Laser scanning device

Abstract

The invention provides a laser scanning device. The laser scanning device comprises an optical module, a linear motion module and a rotary motion module, and the optical module is used for emitting a detection light beam and receiving a feedback light beam emitted from an object to be detected so as to obtain image information of the object to be detected; the linear motion module is used for controlling the optical module to linearly move relative to the object to be detected; the rotary motion module is used for controlling the optical module to rotate relative to the object to be detected. By arranging the linear motion module and the rotary motion module which are matched with the optical module, linear motion and rotary motion of the optical module are achieved, the size and weight of the laser scanning device can be reduced, the emission angle of the detection light beam can be changed, the laser scanning device is suitable for detection of various types of objects to be detected, and the detection precision is improved. Therefore, the flexibility of the laser scanning device is improved.

Description

Technical Field

[0001] This application belongs to the field of laser scanning technology, specifically relating to laser scanning devices. Background Technology

[0002] In industrial applications, 3D contour measuring instruments typically require an external motion module to work with a laser for scanning. This external module is bulky and heavy, making it inconvenient for customers to install and use, and increasing operating costs. Furthermore, the external motion module cannot adjust the laser's emission angle, resulting in insufficient flexibility. Summary of the Invention

[0003] In view of this, this application provides a laser scanning device, the laser scanning device comprising: An optical module is used to emit a probe beam and receive a feedback beam emitted from the object under test in order to obtain image information of the object under test; A linear motion module is used to control the optical module to perform linear motion relative to the object under test. A rotational motion module is used to control the optical module to rotate relative to the object under test.

[0004] The rotating motion module includes a support frame, and the optical module is disposed within the support frame. The optical module can rotate relative to the support frame. The linear motion module includes a linear guide rail, and the bracket is driven to connect to the linear guide rail. The linear guide rail is used to guide the bracket and the optical module to perform linear motion.

[0005] The optical module includes: A laser emitter used to emit a probe beam; A lens for receiving the feedback beam; An image sensor, electrically connected to the lens, is used to acquire image information of the object under test; The laser emitter, the lens, and the image sensor constitute the Sham imaging optical path.

[0006] The laser scanning device further includes: The housing has a receiving space and an opening connecting the receiving space to the outside world. The optical module, the linear motion module, and the rotary motion module are all disposed within the receiving space. A filter covers the opening, allowing the detection beam and the feedback beam to pass through it.

[0007] The laser scanning device has a first scanning mode, and the steps of the first scanning mode include: The rotational motion module controls the optical module to rotate so that the detection beam is perpendicular to the object under test; The linear motion module controls the optical module to perform linear motion and laser scanning.

[0008] The laser scanning device has a second scanning mode, and the steps of the second scanning mode include: The rotating motion module controls the optical module to rotate so that the detection beam is set at an acute angle to the object under test; The linear motion module controls the optical module to perform linear motion and laser scanning.

[0009] The laser scanning device further includes a processor electrically connected to the optical module. After performing the second scanning mode, the processor acquires raw point cloud data for each line. The corrected point cloud data is then obtained after processing by the processor. ; The laser scanning device meets the following conditions: , , Wherein, the rotation angle controlled by the rotational motion module to rotate the optical module is... .

[0010] The laser scanning device has a third scanning mode, and the steps of the third scanning mode include: The linear motion module controls the optical module to move to the first linear limit position, and the rotational motion module controls the optical module to rotate along the first direction, so that the optical module rotates to the first rotational limit position; The rotating motion module controls the optical module to rotate along a second direction and perform laser scanning. The second direction is opposite to the first direction. When the detection beam is perpendicular to the object under test, the rotating motion module stops rotating. The linear motion module controls the optical module to perform linear motion and laser scanning. When the optical module moves to the second linear limit position, the linear motion module stops moving. The second linear limit position and the first linear limit position are located on opposite sides of the linear motion trajectory of the optical module. The rotational motion module controls the optical module to rotate along the second direction and perform laser scanning. When the optical module rotates to the second rotation limit position, the optical module stops laser scanning.

