CN109059799B - Laser three-dimensional scanner, scanning method thereof and scanning control device - Google Patents
Laser three-dimensional scanner, scanning method thereof and scanning control device Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a laser three-dimensional scanner, a scanning method and a scanning control device thereof, wherein the method comprises the following steps: respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire M groups of first measured values and N groups of second measured values; wherein M, N is a natural number; analyzing the M groups of first measured values and the N groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; and starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result. The laser three-dimensional scanner has higher scanning speed under the condition of ensuring the measurement precision.
Description
Technical Field
The invention relates to the technical field of laser three-dimensional scanning, in particular to a laser three-dimensional scanner, a scanning method thereof and a scanning control device.
Background
The laser ranging is a length measuring instrument which uses laser as a detection beam and measures the absolute distance between a reflecting surface and an emission point. The laser ranging has the advantages of non-contact measurement, high measurement accuracy, high resolution, strong anti-interference capability and the like, is widely applied to various measurement industries, and plays an important role in the military field, scientific experiments, construction production, infrastructure and the like.
According to the principle of laser ranging, the method can be divided into two types of pulse type and phase type:
(1) The phase type laser ranging principle is to indirectly measure the laser propagation time by measuring the phase shift formed by the back and forth propagation of a modulated laser signal on the distance to be measured, and then calculate the distance to be measured according to the laser propagation speed.
(2) The pulse laser ranging principle is that the emitted laser is reflected by the measured object and then received by the range finder, the range finder records the round trip time of the laser, and half of the product of the speed of light and the round trip time is the distance between the range finder and the measured object.
In some special applications, a long measurement distance is required to find and detect a target in a long distance of several kilometers in time, and a high detection accuracy is required in a short distance to perform accurate control operation. The conventional laser range finders have only one ranging mode, and cannot meet the current measurement requirements: the pulse measuring range is far but short-range has dead zone and low precision; the phase ranging accuracy is high and the measuring range is small. In order to solve the technical problems in the prior art, two sets of distance meters are integrated in a measuring system to respectively perform pulse type distance measurement and phase type distance measurement, but the technical problem that the scanning speed is low during short-distance small-range measurement still cannot be solved.
Disclosure of Invention
The invention aims to provide a laser three-dimensional scanner, a scanning method and a scanning control device thereof, so that the laser three-dimensional scanner has higher scanning speed under the condition of ensuring the measurement precision.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a laser three-dimensional scanning method, the method comprising: respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire M groups of first measured values and N groups of second measured values; wherein M, N is a natural number; analyzing the M groups of first measured values and the N groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; and starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result.
Analyzing the M groups of first measurement values and the N groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients, wherein the method specifically comprises the following steps: for the M sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Performing analysis, and comparing the N groups of second measurement values with X, Y values of the M groups of first measurement values respectively so as to screen M groups of second measurement values close to the first measurement values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value; respectively extracting Z coordinate values in the M groups of first measured values and the screened M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m ) The method comprises the steps of carrying out a first treatment on the surface of the The compensation coefficient K is calculated by the following formula m ＝Z m -Z n m Wherein K is m Is a compensation coefficient; for the M obtained compensation coefficients K m Averaging to obtain a compensation coefficient mean value K; starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result, wherein the method specifically comprises the following steps of: starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value; and compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result.
Analyzing the M groups of first measurement values and the N groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation system for all the compensation coefficientsThe number average value specifically comprises: for the M sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Performing analysis, and comparing the N groups of second measurement values with X, Y values of the M groups of first measurement values respectively so as to screen M groups of second measurement values close to the first measurement values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value; respectively extracting Z coordinate values in the M groups of first measured values and the screened M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m ) The method comprises the steps of carrying out a first treatment on the surface of the Calculated by least squares (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n …，Z n m ) A transformation relationship between the two; starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result, wherein the method specifically comprises the following steps of: starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value; and calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform to obtain a transformed Z coordinate, and obtain a corrected scanning result.
The method specifically comprises the steps of respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area to correspondingly obtain M groups of first measured values and N groups of second measured values, and specifically comprises the following steps: respectively starting a phase laser scanning module and a pulse laser scanning module to scan targets in a scanning area so as to respectively obtain M groups of first measured values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the scanning area is pre-selected with a plurality of positions and is correspondingly provided with a target.
Analyzing the M groups of first measurement values and the N groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients, wherein the method specifically comprises the following steps: analyzing the first measured value and the second measured value corresponding to the same target, respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target, and obtaining: (X) 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) The method comprises the steps of carrying out a first treatment on the surface of the The compensation coefficient is calculated by the following formula: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', where K X 、K Y 、K Z Compensation coefficients of X, Y, Z coordinate values respectively; respectively to N compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z The method comprises the steps of carrying out a first treatment on the surface of the Starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result, wherein the method specifically comprises the following steps of: starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value; by using the compensation coefficient mean value K X 、K Y 、K Z And compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result.
