• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Laser scanner (1), having a laser head (2) rotatably mounted on a base (4) about a first axis (3) and containing a laser beam (5) in a first axis (3) around the first axis (3). rotatable plane (8) sends and receives, and with a over the laser head (2) with play to this inverted protective cap (15) which is rotatably mounted about the first axis (3) and a said plane aligned with said (8) slot (16) for the passage of the laser beam (5), wherein the rotation of the protective cap (15) is coupled to the rotation of the laser head (2).
    公开号:AT511474A4
    申请号:T8972011
    申请日:2011-06-20
    公开日:2012-12-15
    发明作者:Juergen Ing Nussbaum；Rainer Ing Reichert；Johannes Dr Riegl
    申请人:Riegl Laser Measurement Sys；
    IPC主号:
    专利说明:

    PATENT OFFICER D! PlGlN.G. Js ^ jEsQIlN. ANDREAS WEISER * ··· * "· # · european PAi'i ·> γΓα k i 5 'itCAdö & ark attorney A-l 130 WIEN KOPFGASSE 7 04140
    RIEGL Laser Measurement Systems GmbH A-3580 Horn (AT)
    The present invention relates to a laser scanner comprising a laser head rotatably mounted on a base about a first axis and transmitting and receiving a laser beam in a plane containing the first axis and rotatable about the first axis.
    For example, laser scanners of this type are used in mining to determine the excavation volume of a pit by differential measurements based on periodic 3D scans of the pit. An example of such a laser scanner is the laser scanner VZ® 400 PH from RIEGL Laser Measurement Systems GmbH in Horn, Austria.
    In such applications, the laser scanner is exposed to high hazards from dust, liquids and stone chipping, which can lead to a coating, scratching or even breakage of its delicate appearance. For transporting the laser scanner therefore currently pluggable protective caps are used, but they must be removed during operation, which continues to exist the risk of damage.
    The invention has for its object to provide a laser scanner of the type mentioned, which is better protected against harsh environmental conditions during operation. This destination will be 1 '] ·],.: (+43 1) 879 17 06 · FAX: (+43 1) 879 17 07 · EMAIL; MA1L@PATHNTK.NI71 'AYLB: WWW.l'ATENTE.NET FIRST BANK: 038-56704 * B1.Z: 20111 · [BAN: ATI02011100003856704 · BIC: GIBAATWW · VAT: AT U 53832900 with a laser scanner of the type mentioned above which is characterized according to the invention by a capping over the laser head with play cap, which is rotatably mounted about the first axis and having a plane aligned with said slot for the passage of the laser beam, wherein the rotation of the protective cap with the rotation of the laser head is coupled.
    The laser scanner of the invention has in this way an operating protective structure for his sensitive laser head, u.zw. a rotating cap with passage sschlitz for the laser beam, which runs synchronously with the laser head, while radially and axially slight distance or play to this holds, so that touches, (stone) strikes, etc. on the cap rotation of the laser head not This provides optimum protection for the laser head during operation without compromising measurement accuracy.
    According to a preferred embodiment of the invention, the width of the slot in the circumferential direction is greater than the beam diameter of the laser beam. Thus, there is also a game in the circumferential direction (direction of rotation) between the orientation of the slot and the orientation of the laser beam. In temporary disturbances of the rotational movement of the cap, as they can occur, for example, stone chips or touches, the cap can thus and the extent of
    Slit width around the laser beam "commutes" without disturbing the measurement of the laser head or affecting its measurement accuracy.
    A particularly advantageous embodiment of the invention, which is designed for use under the toughest environmental conditions, is characterized in that the laser head is provided with a transparent transparent to the laser cap, which is rotatably mounted on the base and with this the laser head sealing and with Game wrapped, the protective cap is slipped over the sealing cap with play. The sealing cap serves for improved protection of the laser head against dust and dirt and also ensures a controlled atmosphere inside it for temperature control or cooling of the laser head. In conjunction with the rotating protective cap, the non-rotatable sealing cap even results in a double protection structure for the sensitive laser head, whereby both the laser head and the transparent sealing cap are as far as possible protected during operation.