[0011] The laser scanning device further includes a processor electrically connected to the optical module. After performing the third scanning mode, the processor acquires polar coordinate system point cloud data along the YZ plane. The point cloud data in Cartesian coordinate system obtained after processing by the processor is: ; The laser scanning device meets the following conditions: , , ; Wherein, the optical path direction of the detection beam is taken as the X-axis of the rectangular coordinate system, the direction in which the detection beam translates relative to the object under test is taken as the Y-axis of the rectangular coordinate system, and the direction in which the detection beam approaches or moves away from the optical module is taken as the Z-axis of the rectangular coordinate system. The optical module is located in a rotating plane. With the rotation center of the optical module as (0, 0), the detection point where the detection beam strikes the object under test in the YZ plane is (a, b). The rotational motion module controls the optical module to rotate by an angle. Let n be the number of times the contour is captured, where n is the number of times the contour is captured. And n is not equal to 0.

[0012] The processor is also used to process the Cartesian coordinate system point cloud data. After uniform sampling, the uniform point cloud data obtained after processing by the processor is: ; The steps of the uniform sampling process include: Obtain positions greater than n×Δ in the point cloud data of the Cartesian coordinate system. ; Obtain the positions smaller than n×Δ in the point cloud data of the Cartesian coordinate system. ; Calculate the Z-axis coordinates of the corresponding n×Δ position: ;in, A preset movement distance along the Y-axis is provided when the optical module performs linear motion and laser scanning.

[0013] This application provides a laser scanning device. By setting up a linear motion module and a rotary motion module that work in conjunction with the optical module, the linear and rotary motion of the optical module can be realized. This can reduce the size and weight of the laser scanning device, change the emission angle of the detection beam, adapt to the detection of various types of objects to be measured, and thus improve the flexibility of the laser scanning device. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments of this application will be described below.

[0015] Figure 1 This is a schematic diagram of the structure of a laser scanning device provided in one embodiment of this application.

[0016] Figure 2 This is a schematic diagram of a laser scanning device according to an embodiment of the present application performing a first scanning mode.

[0017] Figure 3 This is a schematic diagram of a laser scanning device performing a second scanning mode according to an embodiment of this application.

[0018] Figure 4 This is a schematic diagram of a laser scanning device performing a third scanning mode according to an embodiment of this application.

[0019] Figure 5 This is a schematic diagram of the structure of an optical module provided in a polar coordinate system and a rectangular coordinate system according to an embodiment of this application.

[0020] Labeling: Laser scanning device 1, optical module 10, laser emitter 11, lens 12, image sensor 13, linear motion module 20, linear guide rail 21, rotary motion module 30, bracket 31, housing 40, filter 50, object under test 60. Detailed Implementation

[0021] The following are preferred embodiments of this application. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

[0022] In view of this, in order to solve the above problems, please refer to the following: Figures 1-4 This embodiment provides a laser scanning device 1, which includes an optical module 10, a linear motion module 20, and a rotational motion module 30. The optical module 10 is used to emit a probe beam and receive a feedback beam emitted from the object under test 60 to obtain image information of the object under test 60. The linear motion module 20 is used to control the optical module 10 to perform linear motion relative to the object under test 60. The rotational motion module 30 is used to control the optical module 10 to perform rotational motion relative to the object under test 60.

[0023] The optical module 10 is used to emit a probe beam. After the probe beam hits the object under test 60, it is reflected to form a feedback beam. The optical module 10 is also used to receive the feedback beam and acquire image information of the object under test 60.

[0024] Specifically, the optical module 10 includes a laser emitter 11, a lens 12, and an image sensor 13. The laser emitter 11 is used to emit a detection beam; the lens 12 is used to receive the feedback beam; and the image sensor 13 is electrically connected to the lens 12 and is used to acquire image information of the object under test 60.

[0025] The laser emitter 11, the lens 12, and the image sensor 13 constitute the Sham imaging optical path.

[0026] The laser emitter 11, lens 12, and image sensor 13 are fixedly connected to each other and form a Sham imaging optical path. In the optical module 10, the plane of lens 12 is set at an angle to the imaging plane of image sensor 13, and the surface to be measured of object 60 is set at an angle to the plane of lens 12. The extended planes of the surface to be measured of object 60, the plane of lens 12, and the imaging plane intersect on the same straight line. Therefore, the laser emitter 11, lens 12, and image sensor 13 adjust the optical path distribution through an asymmetrical layout to form a Sham imaging optical path, so that targets at different object distances can be clearly imaged within a large tilt angle range.

[0027] Optionally, the detection light source of the laser emitter 11 is selected from at least one of a high-brightness LED (Light Emitting Diode), a supercontinuum laser, a halogen lamp, a xenon lamp, or a tungsten lamp.