Wherein for the M sets of first measurement values andanalyzing the N groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients, wherein the method specifically comprises the following steps of: analyzing the first measured value and the second measured value corresponding to the same target, respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target, and obtaining: (X) 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) The method comprises the steps of carrying out a first treatment on the surface of the Using least squares method (X 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )，(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )，(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) A transformation relationship between the two; starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result, wherein the method specifically comprises the following steps of: starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value; and calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform to obtain X, Y, Z transformed coordinates, and obtain a corrected scanning result.
In order to solve the technical problems, the invention adopts another technical scheme that: the laser three-dimensional scanner comprises a phase type laser scanning module, a pulse type laser scanning module and a control module; the control module is used for: respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire M groups of first measured values and N groups of second measured values; wherein M, N is a natural number; analyzing the M groups of first measured values and the N groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; and starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result.
In order to solve the technical problems, the invention adopts another technical scheme that: there is provided a laser three-dimensional scanning control device including: the starting unit is used for respectively starting the phase type laser scanning module and the pulse type laser scanning module to scan the scanning area so as to correspondingly acquire M groups of first measured values and N groups of second measured values; wherein M, N is a natural number; the calculating unit is used for analyzing the M groups of first measured values and the N groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; and the compensation unit is used for restarting the starting unit, starting the pulse laser scanning module again, scanning the scanning area at the maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result.
Wherein the computing unit is configured to: for the M sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Performing analysis, and comparing the N groups of second measurement values with X, Y values of the M groups of first measurement values respectively so as to screen M groups of second measurement values close to the first measurement values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value; respectively extracting Z coordinate values in the M groups of first measured values and the screened M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m ) The method comprises the steps of carrying out a first treatment on the surface of the The compensation coefficient K is calculated by the following formula m ＝Z m -Z n m Wherein K is m Is a compensation coefficient; for the M obtained compensation coefficients K m Averaging to obtain a compensation coefficient mean value K; the compensation unit is used for: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result.
Wherein the computing unit is configured to: for the M sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Performing analysis, and comparing the N groups of second measurement values with X, Y values of the M groups of first measurement values respectively so as to screen M groups of second measurement values close to the first measurement values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value; respectively extracting Z coordinate values in the M groups of first measured values and the screened M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m ) The method comprises the steps of carrying out a first treatment on the surface of the Calculated by least squares (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n …，Z n m ) A transformation relationship between the two; the compensation unit is used for: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform the Z coordinate to obtain a transformed Z coordinate, and obtain a corrected scanning result.
The scanning area is pre-selected with a plurality of positions and is correspondingly provided with a target; the starting unit is used for respectively starting the phase type laser scanning module and the pulse type laser scanning module to scan targets in a scanning area so as to respectively obtain M groups of first measured values (X) corresponding to each target 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n )。
Wherein the computing unit is configured to: analyzing the first measured value and the second measured value corresponding to the same target, respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target, and obtaining: (X) 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) The method comprises the steps of carrying out a first treatment on the surface of the The compensation coefficient is calculated by the following formula: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', where K X 、K Y 、K Z Compensation coefficients of X, Y, Z coordinate values respectively; respectively to N compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z The method comprises the steps of carrying out a first treatment on the surface of the The compensation unit is used for: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and using the compensation coefficient mean value K X 、K Y 、K Z And compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result.
Wherein the computing unit is configured to: to the same targetAnalyzing the first measured value and the second measured value of the target, and respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target to obtain: (X) 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) The method comprises the steps of carrying out a first treatment on the surface of the Using least squares method (X 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )，(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )，(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) A transformation relationship between the two; the compensation unit is used for: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform the 5225 coordinates to obtain transformed X, Y, Z coordinates, and obtain a corrected scanning result.
In order to solve the technical problems, the invention adopts another technical scheme that: the laser three-dimensional scanner comprises a phase type laser scanning circuit, a pulse type laser scanning circuit, a measurement processing module, a display module and a control module; the input end of the phase laser scanning circuit and the input end of the pulse laser scanning circuit are connected with the output end of the control module, the output end of the phase laser scanning circuit and the output end of the pulse laser scanning circuit are connected with the input end of the measurement processing module, the input end of the display module is connected with the output end of the control module, and the output end of the measurement processing module is connected with the input end of the control module; the measuring processing module comprises a compensation circuit, an arithmetic unit and a memory, and the control module comprises a control circuit and a main control board; the input end of the memory is connected with the output end of the phase type laser scanning circuit and the output end of the pulse type laser scanning circuit, the output end of the memory is respectively connected with the compensation circuit and the arithmetic unit, and the output end of the arithmetic unit is connected with the input end of the compensation circuit; the input end of the main control board is connected with the output end of the compensation circuit, the output end of the main control board is also connected with the input ends of the control circuit and the display module respectively, and the output end of the control circuit is also connected with the input ends of the phase type laser scanning circuit and the pulse type laser scanning circuit respectively.
