency of the motion trajectory, thereby obtaining accurate scanning results of the object to be scanned based on the laser reflection.

[0023] This embodiment treats the optical cam and the reflector array as a single, rigid rotating carrier. When the cam rotates, the reflector array on it rotates synchronously and along the same axis, effectively eliminating vibration sensitivity and relative displacement between mirrors caused by discrete component coordination mechanisms. This significantly improves the overall rigidity and shock resistance of the device, fundamentally preventing optical path deviation. Simultaneously, it simplifies the drive system. The optical cam drives the reflector array to rotate, thereby obtaining a wide range of multi-angle reflected light without changing the laser beam incident angle. This reflected light is then projected onto the surface of the object to be scanned in three dimensions. Analysis of the scanning results is then achieved based on the laser reflection from the diffuse reflection of the object onto the reflector array, significantly improving the three-dimensional positioning accuracy and measurement reliability of laser scanning.

[0024] Example 2: To further address the problem of accumulated assembly tolerances and difficulty in ensuring optical axis consistency caused by the dispersed positions of multiple mirrors on the optical cam, which in turn affects the accuracy of the scanning point cloud, based on Embodiment 1, the mirror array of the laser three-dimensional scanning device in this embodiment includes several mirrors, and the several mirrors are set at the same position on the optical cam, that is, they are arranged in a confocal plane on the optical cam, which fundamentally eliminates the assembly errors and optical axis deviations caused by the differences in the three-dimensional positions of the mirrors.

[0025] When the optical cam rotates along its axis of rotation to drive the mirror array to rotate, the laser beam is reflected by several mirrors on the rotating, confocal plane to the surface of the object to be scanned, forming diffuse reflection backlight. When the diffuse reflection backlight is reflected back to several mirrors on the rotating, confocal plane, laser backlight is formed.

[0026] In this embodiment, all reflectors are strictly co-located to ensure that their reflected light paths have a completely consistent spatial reference, greatly improving the positioning consistency between the laser projection point and the return light receiving point, so as to obtain the scanning result of the object to be scanned based on the laser return light. This completely eliminates the accumulation of assembly tolerances and inconsistencies in the optical axis caused by the dispersion of the three-dimensional position of the mirrors, ensuring that all reflected light paths have a unified spatial reference, significantly improving the three-dimensional positioning accuracy and point cloud data consistency of the laser projection point and the return light receiving point, and significantly simplifying the assembly and adjustment process.

[0027] Example 3: To further address the issues of limited scanning range and low scanning efficiency of the reflector array, as well as the potential for dynamic imbalance of the cam due to the concentrated arrangement of multiple mirrors, this embodiment of the laser three-dimensional scanning device includes a reflector array comprising several reflectors, which are distributed on the optical cam. In other words, the reflectors are uniformly or non-uniformly distributed on the optical cam, thereby effectively expanding the scanning coverage and significantly improving the scanning efficiency.

[0028] When the optical cam rotates along its axis of rotation to drive the mirror array to rotate, the laser beam is reflected by the rotating mirror array onto the surface of the object to be scanned, forming diffuse reflection. This diffuse reflection is then reflected by the rotating mirror array to form laser reflection. This distributed mirror arrangement allows for efficient scanning of a larger three-dimensional area in a single rotation, with the scanning result of the object obtained based on the laser reflection. The laser beam is reflected sequentially or simultaneously by mirrors at different positions, achieving comprehensive scanning of different three-dimensional regions.

[0029] To maximize the use of the cam's axial three dimensions and adapt to specific scanning geometries, in a preferred embodiment, when several mirrors are distributed on the optical cam: several mirrors are distributed on the sides of the optical cam, this can significantly improve the three-dimensional compactness of the device and enhance the planning flexibility of the scanning path in the axial dimension.

[0030] To maximize the scanning field of view (FOV) and achieve high-speed tangential scanning, in a preferred embodiment, when several mirrors are distributed on the optical cam: several mirrors are distributed at the edge of the optical cam, which makes the reflected light path have a larger radial deflection distance, thereby effectively expanding the horizontal scanning angle range and improving the scanning resolution of the edge area.