[0028] Optionally, the image sensor 13 is selected from a CCD image sensor or a CMOS image sensor.

[0029] The linear motion module 20 is used to control the optical module 10 to perform linear motion relative to the object under test 60. Linear motion includes unidirectional linear motion, reciprocating motion, etc. Specifically, the linear motion module 20 drives the laser emitter 11, lens 12, and image sensor 13 to perform linear motion synchronously relative to the object under test 60.

[0030] The rotational motion module 30 is used to control the rotational motion of the optical module 10 relative to the object under test 60. The rotational motion includes clockwise rotation, counterclockwise rotation, etc. Specifically, the rotational motion module 30 drives the laser emitter 11, lens 12, and image sensor 13 to rotate synchronously relative to the object under test 60. The rotational motion module 30 drives the laser emitter 11 to rotate, thereby changing the emission angle of the detection beam.

[0031] The emission angle of the probe beam refers to the angle between the probe beam and the surface of the object under test 60. Optionally, the emission angle of the probe beam is greater than 0 and less than or equal to 90°, and specific examples include 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, or 90°, etc.

[0032] Furthermore, the rotating motion module 30 includes a support 31, and the optical module 10 is disposed within the support 31. The optical module 10 can rotate relative to the support 31.

[0033] The linear motion module 20 includes a linear guide rail 21, and the bracket 31 is connected to the linear guide rail 21. The linear guide rail 21 is used to guide the bracket 31 and the optical module 10 to perform linear motion.

[0034] Optionally, the bracket 31 can be spherical, elliptical, polygonal, etc., and this embodiment is not limited to this. Preferably, the bracket 31 is spherical. The optical module 10 includes a laser emitter 11, a lens 12, and an image sensor 13, all of which are disposed within the bracket 31.

[0035] Optionally, the rotary motion module 30 further includes a rotary actuator, a rotary position feedback device, a rotary drive unit, and a rotary limiter; the rotary actuator is used to control the optical module 10 to perform rotary motion; the rotary position feedback device is used to provide feedback on the rotary motion information of the optical module; the rotary drive unit is connected to the rotary actuator and is used to drive the rotary actuator; the rotary limiter is used to limit the displacement of the optical module during rotary motion.

[0036] Optionally, the linear guide rail 21 extends in a straight line. Optionally, the connection method between the bracket 31 and the linear guide rail 21 is selected from at least one of sliding connection and rotational connection. Optionally, the bracket 31 is sleeved on the linear guide rail 21. Under the drive of the drive structure, the bracket 31 and the optical module 10 can synchronously perform linear movement on the linear guide rail 21.

[0037] Optionally, the linear motion module 20 further includes a linear actuator, a linear position feedback device, a linear drive unit, and a linear limiter; the linear actuator is used to control the optical module 10 to perform linear motion; the linear position feedback device is used to provide feedback on the linear motion information of the optical module; the linear drive unit is connected to the linear actuator and is used to drive the linear actuator; the linear limiter is used to limit the displacement of the optical module during linear motion.

[0038] In summary, this embodiment provides a laser scanning device 1. By setting a linear motion module 20 and a rotary motion module 30 that cooperate with the optical module 10, the linear motion and rotary motion of the optical module 10 can be realized. This can reduce the size and weight of the laser scanning device 1, and change the emission angle of the detection beam to adapt to the detection of various types of objects 60, thereby improving the flexibility of the laser scanning device 1.

[0039] Please refer to this as well. Figures 1-4 In one embodiment, the laser scanning device 1 further includes a housing 40 and a filter 50. The housing 40 has a receiving space and an opening connecting the receiving space to the outside. The optical module 10, the linear motion module 20, and the rotary motion module 30 are all disposed in the receiving space. The filter 50 covers the opening, and the detection beam and the feedback beam can pass through the filter 50.

[0040] The optical module 10, linear motion module 20, and rotary motion module 30 are all housed within the receiving space. This arrangement not only facilitates transportation, carrying, and cleaning, but also integrates the optical module 10, linear motion module 20, and rotary motion module 30 into a single housing 40, improving the integration of the laser scanning device 1 and reducing its size. Optionally, the linear motion module 20 is connected to the housing 40.