    The protective cap is preferably rotatably mounted on the base in order to reduce mechanical effects on the laser head or the sealing cap as possible; if desired, the protective cap could alternatively or additionally be rotatably mounted on the optional sealing cap.
    The protective cap may be rotatably mounted on the base in a sealed manner, in particular if the slot is provided with a transparent cover, as will be discussed in detail later, so that the protective cap itself already forms a sealing layer. It is particularly advantageous, however, if the protective cap is rotatably mounted with the interposition of an air-permeable spoke ring on the base, whereby the gap between the protective cap and laser head or between protective cap and sealing cap can be ventilated for cleaning and cooling purposes.
    In a further preferred variant of the invention, the base contains at least one fan, which acts on the interior of the protective cap with compressed air. This can prevent the penetration of dust, dirt or liquids into the protective cap. This not only keeps the laser head and the optional transparent sealing cap free from scratching and scratching, but also the pivotal mounting of the protective cap without friction. When the slot is open, the forced air can escape over it; if the slot is closed transparently, the fan can circulate the air in the interior of the protective cap and the compressed air in case of any cracks, leaks, etc. on this leak.
    Preferably, the fan is formed by a plurality of distributed over the inner circumference of the protective cap single fan, which produces a particularly uniform pressurization.
    According to another preferred feature, the blower is provided with a suction filter for air purification to prevent dust from being sucked in.
    The slot of the protective cap can be open, whereby the laser beam can pass through the protective cap completely unhindered and is neither attenuated nor distorted. These
    Embodiment is particularly suitable for cooperation with a fan which pressurizes the protective cap, wherein the compressed air then exits through the open slot.
    Alternatively it can be provided that the slot is sealed with a transparent cover for the laser beam, to further improve the dust protection.
    A further preferred embodiment of the invention is characterized in that the laser head is rotationally driven by a first electric motor and the protective cap is rotationally driven by a second electric motor, which electric motors are electronically rotationally synchronized. Such an electronic coupling, programmed accordingly, may have a retroactive effect on disturbances of the rotary movements of the protective cap, e.g. by touch or rockfall, prevent the rotation of the inner laser head, so that its measurement accuracy is not affected.
    In this embodiment, it may also preferably be provided that the first electric motor is contained in a first section of the base and the second electric motor is contained in a second section of the base separated from the first section by at least one sealing wall. As a result, a perfect sealing of the laser head and its first electric motor can be achieved in particular by the optional sealing cap and the first section of the base. A particularly simple and if not susceptible to failure construction can be achieved, the second electric motor with a pinion drives the cap on an inner ring gear of the same.
    In an alternative embodiment of the invention, it could also be provided that the laser head and the protective cap are driven mechanically synchronized in rotation by a common electric motor-directly or preferably via a transmission-which saves costs.
    The protective cap can be mounted on the sealing cap or the base in a variety of ways known in the art, for example via an axle spindle at its inner end, with which it is supported on the sealing cap. The protective cap is preferably mounted on the base via a roller bearing, in particular a cross roller bearing, whereby there is no direct mechanical connection between protective cap and laser head or sealing cap, which protects and relieves the laser head or the sealing cap.
    The protective cap can be made of any solid material that meets the mechanical protection requirements. Preferably, the protective cap is made of sheet steel, which is highly stable and inexpensive.
    According to a further feature of the invention, the base may be equipped with a heat sink, which is preferably provided with a cooling fan to provide a thermally controlled atmosphere inside the protective cap, in particular the sealing cap for the sensitive laser head.