The beneficial effects of the invention are as follows: compared with the prior art, the laser three-dimensional scanner, the scanning method and the scanning control device thereof provided by the invention have the advantages that the pulse three-dimensional laser scanning and the phase laser scanning are integrated on the same scanner, a plurality of targets are set in the area needing scanning, and the area is measured by adopting the pulse type and the phase; aiming at the same target, analyzing the measuring results of a pulse method and a phase method, compensating the measuring value of the pulse method by using the phase method with higher precision as a reference, and obtaining a compensation coefficient at the target; and carrying out weighted calculation on the compensation coefficients obtained by different targets to obtain a compensation coefficient mean value, and carrying out compensation calculation on the result measured by the pulse measurement method by using the compensation coefficient mean value to obtain a corrected scanning result. By compensating and calibrating the pulse three-dimensional laser scanning data, the whole scanning has pulse scanning speed and phase scanning precision.
Drawings
Fig. 1 is a schematic flow chart of a laser three-dimensional scanning method in a first embodiment of the present invention;
FIG. 2 is a flow chart of a laser three-dimensional scanning method in a second embodiment of the invention;
FIG. 3 is a flow chart of a laser three-dimensional scanning method in a third embodiment of the invention;
fig. 4 is a flow chart of a laser three-dimensional scanning method in a fourth embodiment of the present invention;
fig. 5 is a flow chart of a laser three-dimensional scanning method in a fifth embodiment of the present invention;
fig. 6 is a schematic structural view of a laser three-dimensional scanner in the first embodiment of the present invention;
fig. 7 is a schematic structural view of a laser three-dimensional scanner in a second embodiment of the present invention.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a schematic flow chart of a laser three-dimensional scanning method according to a first embodiment of the invention. The method is applied to a laser three-dimensional scanner comprising a phase laser scanning module and a pulse laser scanning module, so that the pulse laser scanning structure with higher scanning speed in the laser three-dimensional scanner can compensate errors by utilizing measured values, and the laser three-dimensional scanner is improved in scanning speed under the condition of ensuring the measuring precision. A laser three-dimensional scanning method, comprising the steps of:
Step S10, respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire M groups of first measured values and N groups of second measured values; wherein M, N is a natural number.
Specifically, the phase type laser scanning module and the pulse type laser scanning module can horizontally rotate around the plumb line for 360 degrees for scanning, can vertically move along the plumb line for scanning, and can horizontally rotate for scanning while vertically moving along the plumb line.
The scanning module horizontally rotates for one circle, and the phase scanner and the pulse scanner respectively obtain M coordinate point data and N coordinate point data, wherein the M coordinate point data and the N coordinate point data are respectively:
(X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m )；
(X’ 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n )；
the scanning characteristics of the phase type laser scanning module and the pulse type laser scanning module determine the scanning result data quantity, namely M < < N.
And S11, analyzing the M groups of first measured values and the N groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients.
And step S12, starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result.
Specifically, scanning the scan area to obtain M sets of first measurement values and N sets of second measurement values may be generally performed in two ways:
(1) No targets are set up in the scan area: the phase laser scanning module and the pulse laser scanning module are respectively started to scan the scanning area, and M groups of first measured values (X) 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n )。
(2) A plurality of positions are preselected in the scanning area, and a target is arranged corresponding to each position: respectively starting the phase type laser scanning module and the pulse type laser scanning module to scanScanning the region to obtain M groups of first measurement values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n )。
The laser three-dimensional scanning method will be described below with reference to the drawings for the two scanning modes.
Fig. 2 is a schematic flow chart of a laser three-dimensional scanning method according to a second embodiment of the invention. The method is applied to laser three-dimensional scanning under the condition that a scanning area does not set a target, and specifically comprises the following steps:
step S20, respectively starting the phase type laser scanning module and the pulse type laser scanning module to scan the scanning area so as to correspondingly acquire M groups of first measured values and N groups of second measured values.
Wherein M, N is a natural number.
Step S21, for the M sets of first measurement values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) And (3) analyzing, namely comparing the N groups of second measured values with the M groups of first measured values respectively to screen out M groups of second measured values close to the first measured values.
And judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value.
Specifically, the scanning result data are compared, and M groups of data acquired by the phase laser scanning module are correspondingly found out from N groups of data acquired by the pulse laser scanning module, wherein the coordinate value of each group of data (X, Y) is closest to the coordinate value of each group of data.
Step S22, extracting Z coordinate values in the M groups of first measured values and the M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n 2 …，Z n m )。
Step S23, calculating the compensation coefficient K by using the following formula m ＝Z m -Z n m . Wherein K is m Is a compensation coefficient.
Step S24, for M obtained compensation coefficients K m Averaging is performed to obtain the compensation coefficient mean value K.
Specifically, utilize Z 1 -Z n 1 ＝K 1 ，Z 2 -Z n 2 ＝K 2 ，…Z m -Z n m ＝K m The resulting (K 1 ，K 2 ，…K m ) The total M values are averaged, and the compensation coefficient mean value K can be obtained by calculating arithmetic mean, geometric mean, square mean, harmonic mean and weighted mean.
Step S25, starting the pulsed laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value.
And S26, compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result.