[0031] In other embodiments, several reflectors can be distributed simultaneously on the edge and side of the optical cam, and only the angle needs to be adjusted to meet the requirements of the actual application scenario.

[0032] Example 4: To further prevent blind spots or uneven density in the axial dimension of the scanned point cloud, which could lead to insufficient 3D reconstruction accuracy, based on Embodiment 2 or Embodiment 3, in this embodiment of the laser 3D scanning device: the normal directions of several reflectors all form axial deflection angles with the rotation axis of the device. This uniformly configured axial deflection angle ensures that all reflected light paths form mutually parallel axial scanning planes during the scanning process, effectively eliminating axial scanning blind spots and ensuring uniform axial coverage. Furthermore, defining the field of view (FOV) as the field of view, all axial deflection angles are within the range of -0.5FOV to +0.5FOV. This configuration enables continuous and uniform point cloud coverage of the entire scanning area along the axial direction, allowing the scanning results of the object to be scanned to be obtained based on the laser backlight.

[0033] The principle of this embodiment is as follows: by setting the same axial offset angle for the reflectors, i.e., the angle between the normal and the axis of rotation, the scanning trajectory of each reflector forms a fixed angle with the axis of rotation in the axial field of view when the cam rotates. The principle behind limiting the range to -0.5 FOV to +0.5 FOV in this embodiment is that when the axial offset angle is greater than 0.5 FOV, some scanning points will exceed the effective field of view, resulting in a significant loss of backlight; while when the axial offset angle is less than -0.5 FOV, a scanning blind zone may appear in the central area of ​​the field of view, disrupting the continuity of the point cloud. Limiting it to the above range maximizes the utilization of the field of view, ensuring that the scanning points accurately cover the entire FOV range. The axial offset angle can be set to -0.5 FOV, 0, or +0.5 FOV, where a 0 FOV is suitable for high-density scanning in the central area.

[0034] This embodiment eliminates axial scanning blind spots by setting the same axial offset angle for all mirrors and limiting its range, ensuring that the scanned point cloud has a highly uniform distribution density throughout the entire axial field of view (FOV), thereby improving the accuracy and completeness of three-dimensional spatial reconstruction.

[0035] Example 5: To further meet the demand for increased axial scanning point density in specific application scenarios and to achieve more complex scanning modes, based on Embodiment 2 or Embodiment 3, in this embodiment of the laser 3D scanning device: the normal directions of several reflectors and the rotation axis all form axial deflection angles with different angles. That is, the differentiated configuration of axial deflection angles causes each reflector to form a specific tilt angle during scanning, thereby achieving axial dimension scanning point densification or the generation of preset 3D trajectories. Furthermore, defining the field of view (FOV) as the field of view, all axial deflection angles are within the range of -0.5FOV to +0.5FOV. The collaborative work of mirrors with different axial deflection angles can form a densely interlaced dot matrix or a specific 3D scanning trajectory along the axis, so as to obtain the scanning result of the object to be scanned based on the laser reflection.

[0036] The principle of this embodiment is as follows: by setting different axial deflection angles for each reflector, when the cam rotates, the scanning trajectories of all reflectors form scanning planes with different tilt angles in three dimensions. The scanning planes of all reflectors intersect each other. The principle behind limiting the range to -0.5FOV to +0.5FOV in this embodiment is that when the axial deflection angle is greater than 0.5FOV, some scanning points will exceed the effective field of view, resulting in a large loss of backlight; while when the axial deflection angle is less than -0.5FOV, a scanning blind zone may appear in the central area of ​​the field of view, disrupting the continuity of the point cloud. By limiting it to the above range, the utilization of the field of view angle is maximized, and the scanning points accurately cover the entire FOV range. The axial deflection angle can be set to -0.5FOV, 0, or +0.5FOV, where a axial deflection angle of 0 is suitable for high-density scanning of the central area.

[0037] This embodiment sets differentiated axial deflection angles for different reflectors and limits their ranges, causing the reflectors to generate intersecting scanning planes. This significantly improves the three-dimensional density of scanning points in the axial dimension, or achieves complex scanning trajectories by precisely designing combinations of deflection angle values. This greatly enhances the ability to capture minute features and complex curved surfaces of the object being scanned, improving the resolution and detail reproduction of the three-dimensional point cloud after laser scanning. It is suitable for applications requiring high-precision, high-resolution scanning.