    The laser scanner of the invention may be equipped with any laser head known in the art which is rotatable about an axis. For example, the laser head may rotate about the first axis, i. emit in a plane normal to the first axis laser beam. Such a laser head produces a linear scan profile of the scanned environment which results in a 3D image (a "sample point cloud") of the environment by moving the entire laser scanner in the direction of the axis of rotation from a plurality of scan profiles. Alternatively, the laser scanner is preferably provided with a so-called "3D laser head". equipped, which periodically pivots the laser beam in a plane containing the first axis about a second axis lying normal to this over an angular range. The slot of the protective cap has such an axial extension in the direction of the first axis that it allows the unhindered passage of the laser beam over its entire angular range. Thereby, without moving the laser scanner separately, i. from a single location of the laser scanner, a 3D image of the environment of the laser scanner in said angular range around the first axis to be created around.
    The invention will be explained in more detail below on the basis of a preferred embodiment with reference to the accompanying drawings, in which: FIGS. 1 and 2 show the laser scanner of the invention in one
    Perspective view from above, u.zw. once in assembled
    • * * »*« &
    State (Figure 1) and once with the protective cap removed (Figure 2); and
    Fig. 3 shows the laser scanner of the invention in side view, partially in section.
    1 to 3, a laser scanner 1 is shown, which is used for scanning {scanning) of its surroundings by means of a laser beam and, for example, stationarily mounted on a stand or moved by a vehicle.
    The laser scanner 1 contains in its interior a generally designated 2 laser head, which is mounted for rotation about an approximately vertical axis 3 on a base 4 and can emit a scanning laser beam 5 and received back. The drive of the laser head 2 about the axis 3, for example, by means of an electric motor 6, which is included in a first portion 4 'of the base 4.
    From time-of-flight measurements of the laser beam 5 directed towards targets in the surroundings, reflected by them and received back in the laser head 2, the distances to the surrounding targets can be determined in a known manner and from this a 3D image of the surroundings in the form of a scanning or distance measuring point " cloud " to be created. The transit time of the laser beam 5 can be measured in any manner known in the art, e.g. by Impulslaufzeit-, phase or Interferenzmess ments.
    In a first variant (not shown), the laser beam 5 can be rotated at a fixed, predetermined angle ot to * • * • * • t * < y «~« »« * »» * * * * * * I * ti · * * * «* w«
    Axis 3 are emitted, for example, normal to the axis 3, i. α = 90 °, and the laser head 2 is periodically rotated about the axis 3 over a predetermined angular range 0 < ß 1 360 ° swiveled (at ß = 360 ° continuously rotated). The laser beam 5 thus describes a scanning fan in a scanning plane normal to the axis 3. By moving the laser scanner 1 in a scanning plane-foreign direction, e.g. in the direction of the axis 3, a 3D image of the environment can be created from the scanning profiles obtained in successive scanning planes.
    According to a second variant shown in FIGS. 1-3, the laser beam 5 is periodically pivoted about an axis 7 normal to the axis 3 (here: approximately horizontal) over an angular range γ, e.g. with the aid of a rotating around the axis 7 deflecting mirror in the interior of the laser head 2. The laser head 2 thus generates a scanning fan 8 in a plane containing the first axis 3. By pivoting or rotating the laser head 2 about the first axis 3 over the angular range β, a 3D image of the environment in the solid angle range (β, γ) can be created.
    In a third application variant, the rotation of the laser head 2 about the axis 3 can be stopped and the surroundings are scanned at a predetermined angular position β with the scanning fan 8, wherein the laser scanner 1, e.g. is moved forward as a whole to again create a 3D image of the environment.
    In a further variant, the laser head 2 could also be used for individual, point-shaped distance measurements of environmental targets by fixing the axes of rotation 3, 7 at predetermined angles α, β.
    To protect the high-precision laser head 2 and its dust-sensitive laser components, mirror and rotary mechanism, the components of the laser scanner 1 described below are used.
    A rotatably and tightly connected to the base 4 sealing cap 9 from a transparent material for the passage of the laser beam 5 wrapped - together with the base 4 - the laser head 2 on all sides with play to allow its unimpeded rotation. In the example shown, the sealing cap 9 is composed in the manner of a hexagonal prism made of highly scratch-resistant, but cemented security gastafein, but could also be constructed differently, e.g. as a cylindrical plastic pot.