[0041] The filter 50 is used to filter stray light, significantly improving the signal-to-noise ratio of the measurement, thereby improving the scanning accuracy of the laser scanning device 1. The probe beam is emitted from the laser emitter 11 of the optical module 10, passes through the filter 50, and is directed to the object under test 60. The feedback beam passes through the filter 50 and enters the receiving space, where it is received by the lens 12 of the optical module 10.

[0042] The laser scanning device 1 has a first scanning mode, a second scanning mode, and a third scanning mode. These three scanning modes are described in detail below: Please refer to this as well. Figure 1 and Figure 2 In one embodiment, the laser scanning device 1 has a first scanning mode, the steps of which include: S11, the rotational motion module 30 controls the optical module 10 to rotate so that the detection beam is perpendicular to the object under test 60.

[0043] S12, the linear motion module 20 controls the optical module 10 to perform linear motion and laser scanning.

[0044] The first scanning mode is also known as the vertical flat scan mode. The emission angle of the probe beam is 90°, and the optical module 10 performs linear motion and laser scanning.

[0045] For example, a probe beam is emitted perpendicular to the object under test 60. Within a defined left-right movement range on the object under test 60, the optical module 10 is moved by the linear motion module 20 to scan the object under test 60. Further, during the scanning process, according to the set trigger interval, the optical module 10 scans a contour of the surface of the object under test 60 at equal intervals. After the scan is completed, all contour data are stitched together to obtain three-dimensional point cloud data of the surface of the object under test 60, thereby obtaining image information of the object under test 60.

[0046] Please refer to this as well. Figure 1 and Figure 3 In another embodiment, the laser scanning device 1 has a second scanning mode, the steps of which include: S21, the rotating motion module 30 controls the optical module 10 to rotate so that the detection beam is set at an acute angle to the object under test 60.

[0047] S22, the linear motion module 20 controls the optical module 10 to perform linear motion and laser scanning.

[0048] The second scanning mode is also known as the tilting scan mode. The emission angle of the probe beam is an acute angle, specifically, for example, 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°. The optical module 10 performs linear motion and laser scanning.

[0049] For example, the probe beam is emitted tilted towards the object under test 60. Within a defined left-right movement range on the object under test 60, the optical module 10 is moved by the linear motion module 20 to scan the object under test 60. Further, during the scanning process, according to the set trigger interval, the optical module 10 scans a contour of the surface of the object under test 60 at equal intervals. After the scan is completed, all contour data are stitched together to obtain three-dimensional point cloud data of the surface of the object under test 60, thereby obtaining image information of the object under test 60.

[0050] The second scanning mode is particularly suitable for measuring the reflective object 60. When the laser is irradiated perpendicularly, the optical module 10 cannot receive diffusely reflected light, making it impossible to measure the reflective object 60. However, in this embodiment, the optical module 10 is controlled to rotate by the rotational motion module 30 so that the emission angle of the probe beam is acute, and then the linear motion module 20 scans the object 60, thereby achieving the measurement of the reflective object 60.

[0051] Furthermore, the tilt angle of the optical module 10 can be adjusted arbitrarily according to the characteristics of the object under test 60 to obtain the required detection beam emission angle.

[0052] Furthermore, when the optical module 10 scans at an angle, there will be an angular difference compared to vertical scanning. Since the calibration of the optical module 10 is performed using vertical scanning, there will be data deviations when the optical module 10 performs angled scanning, which requires correction.

[0053] In one embodiment, the laser scanning device 1 further includes a processor electrically connected to the optical module 10. After performing the second scanning mode, the processor acquires raw point cloud data for each line. The corrected point cloud data is then obtained after processing by the processor. .

[0054] The laser scanning device 1 satisfies the following conditions: , , The rotation angle controlled by the rotating motion module 30 for the optical module 10 is... .

[0055] For example, the point cloud data of one tilted scan profile is The corrected point cloud data of this scanned contour is .

[0056] The angle can also be understood as the angle between the probe beam used for laser scanning in the second scanning mode and the vertical line, where the vertical line is perpendicular to the surface of the object under test (60°). Optionally, An angle is an acute angle, and specific examples include 10°, 20°, 30°, 40°, 50°, 60°, 70°, or 80°, etc.

[0057] Therefore, this embodiment improves the measurement accuracy and precision of the laser scanning device 1 by correcting the point cloud data of the tilt scan, and better restores the image information of the object under test 60.