Specifically, after the compensation coefficient mean value K is obtained, a pulse laser scanning module is independently adopted to scan a scanning area, the scanning speed is modulated maximally, and K is added to all result data Z coordinates scanned by the pulse laser scanning module correspondingly, so that the compensation and correction effects are achieved.
Further, referring to fig. 3, Z coordinate values in the M sets of first measurement values and the M sets of second measurement values are extracted respectively to obtain (Z 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m ) Thereafter, the method further comprises:
step S33, a least square method is used to calculate (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n …，Z n m ) A transformation relationship between the two.
Step S34, starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value.
And step S35, calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform the Z coordinate to obtain a transformed Z coordinate, and obtaining a corrected scanning result.
Fig. 4 is a schematic flow chart of a laser three-dimensional scanning method according to a fourth embodiment of the invention. The method is applied to laser three-dimensional scanning under the condition that a plurality of positions are preselected in a scanning area and a target is arranged corresponding to each position, and specifically comprises the following steps:
step S40, respectively starting the phase laser scanning module and the pulse laser scanning module to scan the scanning area to respectively obtain M groups of first measurement values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n )。
Step S41, analyzing the first and second measured values corresponding to the same target, and extracting X, Y, Z coordinates of the first and second measured values of the same target, respectively, (X) 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N )。
Step S42, calculating the compensation coefficient according to the following formulaThe method comprises the following steps: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', where K X 、K Y 、K Z The compensation coefficients of the X, Y, Z coordinate values are respectively obtained.
Specifically, the 360-degree area to be scanned is uniformly divided into H (1-36000) parts, and H (1-5000000) marking points are marked in each part of the area.
For example, when h=3 and h=2, the phase laser scanning module and the pulse laser scanning module rotate horizontally for one revolution, and the coordinate values (X, Y, Z) of the mark point in each area are measured respectively.
Assuming that the 1 st point coordinate measured by the phase laser scanning module is (X) 1-1 ，Y 1-1 ，Z 1-1 ) The 2 nd point coordinate is (X 1-2 ，Y 1-2 ，Z 1-2 ) The 3 rd point coordinates are (X 1-3 ，Y 1-3 ，Z 1-3 ) The method comprises the steps of carrying out a first treatment on the surface of the The pulsed laser scanning module measures the first point coordinate as (X' 1-1 ，Y’ 1-1 ，Z’ 1-1 ) The 2 nd point coordinate is (X' 1-2 ，Y’ 1-2 ，Z’ 1-2 ) The 3 rd point coordinates are (X' 1-3 ，Y’ 1-3 ，Z’ 1-3 )。
In the 2 nd area, the phase laser scanning module measures the first point coordinate as (X 2-1 ，Y 2-1， Z 2-1 ) The 2 nd point coordinate is (X 2-2 ，Y 2-2， Z 2-2 ) The 3 rd point coordinates are (X 2-3 ，Y 2-3， Z 2-3 ) The method comprises the steps of carrying out a first treatment on the surface of the The pulsed laser scanning module measures the first point coordinate as (X' 2-1 ，Y’ 2-1， Z’ 2-1 ) The 2 nd point coordinate is (X' 2-2 ，Y’ 2-2， Z’ 2-2 ) The 3 rd point coordinates are (X' 2-3 ，Y’ 2-3 ，Z’ 2-3 )。
By X 1-1 -X’ 1-1 ＝K x 1-1 ，Y 1-1 -Y’ 1-1 ＝K y 1-1 ，Z 1-1 -Z’ 1-1 ＝K z 1-1 And the like, to obtain:
(K x 1-1 ，K y 1-1 ，K z 1-1 )，(K x 1-2 ，K y 1-2 ，K z 1-2 )，(K x 1-3 ，K y 1-3 ，K z 1-3 )，(K x 2-1 ，K y 2-1 ，K z 2-1 )，(K x 2-2 ，K y 2-2 ，K z 2-2 )，(K x 2-3 ，K y 2-3 ，K z 2-3 )。
step S43, for N compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z 。
Specifically, the compensation coefficient mean K may be obtained by calculating an arithmetic mean, a geometric mean, a square mean, a harmonic mean, a weighted mean.
The method comprises the following steps: the resulting (K) x 1-1 ，K x 1-2 ，K x 1-3 ，K x 2-1 ，K x 2-2 ，K x 2-3 ) The total of 6 values are averaged by arithmetic mean, geometric mean, square mean, harmonic mean and weighted mean to obtain K X In the same way, get K Y 、K Z 。
The second method is as follows: the first region data (K x 1-1 ，K x 1-2 ，K x 1-3 ) Averaging to obtain K x 1 By the same method, K is obtained y 1 ，K z 1 Second region data (K x 2-1 ，K x 2-2 ，K x 2-3 ) Averaging to obtain K x 2 By the same method, K is obtained y 2 ，K z 2 。
Step S44, the pulse laser scanning module is started to scan the scanning area at the maximum speed to obtain a third measured value.
Step S45, utilizing the compensation coefficient mean value K X 、K Y 、K Z And compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result.