    The sealing cap 9 is dust-tight, preferably gas-tightly connected to the base 4, e.g. via bolt 10 and a (not shown) ring seal between the sealing cap 9 and base 4. Also preferred is that portion 4 'of the base 4, which contains the electric motor 6 for the rotary drive of the laser head 2, opposite the remaining portion 4 " the base 4 accordingly dustproof or gas-tight separated by a sealing wall 11.
    The sealing cap 9 ensures in its interior 12 a dust-free, controlled atmosphere for the laser head 2, the
    It is also possible, for example, to temper it in order to provide a uniform operating temperature for the laser head 2. For this purpose, the base 4 may be provided with a heater and / Cooling for the interior 12 of the sealing cap 9 are equipped, for example, cooling fins 13 with a cooling fan 14th
    To the laser head 2 and the sealing cap 9 from harsh environmental conditions such as shocks, stone chipping or the like. is to be put on this one protective cap 15 made of high-strength material, e.g. made of sheet steel or aluminum. The protective cap 15 has a slot 16, which is aligned with the plane of the scanning fan 8 of the laser head 2 and has a width B. The slot 16 is parallel to the first axis 3, preferably extends over the entire axial length of the protective cap 15 in its length and is at any rate so long in that it allows unimpeded passage of the laser beam 5 over its entire angular range γ.
    The protective cap 15 is rotatably mounted about the first axis 3, u.zw. either directly on the sealing cap 9 or on the base 4 or both. For example, the inner closed end 17 of the cap 15 with an axle spindle on the base 4 facing away from the closed end of the sealing cap 9 could be rotatably mounted (not shown) and / or on the periphery of the sealing cap 9 acting rolling bearings on this abrol-len. In the embodiment shown, the protective cap 15 is rotatably supported by a ring-shaped or circumferential rolling bearing 18 on the outer circumference of the base 4 and supported in the axial direction. The protective cap 15 holds a slight radial distance and - at its inner end 17 - axial distance to the sealing cap 9, thereby allowing game for the components in their interior or vice versa even play against them.
    Between the rolling bearing 18 and inner circumference of the protective cap 15 and / or between the roller bearing 18 and the outer periphery of the base 4, a spoke ring 19 is preferably provided for facilitated passage of air, as will be explained in more detail below. The protective cap 15 may be removable for cleaning and maintenance purposes, e.g. by a correspondingly releasable connection point at the height of the rolling bearing 18 or by releasable design of their seat on the rolling bearing 18th
    The rotation of the protective cap 15 about the first axis 3 is coupled to the rotation of the laser head 2 about the first axis 3 in order to ensure an unobstructed passage of the laser beam 5 through the contactor 16 in each rotational position of the laser head 2. Such a rotational coupling of laser head 2 and protective cap 15 can be achieved in various ways.
    In the simplest case, protective cap 15 and laser head 2 are rotationally coupled via a mechanical gear (rotationally synchronized). In this case, only a single common electric motor for the rotary drive of the laser head 2 and the protective cap 15 is required. To a reaction of temporary force effects on the protective cap 15, for example by
    Touching, impact of objects, etc., to prevent the rotary motion of the laser head 2, the mechanical transmission may optionally be provided with a resilient element, e.g. a torsion spring, and the slot 16 is made slightly larger in width B than the beam diameter of the laser beam 5 requires. Thus, there is some circumferential play between the orientation of the slot 16 and the scanning fan 8. With transient disturbances of the rotary motion of the protective cap 15, it can thus "swing" around the scanning fan 8 to the extent of the slot width B, without disturbing the measurement of the laser head 2 or to impair its measuring accuracy.