[0058] Furthermore, when the first scanning mode and the second scanning mode are used together, the point cloud data of the second scanning mode is corrected, which can reduce the robustness of the laser scanning system and further improve the measurement accuracy and precision of the laser scanning device 1.

[0059] Due to the size limitations of the laser scanning device 1, the linear scanning range is fixed. When the linear scanning range specified by the laser scanning device 1 cannot meet the requirements, the scanning range of the laser scanning device 1 can be expanded by using a combination of linear motion module 20 and rotary motion module 30 to execute a third scanning mode.

[0060] Please refer to this as well. Figure 1 and Figure 4 , Figure 5In another embodiment, the laser scanning device 1 has a third scanning mode, the steps of which include: S31, the linear motion module 20 controls the optical module 10 to move to the first linear limit position, and the rotational motion module 30 controls the optical module 10 to rotate along the first direction, so that the optical module 10 rotates to the first rotational limit position.

[0061] S32, the rotating motion module 30 controls the optical module 10 to rotate along the second direction and perform laser scanning. The second direction is opposite to the first direction. When the detection beam is perpendicular to the object under test 60, the rotating motion module 30 stops rotating.

[0062] S33, the linear motion module 20 controls the optical module 10 to perform linear motion and laser scanning. When the optical module 10 moves to the second linear limit position, the linear motion module 20 stops moving. The second linear limit position and the first linear limit position are located on opposite sides of the movement trajectory of the optical module 10 in linear motion.

[0063] S34, the rotational motion module 30 controls the optical module 10 to rotate along the second direction and perform laser scanning. When the optical module 10 rotates to the second rotation limit position, the optical module 10 stops laser scanning.

[0064] The third scanning mode is also known as the extended scanning mode. The third scanning mode is particularly suitable for test objects with large areas 60.

[0065] For example, the third scanning mode is used for laser scanning from right to left.

[0066] First, the optical module 10 moves to the right limit position using the linear motion module 20, and then the rotary motion module 30 rotates counterclockwise to the measurement limit position. In this embodiment, the first linear limit position is the right limit position that can be moved to using the linear motion module 20, and the first direction is the counterclockwise direction. The first rotary limit position is the measurement limit position that can be rotated counterclockwise using the rotary motion module 30.

[0067] Then, the optical module 10 begins clockwise rotation scanning. After the rotation motion module 30 rotates until the detection beam is perpendicular to the object under test 60, the rotation motion module 30 controls the optical module 10 to stop rotating. In this embodiment, the second direction is the clockwise direction.

[0068] Continuing, the optical module 10 scans from the right limit position to the left limit position using the linear motion module 20, stopping when it reaches the left limit position. In this embodiment, the second linear limit position is the left limit position that can be reached by the linear motion module 20.

[0069] Finally, after reaching the left limit position, the optical module 10 rotates clockwise to scan until it reaches the measurement limit position, thus completing the entire scanning process. In this embodiment, the second rotation limit position is the measurement limit position that the rotational motion module 30 can reach by rotating clockwise.

[0070] For example, the third scanning mode is executed from left to right for laser scanning.

[0071] First, the optical module 10 moves to the left limit position using the linear motion module 20, and then the rotational motion module 30 rotates clockwise to the measurement limit position. In this embodiment, the first linear limit position is the left limit position that can be moved to using the linear motion module 20, the first direction is clockwise, and the first rotational limit position is the measurement limit position that can be rotated clockwise using the rotational motion module 30.

[0072] Then, the optical module 10 begins to rotate counterclockwise for scanning. After the rotational motion module 30 rotates until the detection beam is perpendicular to the object under test 60, the rotational motion module 30 controls the optical module 10 to stop rotating. In this embodiment, the second direction is the counterclockwise direction.

[0073] Continuing, the optical module 10 scans from the left limit position to the right limit position using the linear motion module 20, stopping when it reaches the right limit position. In this embodiment, the second linear limit position is the right limit position that can be reached by the linear motion module 20.

[0074] Finally, after reaching the right limit position, the optical module 10 rotates counterclockwise to scan until it reaches the measurement limit position, thus completing the entire scanning process. In this embodiment, the second rotation limit position is the measurement limit position that the rotational motion module 30 can reach by rotating counterclockwise.

[0075] Therefore, by utilizing the linear motion module 20 and the rotary motion module 30 in cooperation, this embodiment expands the scanning range of the optical module 10, making it applicable to the test object 60 with a large test surface, further expanding the adaptability range of the laser scanning device 1 and improving the flexibility of the laser scanning device 1.