Compensating the third measured value, corresponding to calculating the compensation coefficient mean value K as described above, includes:
the method comprises the following steps: k is correspondingly added to all result data scanned by the pulse laser scanning module X 、K Y 、K Z The compensation and correction effects are achieved.
The second method is as follows: all the result data scanned by the pulse laser scanning module are correspondingly added with (K) according to the divided area range, for example, in the area 1 x 1 ，K y 1 ，K z 1 ) The second region is the same, thereby having the effect of compensation correction.
Further, referring to fig. 5, the first measurement value and the second measurement value corresponding to the same target are analyzed, and X, Y, Z coordinates of the first measurement value and the second measurement value of the same target are extracted respectively, (X 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N )。
After the above steps are completed, the method further comprises:
Step S52, calculating (X 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )，(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )，(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) A transformation relationship between the two.
Step S53, starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value;
and step S54, calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform the 5225 coordinates to obtain transformed X, Y, Z coordinates, and obtaining a corrected scanning result.
Fig. 6 is a schematic structural diagram of a laser three-dimensional scanner according to a first embodiment of the present invention. The laser three-dimensional scanner 60 includes a phase laser scanning module 61, a pulse laser scanning module 62, and a control module 63. The control module 63 includes a start unit 631, a calculation unit 632, and a compensation unit 633.
The starting unit 631 is configured to start the phase laser scanning module and the pulse laser scanning module to scan the scanning area to obtain M groups of first measurement values and N groups of second measurement values correspondingly; wherein M, N is a natural number;
the calculating unit 632 is configured to analyze the M groups of first measurement values and the N groups of second measurement values, correspondingly calculate compensation coefficients with the first measurement values as reference values, and calculate a compensation coefficient average value for all compensation coefficients;
The compensation unit 633 is configured to restart the starting unit, and perform compensation on the third measured value obtained by scanning the scanning area by the pulsed laser scanning module at the maximum speed, by using the compensation coefficient mean value to obtain a corrected scanning result.
Specifically, the calculation unit 632 is configured to:
for the M sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Analyzing, comparing the N groups of second measured values with the M groups of first measured values respectively, wherein the screening and comparing method is to simultaneously compare the X and Y values so as to screen the first measured valuesA second set of close M measurements; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value;
respectively extracting Z coordinate values in the M groups of first measured values and the screened M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m )；
The compensation coefficient K is calculated by the following formula m ＝Z m -Z n m Wherein K is m Is a compensation coefficient; and
for the M obtained compensation coefficients K m Averaging to obtain a compensation coefficient mean value K;
the compensation unit 633 is specifically configured to: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result.
In another embodiment, further, the computing unit 632 is further configured to:
for the M sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Analyzing, namely comparing the N groups of second measured values with the M groups of first measured values respectively, wherein the screening comparison method is to simultaneously compare the X and Y values so as to screen out M groups of second measured values close to the first measured values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value;
respectively extracting Z coordinate values in the M groups of first measured values and the screened M groups of second measured values to obtain (Z) 1 ，Z 2 …，Z m ) (Z) n 1 ，Z n …，Z n m )；
Calculated by least squares (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n …，Z n m ) A transformation relationship between the two;
accordingly, the compensation unit 633 is specifically configured to: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform the Z coordinate to obtain a transformed Z coordinate, and obtain a corrected scanning result.
In another embodiment, a plurality of positions are preselected in the scanning area, and a target is disposed corresponding to each position, the starting unit 631 is further configured to start the phase laser scanning module and the pulse laser scanning module to scan the targets in the scanning area, so as to obtain M sets of first measurement values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And N sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n )。
Accordingly, the computing unit 632 is configured to:
analyzing the first and second measured values corresponding to the same target, and extracting X, Y, Z coordinates of the first and second measured values of the same target, respectively, (X) 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N )。
The compensation coefficient is calculated by the following formula: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', where K X 、K Y 、K Z Compensation coefficients of X, Y, Z coordinate values respectively; and
respectively to N compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z 。
The compensation unit 633 is further configured to: triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and using the compensation coefficient mean value K X 、K Y 、K Z And compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result.
Further, the calculation unit 632 may also analyze the first and second measured values corresponding to the same target, and extract X, Y, Z coordinates of the first and second measured values of the same target, respectively, (X 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )；(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )；(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) The method comprises the steps of carrying out a first treatment on the surface of the And
Using least squares method (X 1 ，X 2 …X N ) And (X' 1 ，X’ 2 …X’ N )，(Y 1 ，Y 2 …Y N ) And (Y' 1 ，Y’ 2 …Y’ N )，(Z 1 ，Z 2 …Z N ) And (Z' 1 ，Z’ 2 …Z’ N ) A transformation relationship between the two.
Correspondingly, the compensation unit 633 also triggers the starting unit to start the pulsed laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform the 5225 coordinates to obtain transformed X, Y, Z coordinates, and obtain a corrected scanning result.