    Preferably, instead of a mechanical, optionally resilient rotary coupling, an electronic rotary coupling or synchronization of the rotary movement of protective cap 15 and laser head 2 is provided, which has this functionality - u.zw. Completely reaction-free or force-free for the laser head 2 reached. For this purpose, the protective cap 15 is driven by its own electric motor 20. The electric motor 20 is mounted, for example, on the base 4 and drives a pinion 21 an internal ring gear 22 of the protective cap 15 at. The two electric motors 6 and 20 are electronically rotationally synchronized so that a temporary acceleration or deceleration of the protective cap 15, which leads to a pendulum movement of the slot 16 about the scanning fan 8 within the limits of the slot width B, without affecting the Drehbewe-
    4 6 movement of the laser head 2 remains. As a result, the laser head 2 can operate with a constant rotational movement, and the movement of the protective cap 15 in the case of temporary deflections, decelerations, accelerations, etc., can be decoupled from the movement of the rotary head 2.
    The interior of the protective cap 15, here the gap 23 between the sealing cap 9 and the protective cap 15, is preferably pressurized, i. pressurized with compressed air to prevent the entry of dust through the slot 16 in the cap 15 and the gap 23. For this purpose, the base 4 includes a fan 24, which sucks in ambient air and blows into the space 23, from where the air exits via the slot 16 (arrow 25).
    The fan 24 is formed in the example shown by a plurality of distributed over the circumference of the base 4 and the inner circumference of the cap 15 Einzelellüftern 26 (eg axial fans), which suck air from the open end 27 of the cap 15 ago and on the roller bearing 18 -. or preferably the optional spoke ring 19 - blow into the space 23. The fan 24 preferably includes a suction filter for air purification, e.g. a filter grid or fleece that is shared with each or all of the fans 26.
    The edge 28 at the open end 27 of the protective cap 15 can be advanced so far that it covers there further components of the base 4, e.g. the electric motor 20 and the individual fans 26. 15 · ** · * · «* · ·· ** · ♦« · «· 4 * * f
    In a simplified (not shown) embodiment could be dispensed with the sealing cap 9 and the protective cap 15 are placed directly with play on the laser head 2, i. the protective cap 15 holds a slight radial distance and - at its end 17 - axial distance to
    Laser head 2 a to allow this game movements within the cap 15 and even have game against this.
    In a further embodiment, the slot 16 could also be tightly sealed with a cover transparent to the laser beam 5, and optionally the spoke ring 19 could be omitted and the protective cap 15 could be mounted in a sealing manner on the base 4 via a tightly configured roller bearing 18. The fan 24 could then alternatively be mounted so that it only circulates the air in the intermediate space 23, or that it continues to pressurize the gap 23, wherein the compressed air escapes over any leaks, scratches and thus dust-free inside the protection cap 16. Such a fan 24 could for example also be mounted on or in the outer nome of the protective cap 15.
    The invention is not limited to the illustrated embodiments but includes all variants and modifications that fall within the scope of the appended claims.
    权利要求:
    Claims (20)
    [1]
    Claims 1. A laser scanner comprising a laser head rotatably mounted on a base about a first axis and transmitting and receiving a laser beam in a plane containing the first axis, rotatable about the first axis, characterized by a laser head (2) to this inverted protective cap (15), which is rotatably mounted about the first axis (3) and having a said plane (8) aligned slot (16) for the passage of the laser beam (5), wherein the rotation of the protective cap (15 ) is coupled to the rotation of the laser head (2).
    [2]
    2. Laser scanner according to claim 1, characterized in that the width (B) of the slot (16) in the circumferential direction is greater than the beam diameter of the laser beam (5).
    [3]
    3. Laser scanner according to claim 1 or 2, characterized in that the laser head (2) is provided with a transparent to the laser beam sealing cap (9), which is rotatably mounted on the base (4) and with this the laser head (2) sealing and wrapped with game, wherein the protective cap (15) is slipped over the sealing cap (9) with play.
    [4]
    4. Laser scanner according to one of claims 1 to 3, characterized in that the protective cap (15) is rotatably mounted on the base (4).
    [5]
    5. Laser scanner according to claim 4, characterized in that the protective cap (15) sealed to the base (4) is rotatably mounted.
    [6]
    6. Laser scanner according to claim 4, characterized in that the protective cap (15) is rotatably mounted with the interposition of an air-permeable spoke ring (19) on the base (4).