[0076] Furthermore, when the optical module 10 acquires image data, it is necessary to integrate the data of linear motion and rotational motion, convert the rotational scan data on both sides, and merge it with the flat scan data in the middle for output.

[0077] In one embodiment, the third scanning mode can acquire data in two coordinate systems: polar coordinates based on the rotation center and Cartesian coordinates for the flat scan phase. To facilitate data integration, this embodiment converts the polar coordinate data from the rotation scan into Cartesian coordinates.

[0078] The laser scanning device 1 further includes a processor electrically connected to the optical module 10. After performing the third scanning mode, the processor acquires polar coordinate system point cloud data along the YZ plane. The point cloud data in Cartesian coordinate system obtained after processing by the processor is: .

[0079] The laser scanning device 1 satisfies the following conditions: , , .

[0080] The X-axis of the rectangular coordinate system is defined by the optical path direction of the detection beam, the Y-axis is defined by the direction in which the detection beam translates relative to the object under test 60, and the Z-axis is defined by the direction in which the detection beam approaches or moves away from the optical module 10.

[0081] The optical module 10 is located in a rotating plane. With the rotation center of the optical module 10 as (0, 0), the detection point where the detection beam hits the object under test 60 in the YZ plane is (a, b). The rotation motion module 30 controls the optical module 10 to rotate by an angle. Let n be the number of times the contour is captured, where n is the number of times the contour is captured. And n is not equal to 0.

[0082] For example, the optical path direction of the probe beam is the X-axis of the Cartesian coordinate system, the direction of the probe beam moving left and right is the Y-axis of the Cartesian coordinate system, and the direction of the probe beam moving up and down is the Z-axis of the Cartesian coordinate system.

[0083] Specifically, the entire rotational scanning process can obtain n contour point cloud data points on the XZ plane. Taking one column of polar coordinate point cloud data on the YZ plane as an example, the polar coordinate point cloud data of one column of collected points is... The converted Cartesian coordinate system point cloud data is .

[0084] Optionally, Specific examples include -45°, or -40°, or -35°, or -30°, or -25°, or -20°, or -15°, or -10°, or -5°, or 5°, or 10°, or 15°, or 20°, or 25°, or 30°, or 35°, or 40°, or 45°, etc.

[0085] Optionally, n can be specifically 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 14, 16, 18, or 20, etc.

[0086] Therefore, this embodiment improves the measurement accuracy and precision of the laser scanning device 1 by converting polar coordinate system point cloud data into rectangular coordinate system point cloud data, which can reduce the robustness of the laser scanning system and better restore the image information of the object under test 60.

[0087] Furthermore, the processor is also used to process the Cartesian coordinate system point cloud data. After uniform sampling, the uniform point cloud data obtained after processing by the processor is: .

[0088] The steps of the uniform sampling process include: S41, Obtain positions in the Cartesian coordinate system point cloud data that are greater than n×Δ. .

[0089] S42, Obtain positions in the Cartesian coordinate system point cloud data that are less than n×Δ. .

[0090] S43, Calculate the Z-axis coordinates of the corresponding n×Δ position: ;in, A preset movement distance along the Y-axis is provided for the optical module 10 to perform linear motion and laser scanning.

[0091] Optionally, The unit is mm. Further optionally, Specific examples include 1mm, 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, 12mm, 14mm, 16mm, 18mm, or 20mm, etc.

[0092] This implementation method processes disordered point cloud data into ordered point cloud data, which can improve the efficiency of subsequent point cloud data processing, maintain the gradient continuity of the data, reduce the robustness of the laser scanning system, and further improve the accuracy of subsequent image information acquisition.

[0093] Unless otherwise stated or in case of conflict, the terms or phrases used in this application shall have the following meanings: In this application, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0094] In this application, "one or more" refers to any one, any two, or any two or more of the listed items. "Several" refers to any two or more.

[0095] In this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0096] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0097] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form yet another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.

[0098] The above description represents some embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. A laser scanning device, characterized in that, The laser scanning device includes: An optical module is used to emit a probe beam and receive a feedback beam emitted from the object under test in order to obtain image information of the object under test; A linear motion module is used to control the optical module to perform linear motion relative to the object under test. A rotational motion module is used to control the optical module to rotate relative to the object under test.