Fig. 7 is a schematic structural diagram of a laser three-dimensional scanning scanner according to a second embodiment of the present invention. The laser three-dimensional scanner 70 includes a phase type laser scanning circuit 71, a pulse type laser scanning circuit 72, a measurement processing module 73, a display module 74, and a control module 75. The input end of the phase laser scanning circuit 71 and the input end of the pulse laser scanning circuit 72 are connected with the output end of the control module 75, the output end of the phase laser scanning circuit 71 and the output end of the pulse laser scanning circuit 72 are connected with the input end of the measurement processing module 73, the input end of the display module 74 is connected with the output end of the control module 75, and the output end of the measurement processing module 73 is connected with the input end of the control module 75.
Wherein the measurement processing module 73 includes: compensation circuit 731, memory 732, and arithmetic unit 733. The input terminal of the memory 732 is connected to the output terminal of the phase laser scanning circuit 71 and the output terminal of the pulse laser scanning circuit 72, the output terminal of the memory 732 is connected to the compensation circuit 731 and the arithmetic unit 733, respectively, and the output terminal of the arithmetic unit 733 is connected to the input terminal of the compensation circuit 731.
The control module 75 includes a control circuit 751 and a main control board 752, wherein an input end of the main control board 752 is connected with an output end of the compensation circuit 731, and an output end of the main control board 752 is also connected with input ends of the control circuit 751 and the display module 74, respectively. The output terminal of the control circuit 751 is also connected to the input terminal of the phase laser scanning circuit 71 and the input terminal of the pulse laser scanning circuit 72, respectively.
Further, the phase laser scanning circuit 71 includes a first laser driver 711, a first laser generator 712, and a first laser receiving circuit 713. An input of the first laser driver 711 is connected to an output of the control circuit 751, and an output of the first laser driver 711 is connected to an input of the first laser generator 772. The first laser driver 711 responds to a start signal sent by the control circuit 751 to start the phase laser scanning circuit 71, and the first laser generator 712 receives a laser signal output by the first laser driver 71 and emits the laser signal to the target to be measured. The first laser receiving circuit 713 receives the laser signal reflected from the object under test.
The pulsed laser scanning circuit 72 includes a second laser driver 721, a second laser generator 722, a second laser receiving circuit 723, and a modulator 724. An input of the second laser driver 721 is connected to an output of the control circuit 751, and the modulator 724 is connected between the output of the second laser driver 721 and an input of the second laser generator 723. The second laser driver 721 is responsive to the start signal from the control circuit 751 to start the pulse laser scanning circuit 72, and the second laser generator 722 receives the laser signal from the second laser driver 72 and emits it to the target. The second laser receiving circuit 723 receives a laser signal reflected from a measured object.
In the above, the laser three-dimensional scanner, the scanning method thereof and the scanning control device provided in the embodiments of the present invention integrate pulse three-dimensional laser scanning and phase laser scanning on the same scanner, and in the area to be scanned, several targets are set, and the area is measured by adopting pulse and phase; aiming at the same target, analyzing the measuring results of a pulse method and a phase method, compensating the measuring value of the pulse method by using the phase method with higher precision as a reference, and obtaining a compensation coefficient at the target; and carrying out weighted calculation on the compensation coefficients obtained by different targets to obtain a compensation coefficient mean value, and carrying out compensation calculation on the result measured by the pulse measurement method by using the compensation coefficient mean value to obtain a corrected scanning result. By compensating and calibrating the pulse three-dimensional laser scanning data, the whole scanning has pulse scanning speed and phase scanning precision.
It should be noted that the description of the present invention and the accompanying drawings illustrate preferred embodiments of the present invention, but the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are not to be construed as additional limitations of the invention, but are provided for a more thorough understanding of the present invention. The above-described features are continuously combined with each other to form various embodiments not listed above, and are considered to be the scope of the present invention described in the specification; further, modifications and variations of the present invention may be apparent to those skilled in the art in light of the foregoing teachings, and all such modifications and variations are intended to be included within the scope of this invention as defined in the appended claims.
Claims (6)
1. A laser three-dimensional scanning method, the method comprising:
respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire m groups of first measured values and n groups of second measured values; wherein m and n are natural numbers;
analyzing the m groups of first measurement values and the n groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; the method specifically comprises the following steps:
For the m sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And n sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Performing analysis, and comparing the n groups of second measurement values with X, Y values of the m groups of first measurement values respectively so as to screen m groups of second measurement values close to the first measurement values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value;
respectively extracting Z coordinate values in the m groups of first measured values to obtain (Z 1 ，Z 2 …，Z m ) And obtaining (Z) the Z coordinate value in the m groups of second measured values n 1 ，Z n 2 …，Z n m )；
The compensation coefficient K is calculated by the following formula m ＝Z m -Z n m And for the m obtained compensation coefficients K m Averaging to obtain a compensation coefficient mean value K; alternatively, the method of least squares (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n 2 …，Z n m ) A transformation relationship between the two;
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result; the method specifically comprises the following steps:
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value;
compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result; or calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform the Z coordinate to obtain a transformed Z coordinate, and obtaining a corrected scanning result.