    [7]
    7. Laser scanner according to one of claims 1 to 6, characterized in that the base (4) contains at least one fan (24) which acts on the interior of the protective cap (15) with compressed air.
    [8]
    8. Laser scanner according to claim 7, characterized in that the blower (24) by a plurality over the circumference of the protective cap (15) distributed single fan (26) is formed.
    [9]
    9. Laser scanner according to claim 7 or 8, characterized in that the blower (24) is provided with a suction filter for air purification.
    [10]
    10. Laser scanner according to one of claims 1 to 9, characterized in that the slot (16) is open.
    [11]
    11. Laser scanner according to one of claims 1 to 9, characterized in that the slot (16) is sealed with a transparent cover for the laser beam.
    [12]
    12. Laser scanner according to one of claims 1 to 11, characterized in that the laser head (2) by a first electric motor (6) and the protective cap (15) by a second electric motor (20) is rotationally driven, which electric motors (6, 20) are electronically rotationally synchronized.
    [13]
    13. Laser scanner according to claim 12, characterized in that the first electric motor (6) in a first portion (4 ') of the base (4) and the second electric motor (20) in a second, from the first portion (4') via at least a sealing wall (11) is included separate portion (4 ") of the base.
    [14]
    14. Laser scanner according to claim 12 or 13, characterized in that the second electric motor (20) with a pinion (21) drives the protective cap (15) on an internal gear rim (22) thereof.
    [15]
    15. Laser scanner according to one of claims 1 to 11, characterized in that the laser head (2) and the protective cap (15) are driven mechanically synchronized by a common electric motor, preferably via a transmission.
    [16]
    16. Laser scanner according to one of claims 1 to 15, characterized in that the protective cap (15) via a roller bearing (18), preferably cross roller bearing, is mounted on the base (4).
    [17]
    17. Laser scanner according to one of claims 1 to 16, characterized in that the protective cap (15) is made of sheet steel.
    [18]
    18. Laser scanner according to one of claims 1 to 17, characterized in that the base (4) is equipped with a heat sink (13).
    [19]
    19. Laser scanner according to claim 18, characterized in that the cooling body (13) is provided with a cooling fan (14).
    [20]
    20. Laser scanner according to one of claims 1 to 19, characterized in that the laser head (2) in the said plane around a plane normal to the plane (8) lying second axis (7) periodically over a range of angles (γ) the laser beam. pivoted, wherein the slot (16) of the protective cap (15} has such an axial extent in the direction of the first axis (3) that it allows the unimpeded passage of the laser beam (5) over its entire angular range (γ).
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    同族专利:
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    引用文献:
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    EP1308747A2|2001-10-22|2003-05-07|IBEO Automobile Sensor GmbH|Opto-electronic detecting device|
    EP1515157A1|2003-09-09|2005-03-16|IBEO Automobile Sensor GmbH|Optoelectronic detecting device|
    DE102004040363A1|2004-08-20|2006-03-09|Rheinmetall Defence Electronics Gmbh|Rotating light beam transmitter, has light source arranged between central surface section and primary mirror, and narrow longitudinal slot present for light emission into housing cylinder|
    AT501456B1|2004-12-16|2007-05-15|Riegl Laser Measurement Sys|SYSTEM AND METHOD FOR RECORDING A VOLUME RECORD SET|DE102015222053A1|2015-11-10|2017-05-11|Robert Bosch Gmbh|Optical system for an environment detection device|
    US10782412B2|2018-07-18|2020-09-22|Ford Global Technologies, Llc|Sensor apparatus with cooling structure|
    US10627488B2|2018-08-21|2020-04-21|Ford Global Technologies, Llc|Cooling sensor apparatus|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT8972011A|AT511474B1|2011-06-20|2011-06-20|LASER SCANNER|AT8972011A| AT511474B1|2011-06-20|2011-06-20|LASER SCANNER|
    DE201210011590| DE102012011590B4|2011-06-20|2012-06-13|laser scanner|
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