[0038] To meet practical application requirements, in some other preferred embodiments, the axial deflection angles of all mirrors can gradually increase from small to large along their arrangement order on the optical cam. In further preferred embodiments, the axial deflection angles of all mirrors can be staggered according to practical application requirements.

[0039] Example 6: To further prevent the scanning optical path from being distorted or nonlinearly deformed in the tangential dimension, which would lead to geometric distortion of the scanned point cloud and affect measurement accuracy, based on Embodiment 4 or Embodiment 5, in this embodiment of the laser three-dimensional scanning device: the normal directions of several reflectors and the tangent of the rotation radius of the optical cam all form the same tangential deflection angle. That is, the tangential deflection angle is uniformly configured to ensure that all reflected optical paths form a tangential scanning line with good linearity during the scanning process, effectively suppressing scanning distortion and improving tangential positioning accuracy. The angle of the tangential deflection angle is set in the range of -0.5FOV to +0.5FOV, where the angle of the tangential deflection angle can be set to -0.5FOV, 0, or +0.5FOV. When the tangential deflection angle is -0.5FOV, the initial scanning line of the reflector is precisely located at the edge of the starting position of the field of view, maximizing the use of the negative scanning range of the field of view, eliminating the left blind zone, and ensuring that the scanning starting position is close to the FOV boundary of the field of view. When the tangential deflection angle is 0, the mirror normal is parallel to the tangent of the rotation radius, and the scan line passes precisely through the rotation center axis, providing optimal linearity and symmetry in the tangential center region, minimizing scanning distortion and maximizing positioning accuracy. When the tangential deflection angle is +0.5 FOV, the reflector's termination scan line is precisely located at the edge of the field of view's termination position, maximizing the utilization of the forward scanning range of the field of view, eliminating the termination position blind zone, and ensuring that the scan termination position is close to the FOV boundary. Therefore, the above range settings can achieve seamless coverage throughout the entire tangential field of view, fundamentally suppressing geometric distortion and improving tangential measurement accuracy.

[0040] The principle of this embodiment is to uniformly set the same tangential deflection angle for all mirrors, that is, the angle between the normal and the tangent of the rotation radius. When the optical cam rotates, the scanning trajectory of each mirror forms a straight line in the tangential dimension, that is, in the plane perpendicular to the rotation axis. Since all mirrors have the same tangential deflection angle, these scanning lines have consistent linear characteristics, thereby ensuring the effectiveness and controllability of the scanning lines.

[0041] This embodiment sets the same tangential deflection angle for all mirrors and limits its range, so that all scanning optical paths form highly linear trajectories in the tangential dimension. This effectively eliminates scanning line distortion and nonlinear distortion, significantly improves the geometric accuracy and positioning accuracy of the scanning point cloud in the tangential dimension, and ensures the authenticity of the point cloud data and the reliability of measurement.

[0042] To meet practical application needs, such as Figure 1 As shown, in some other embodiments, the optical cam 1 serves as the core component, with several mirrors evenly distributed along its edge. The normal directions of these mirrors form different axial angles with the rotation axis, resulting in different tilt angles for each mirror in the direction perpendicular to the rotation axis. This ensures that the laser beam, after reflection by each mirror, can generate diverse scanning paths in three dimensions. Simultaneously, the normal directions of all mirrors form the same tangential angle with the tangent of the optical cam's rotation radius, guaranteeing that the tilt angles of all mirrors remain consistent in the tangential direction during the optical cam's rotation. This contributes to the consistency and accuracy of the scanning results. In a further preferred embodiment, the device also includes a laser emitter for emitting a laser beam to the rotating mirror array 2, which is then reflected onto the surface of the object to be scanned 3, forming diffuse reflection. Part of the diffuse reflection is reflected again by the mirror array and finally received by the laser detector. By analyzing the information from the laser reflection, the three-dimensional scanning result of the object to be scanned is obtained. This design not only achieves efficient and accurate scanning of the object's surface but is also suitable for various applications requiring high-precision three-dimensional measurement.