2. The laser scanning device as described in claim 1, characterized in that, The rotating motion module includes a bracket, and the optical module is disposed within the bracket, and the optical module can rotate relative to the bracket; The linear motion module includes a linear guide rail, and the bracket is driven to connect to the linear guide rail. The linear guide rail is used to guide the bracket and the optical module to perform linear motion.

3. The laser scanning device as described in claim 1, characterized in that, The optical module includes: A laser emitter used to emit a probe beam; A lens for receiving the feedback beam; An image sensor, electrically connected to the lens, is used to acquire image information of the object under test; The laser emitter, the lens, and the image sensor constitute the Sham imaging optical path.

4. The laser scanning device as described in claim 1, characterized in that, The laser scanning device also includes: The housing has a receiving space and an opening connecting the receiving space to the outside world. The optical module, the linear motion module, and the rotary motion module are all disposed within the receiving space. A filter covers the opening, allowing the detection beam and the feedback beam to pass through it.

5. The laser scanning device as described in claim 1, characterized in that, The laser scanning device has a first scanning mode, and the steps of the first scanning mode include: The rotational motion module controls the optical module to rotate so that the detection beam is perpendicular to the object under test; The linear motion module controls the optical module to perform linear motion and laser scanning.

6. The laser scanning device as described in claim 1, characterized in that, The laser scanning device has a second scanning mode, and the steps of the second scanning mode include: The rotating motion module controls the optical module to rotate so that the detection beam is set at an acute angle to the object under test; The linear motion module controls the optical module to perform linear motion and laser scanning.

7. The laser scanning device as described in claim 6, characterized in that, The laser scanning device further includes a processor electrically connected to the optical module. After performing the second scanning mode, the processor acquires raw point cloud data for each line. The corrected point cloud data is then obtained after processing by the processor. ; The laser scanning device meets the following conditions: , , Wherein, the rotation angle controlled by the rotational motion module to rotate the optical module is... .

8. The laser scanning device as described in claim 1, characterized in that, The laser scanning device has a third scanning mode, the steps of which include: The linear motion module controls the optical module to move to the first linear limit position, and the rotational motion module controls the optical module to rotate along the first direction, so that the optical module rotates to the first rotational limit position; The rotating motion module controls the optical module to rotate along a second direction and perform laser scanning. The second direction is opposite to the first direction. When the detection beam is perpendicular to the object under test, the rotating motion module stops rotating. The linear motion module controls the optical module to perform linear motion and laser scanning. When the optical module moves to the second linear limit position, the linear motion module stops moving. The second linear limit position and the first linear limit position are located on opposite sides of the linear motion trajectory of the optical module. The rotational motion module controls the optical module to rotate along the second direction and perform laser scanning. When the optical module rotates to the second rotation limit position, the optical module stops laser scanning.

9. The laser scanning device as described in claim 8, characterized in that, The laser scanning device further includes a processor electrically connected to the optical module. After performing the third scanning mode, the processor acquires polar coordinate system point cloud data along the YZ plane. The point cloud data in Cartesian coordinate system obtained after processing by the processor is: ; The laser scanning device meets the following conditions: , , ; Wherein, the optical path direction of the detection beam is taken as the X-axis of the rectangular coordinate system, the direction in which the detection beam translates relative to the object under test is taken as the Y-axis of the rectangular coordinate system, and the direction in which the detection beam approaches or moves away from the optical module is taken as the Z-axis of the rectangular coordinate system. The optical module is located in a rotating plane. With the rotation center of the optical module as (0, 0), the detection point where the detection beam strikes the object under test in the YZ plane is (a, b). The rotational motion module controls the optical module to rotate by an angle. Let n be the number of times the contour is captured, where n is the number of times the contour is captured. And n is not equal to 0.

10. The laser scanning device as described in claim 9, characterized in that, The processor is also used to process the Cartesian coordinate system point cloud data. After uniform sampling, the uniform point cloud data obtained after processing by the processor is: ; The steps of the uniform sampling process include: Obtain positions greater than n×Δ in the point cloud data of the Cartesian coordinate system. ; Obtain the positions smaller than n×Δ in the point cloud data of the Cartesian coordinate system. ; Calculate the Z-axis coordinates of the corresponding n×Δ position: ;in, A preset movement distance along the Y-axis is provided when the optical module performs linear motion and laser scanning.

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