2. A laser three-dimensional scanning method, the method comprising:
respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire m groups of first measured values and n groups of second measured values; wherein m and n are natural numbers; the method specifically comprises the following steps:
respectively starting a phase laser scanning module and a pulse laser scanning module to scan targets in a scanning area so as to respectively obtain m groups of first measured values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And n sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein the scanning area is pre-selected with H positions and is matched withSetting a target at each position;
analyzing the m groups of first measurement values and the n groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; the method specifically comprises the following steps:
analyzing the first measured value and the second measured value corresponding to the same target, respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target, and obtaining:
(X 1 ，X 2 …X H ) And (X' 1 ，X’ 2 …X’ H )
(Y 1 ，Y 2 …Y H ) And (Y' 1 ，Y’ 2 …Y’ H )
(Z 1 ，Z 2 …Z H ) And (Z' 1 ，Z’ 2 …Z’ H )；
The compensation coefficients of the X, Y, Z coordinate values are respectively calculated by the following formulas: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', and for each of the H compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, the method of least squares (X 1 ，X 2 …X H ) And (X' 1 ，X’ 2 …X’ H )，(Y 1 ，Y 2 …Y H ) And (Y' 1 ，Y’ 2 …Y’ H )，(Z 1 ，Z 2 …Z H ) And (Z' 1 ，Z’ 2 …Z’ H ) A transformation relationship between the two;
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result; the method specifically comprises the following steps:
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value;
by using the compensation coefficient mean value K X 、K Y 、K Z Compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result; or calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform to obtain X, Y, Z transformed coordinates, and obtain a corrected scanning result.
3. The laser three-dimensional scanner is characterized by comprising a phase laser scanning module, a pulse laser scanning module and a control module;
the control module is used for:
respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire m groups of first measured values and n groups of second measured values; wherein m and n are natural numbers;
Analyzing the m groups of first measurement values and the n groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; and
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result;
the control module analyzes the m groups of first measurement values and the n groups of second measurement values, correspondingly calculates compensation coefficients by taking the first measurement values as reference values, and calculates a compensation coefficient mean value for all the compensation coefficients, and the method specifically comprises the following steps:
for the m sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And n sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Analyzing the n groups of second measured values and respectively comparing the n groups of second measured values withThe X, Y values of the m groups of first measured values are simultaneously compared to screen out m groups of second measured values which are close to the first measured values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value;
respectively extracting Z coordinate values in the m groups of first measured values to obtain (Z 1 ，Z 2 …，Z m ) And obtaining (Z) the Z coordinate value in the m groups of second measured values n 1 ，Z n 2 …，Z n m )；
The compensation coefficient K is calculated by the following formula m ＝Z m -Z n m And for the m obtained compensation coefficients K m Averaging to obtain a compensation coefficient mean value K; alternatively, the method of least squares (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n 2 …，Z n m ) A transformation relationship between the two;
the control module starts the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensates the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result; the method specifically comprises the following steps:
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value;
compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result; or calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform the Z coordinate to obtain a transformed Z coordinate, and obtaining a corrected scanning result.
4. A laser three-dimensional scanning control device, the device comprising:
the starting unit is used for respectively starting the phase type laser scanning module and the pulse type laser scanning module to scan the scanning area so as to correspondingly acquire m groups of first measured values and n groups of second measured values; wherein m and n are natural numbers;
The calculating unit is used for analyzing the m groups of first measured values and the n groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; the method specifically comprises the following steps:
for the m sets of first measurements (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And n sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) Performing analysis, and comparing the n groups of second measurement values with X, Y values of the m groups of first measurement values respectively so as to screen m groups of second measurement values close to the first measurement values; judging whether the first measured value is close to the second measured value or not according to the fact that the difference value is smaller than a preset value;
respectively extracting Z coordinate values in the m groups of first measured values to obtain (Z 1 ，Z 2 …，Z m ) And obtaining (Z) the Z coordinate value in the m groups of second measured values n 1 ，Z n 2 …，Z n m )；
The compensation coefficient K is calculated by the following formula m ＝Z m -Z n m And for the m obtained compensation coefficients K m Averaging to obtain a compensation coefficient mean value K; alternatively, the method of least squares (Z 1 ，Z 2 …，Z m ) And (Z) n 1 ，Z n 2 …，Z n m ) A transformation relationship between the two;
the compensation unit is used for restarting the starting unit, starting the pulse laser scanning module again, scanning the scanning area at the maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result; the method specifically comprises the following steps:
Starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value;
compensating the Z coordinate of the third measured value by using the compensation coefficient mean value K to obtain a corrected scanning result; or calculating the Z coordinate of the third measured value according to the transformation relation, so as to transform the Z coordinate to obtain a transformed Z coordinate, and obtaining a corrected scanning result.