[0043] Example 7: To further meet the application scenarios' demands for increased scanning mode flexibility and point density, based on Embodiment 4 or Embodiment 5, in this embodiment's laser 3D scanning device: the normal directions of several mirrors and the tangent of the optical cam's rotation radius all form tangential angles with different angles. This differentiated configuration of tangential angles allows each mirror to form an independent scanning line with a specific starting angle or scanning rate during the scanning process, thereby achieving increased scanning point density in the tangential dimension. The tangential angle is set within the range of -0.5 FOV to +0.5 FOV, where the angle can be set to -0.5 FOV, 0, or +0.5 FOV. When the tangential angle is -0.5 FOV, the initial scanning line of the mirror is precisely located at the edge of the starting position of the field of view, maximizing the utilization of the negative scanning range of the field of view, eliminating the left-side blind zone, and ensuring that the scanning starting position is close to the FOV boundary. When the tangential deflection angle is 0, the mirror normal is parallel to the tangent of the rotation radius, and the scan line passes precisely through the rotation center axis, providing optimal linearity and symmetry in the tangential center region, minimizing scanning distortion and maximizing positioning accuracy. When the tangential deflection angle is +0.5 FOV, the reflector's termination scan line is precisely located at the edge of the field of view's termination position, maximizing the utilization of the forward scanning range of the field of view, eliminating the termination position blind zone, and ensuring that the scan termination position is close to the FOV boundary.

[0044] The principle of this embodiment is that different tangential angles are set for each reflector. When the cam rotates, the scanning lines of all reflectors have different starting angles, scanning rates or coverage areas in the tangential dimension due to their different angles.

[0045] This embodiment sets differentiated tangential angles for different reflectors and limits their range, enabling each reflector to generate scan lines with different orientation characteristics. This allows for fan-shaped scan coverage in the tangential dimension to expand the instantaneous field of view, or for doubling the point density in specific areas through scan line overlap. This greatly enhances the flexibility of the scanning mode and improves the ability to capture fast-moving targets or large field-of-view edge areas.

[0046] To adapt to real-world application scenarios, such as Figure 2 , Figure 3As shown, in some other embodiments, multiple reflectors are evenly distributed along the edge of the optical cam 1, and the axial deflection angle between the normal direction of each reflector and the rotation axis is different, thus ensuring the parallelism of the axial scanning plane. Furthermore, the tangential deflection angle between the normal direction of the reflectors and the tangent of the rotation radius of the optical cam is different, which allows the laser beam to form a fan-shaped scanning path or achieve tangential point densification within the same parallel plane after reflection by different reflectors during the rotation of the optical cam. In a further preferred embodiment, the device also includes a laser emitter for emitting a laser beam to the rotating reflector array 2, which is then reflected onto the surface of the object to be scanned 3, forming diffuse reflection backlight. Part of the diffuse reflection backlight is reflected again by the reflector array and finally received by the laser detector. By analyzing the information of the laser reflection backlight, the three-dimensional scanning result of the object to be scanned can be obtained.

[0047] Example 8: To further address the limitations of a single optical cam structure in adapting to different 3D constraints and scanning requirements, as well as the need for optimized mirror fixing methods and rotational dynamic balance, this embodiment of the laser 3D scanning device, building upon all the aforementioned embodiments, defines the optical cam as a rotating body or a combination of at least two rotating bodies. In other embodiments, the rotating body includes spheres, cylinders, frustums, cones, etc. This embodiment enhances the device's adaptability to 3D installation and scanning tasks by flexibly defining the optical cam's shape.

[0048] To optimize the manufacturing process, in a preferred embodiment, the reflector array is fixed to the optical cam, which simplifies the assembly process and reduces manufacturing costs. Furthermore, it ensures the accuracy of the relative position of the reflectors to the optical cam.

[0049] To improve structural rigidity and ensure mirror positioning accuracy, in a preferred embodiment, the reflector array and optical cam are machined as a single unit, which can enhance the overall rigidity of the device, effectively reduce deformation caused by vibration or temperature changes, and improve the stability of the device.

[0050] In order to accurately compensate for the imbalance of the rotating components, reduce vibration and noise and improve rotational speed stability, in a preferred embodiment, a counterweight structure is provided on the rotation axis of the optical cam to counteract the rotational inertial force generated when the optical cam rotates.

[0051] To optimize the dynamic balance performance of the optical cam and reduce vibration during high-speed rotation, in a further preferred embodiment, the counterweight structure is fitted and connected to the optical cam, which improves the integration between the counterweight structure and the optical cam, thereby enhancing the balance of the device during rotation and reducing the risk of additional vibration and structural loosening caused by external connectors.

[0052] To facilitate assembly and maintenance, and to adapt to the balance requirements at different rotation speeds, in another preferred embodiment, the counterweight structure is fixedly connected to the surface of the optical cam. This allows for flexible adaptation to the balance requirements under different working conditions without changing the main structure of the optical cam, thereby improving assembly efficiency and maintenance convenience.

[0053] Example 9: To clarify the integration of the core components for laser emission and reception, and to expand the light source configuration to adapt to different scanning needs, based on all the aforementioned embodiments, the laser 3D scanning device in this embodiment further includes a laser emitter and a laser detector. The laser emitter is used to emit a laser beam, and the laser detector is used to receive the laser reflection. This embodiment, by explicitly including a laser emitter and a detector, fully defines the laser circuit of the scanning device. Furthermore, in some other embodiments, the laser beam can be a single laser beam or multiple laser beams to adapt to the needs of different scanning resolutions, speeds, or target characteristics.

[0054] Although several specific embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are merely exemplary and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art are within the scope of protection claimed by the present invention.

Claims

1. A laser three-dimensional scanning device based on an optical cam, characterized in that, include: An optical cam and an array of reflectors mounted on the optical cam; The optical cam rotates along its axis of rotation to drive the mirror array to rotate; and The laser beam is reflected by the rotating mirror array onto the surface of the object to be scanned, forming diffuse reflection backlight. The diffuse reflection backlight is reflected by the rotating mirror array to form laser backlight, so as to obtain the three-dimensional scanning result of the object to be scanned based on the laser backlight.

2. The laser three-dimensional scanning device according to claim 1, characterized in that, The reflector array includes a plurality of reflectors; and The plurality of reflectors are positioned at the same location on the optical cam; or The plurality of reflectors are distributed on the optical cam.

3. The laser three-dimensional scanning device according to claim 2, characterized in that, When the plurality of reflectors are distributed and arranged on the optical cam, it further includes: The plurality of reflectors are distributed on the side of the optical cam; and / or The plurality of reflectors are distributed and arranged on the edge of the optical cam.

4. The laser three-dimensional scanning device according to claim 3, characterized in that, The normal directions of the plurality of reflectors all form axial deflection angles of the same angle with the axis of rotation; or The normal directions of the plurality of reflectors all form axial deflection angles with the axis of rotation at different angles. If the field of view is defined as FOV, then the angles of all axial deflection angles are within the range of -0.5FOV to +0.5FOV.

5. The laser three-dimensional scanning device according to claim 4, characterized in that, The normal directions of the plurality of mirrors and the tangent of the rotation radius of the optical cam all form a tangential deflection angle of the same angle, the angle of which is in the range of -0.5FOV to +0.5FOV.

6. The laser three-dimensional scanning device according to claim 4, characterized in that, The normal directions of the plurality of reflectors and the tangent of the rotation radius of the optical cam all form tangential deflection angles of different angles, the angles of which are in the range of -0.5FOV to +0.5FOV.

7. The laser three-dimensional scanning device according to claim 1, characterized in that, The optical cam is a rotating body, or A composite shape consisting of at least two bodies of revolution.

8. The laser three-dimensional scanning device according to claim 1, characterized in that, The reflector array is fixed to the optical cam; or The reflector array is integrally machined with the optical cam.

9. The laser three-dimensional scanning device according to claim 1, characterized in that, A counterweight structure is provided on the rotation axis of the optical cam to counteract the rotational inertia force generated when the optical cam rotates; and The counterweight structure is fitted and connected to the optical cam; or The counterweight structure is fixedly connected to the surface of the optical cam.

10. The laser three-dimensional scanning device according to claim 1, characterized in that, It also includes laser emitters and laser detectors; The laser emitter is used to emit the laser beam; The laser detector is used to receive the laser backlight.

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