5. The laser three-dimensional scanner is characterized by comprising a phase laser scanning module, a pulse laser scanning module and a control module;
the control module is used for:
respectively starting a phase type laser scanning module and a pulse type laser scanning module to scan a scanning area so as to correspondingly acquire m groups of first measured values and n groups of second measured values; wherein m and n are natural numbers;
analyzing the m groups of first measurement values and the n groups of second measurement values, correspondingly calculating compensation coefficients by taking the first measurement values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; and
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result;
The control module respectively starts the phase type laser scanning module and the pulse type laser scanning module to scan the scanning area so as to correspondingly obtain m groups of first measured values and n groups of second measured values, and the method specifically comprises the following steps:
respectively starting a phase laser scanning module and a pulse laser scanning module to scan targets in a scanning area so as to respectively obtain m groups of first measured values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And n sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning area is provided with H positions in advance, and a target is arranged corresponding to each position;
the control module analyzes the m groups of first measurement values and the n groups of second measurement values, correspondingly calculates compensation coefficients by taking the first measurement values as reference values, and calculates a compensation coefficient mean value for all the compensation coefficients, and the method specifically comprises the following steps:
analyzing the first measured value and the second measured value corresponding to the same target, respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target, and obtaining:
(X 1 ，X 2 …X H ) And (X' 1 ，X’ 2 …X’ H )
(Y 1 ，Y 2 …Y H ) And (Y' 1 ，Y’ 2 …Y’ H )
(Z 1 ，Z 2 …Z H ) And (Z' 1 ，Z’ 2 …Z’ H )；
The compensation coefficients of the X, Y, Z coordinate values are respectively calculated by the following formulas: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', and for each of the H compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, the method of least squares (X 1 ，X 2 …X H ) And (X' 1 ，X’ 2 …X’ H )，(Y 1 ，Y 2 …Y H ) And (Y' 1 ，Y’ 2 …Y’ H )，(Z 1 ，Z 2 …Z H ) And (Z' 1 ，Z’ 2 …Z’ H ) A transformation relationship between the two;
the control module starts the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value, and compensates the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result, which specifically comprises the following steps:
starting the pulse laser scanning module to scan the scanning area at a maximum speed to obtain a third measured value;
by using the compensation coefficient mean value K X 、K Y 、K Z Compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result; or calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform to obtain X, Y, Z transformed coordinates, and obtain a corrected scanning result.
6. A laser three-dimensional scanning control device, the device comprising:
the starting unit is used for respectively starting the phase type laser scanning module and the pulse type laser scanning module to scan the scanning area so as to correspondingly acquire m groups of first measured values and n groups of second measured values, and specifically comprises the following steps:
Respectively starting a phase laser scanning module and a pulse laser scanning module to scan targets in a scanning area so as to respectively obtain m groups of first measured values (X 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )…(X m ，Y m ，Z m ) And n sets of second measurements (X' 1 ，Y’ 1 ，Z’ 1 )，(X’ 2 ，Y’ 2 ，Z’ 2 )…(X’ n ，Y’ n ，Z’ n ) The method comprises the steps of carrying out a first treatment on the surface of the The scanning area is provided with H positions in advance, and a target is arranged corresponding to each position; m and n are natural numbers;
the calculating unit is used for analyzing the m groups of first measured values and the n groups of second measured values, correspondingly calculating compensation coefficients by taking the first measured values as reference values, and calculating a compensation coefficient mean value for all the compensation coefficients; the method specifically comprises the following steps:
analyzing the first measured value and the second measured value corresponding to the same target, respectively extracting X, Y, Z coordinates of the first measured value and the second measured value of the same target, and obtaining:
(X 1 ，X 2 …X H ) And (X' 1 ，X’ 2 …X’ H )
(Y 1 ，Y 2 …Y H ) And (Y' 1 ，Y’ 2 …Y’ H )
(Z 1 ，Z 2 …Z H ) And (Z' 1 ，Z’ 2 …Z’ H )；
The compensation coefficients of the X, Y, Z coordinate values are respectively calculated by the following formulas: k (K) X ＝X-X’，K Y ＝Y-Y’，K Z =z-Z', and for each of the H compensation coefficients K X 、K Y 、K Z Averaging to obtain compensation coefficient mean value K X 、K Y 、K Z The method comprises the steps of carrying out a first treatment on the surface of the Alternatively, the method of least squares (X 1 ，X 2 …X H ) And (X' 1 ，X’ 2 …X’ H )，(Y 1 ，Y 2 …Y H ) And (Y' 1 ，Y’ 2 …Y’ H )，(Z 1 ，Z 2 …Z H ) And (Z' 1 ，Z’ 2 …Z’ H ) A transformation relationship between the two;
the compensation unit is used for starting the pulse laser scanning module to scan the scanning area at the maximum speed to obtain a third measured value, and compensating the third measured value by using the compensation coefficient mean value to obtain a corrected scanning result; the method specifically comprises the following steps:
Triggering the starting unit to start the pulse laser scanning module to scan the scanning area at the maximum scanning speed so as to obtain a third measured value; and
by using the compensation coefficient mean value K X 、K Y 、K Z Compensating X, Y, Z coordinates of the third measured value respectively to obtain a corrected scanning result; or calculating X, Y, Z coordinates of the third measured value according to the transformation relation, so as to transform to obtain X, Y, Z transformed coordinates, and obtain a corrected scanning result.
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