• 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 comprising a laser rangefinder with a scanning device for deflecting the optical axes of the transmitting and receiving device in preferably two orthogonal directions (a, 9), wherein between the scanning device and the target objects optically active elements For example, protective housings (1) are arranged, which are stationary with respect to the laser beam (22), so that this beam (22) passes over different areas of the optically active elements (1) and the measured values are influenced, which in their entirety, a 3D Data set, or define a corresponding point cloud, wherein means are provided which comprise a data memory in which the different, by the scan directions (a, <p) defined spatial angles correction values are stored and by linking the respective measured values with the associated correction values local aberrations of the stationary, optically active elements (1) can be compensated.
    公开号:AT512768A1
    申请号:T372/2012
    申请日:2012-03-28
    公开日:2013-10-15
    发明作者:Rainer Ing Reichert；Johannes Dr Riegl；Martin Dr Pfennigbauer
    申请人:Riegl Laser Measurement Sys；
    IPC主号:
    专利说明:

    Pat. 0670 1 ........ RJEGk'Laser Measurement Systems • · »« · * • · i * * * * * * ft ft · ft · ft · l · · · · · ft * ·
    RIEGL
    Laser Measurement Systems GmbH HORN
    LASER SCANNER
    The invention relates to a laser scanner, which comprises a laser rangefinder according to a signal transit time method, with a transmitting device for emitting laser beams, esp. Laser pulses and a receiving device for receiving laser radiation from objects located in the target area has been reflected, further comprising an evaluation device which determines distance values from the duration of the received laser signals. This rangefinder is preceded by a scanning device for deflecting the optical axes of the transmitting and receiving device in preferably two orthogonal directions. In a number of applications are between the scanning device and the target objects optically active elements, such as glass body, which are fixed with respect to the laser beam, so that this beam covers different areas of the optically active elements. Such optically active elements may be protective housings, for example, which enclose the laser scanner and protect it against environmental influences. Such a housing can either consist entirely of a transparent material, or have windows made of such materials, preferably of glass. Since these elements are optically effective, they can influence the respective measured values, both the removal value and the signal amplitudes. By surface defects and unequal material strengthen the window or the protective cover, it may also lead to deviations in the deflection angle. 1
    Pat. 0670 ^! Eöt: Laser Measurement Systems • &lt; · «· · M · ♦ · · · · · · · · · · · · · · · · · * * * * * * *« «« «« «« * »» «« · ·. As a whole, these effects can lead to distortions of the resulting 3D data set or point cloud.
    To solve this problem, the invention proposes devices which comprise a data memory in which correction values are stored at the various coordinates defined by the scan angles, and by linking the respective measured values with the associated correction values local aberrations, by the between scanning device and the target objects arranged, fixed, optically effective, elements are compensated.
    The correction values stored in the memory preferably include correction vectors for compensation of distortion and / or correction values for the measured removal values and / or correction values for the measured value amplitudes for compensation of measurement errors.
    In an advantageous embodiment of the invention, the laser scanner is arranged in a, at least partially made of glass protective housing whose glass walls as flat plates, prismatic, pyramidal or. Truncated pyramid-shaped, cylindrical or spherical and optically effective. Preferably, the protective housing comprises at least parts of a regular, preferably 6-sided, prism, the glass prism surfaces of the protective housing consisting of plane-parallel, flat glass plates which are welded or glued along the prism edges.
    In order to minimize the errors caused by the glass protective housing, it is proposed to grind the surfaces of the glass plates to be welded or bonded at an angle such that joints with a minimum width relative to the laser beam result. 2
    Pat. 0670. ··. . ··. ··; . ··. JRJE6fc * Laser Measurement Systems «· ·« · ♦ · · · m «« 9 · 4 · · · · · · ··········································································.
    In order to generate the 3D correction data set, a method is proposed according to the invention, according to which a reference space or reference targets are measured in a first step without the interposition of the optically active elements, for example without a glass protective housing, and this "true" 3D Data or point clouds are stored in a memory.
    In a second step, the same reference space or the same reference targets are measured from the same location and with identical settings of the laser scanner as in the first step measurement but with the interposition of the optically active elements, for example using a glass protective housing. The results of the survey are stored as "apparent" 3D data or point clouds. 15 In a third step, the "true" and the "apparent" 3D
    Data or point clouds Correction Data in the form of 3D data or point clouds determined
    In the following, "true" 20 data are generated from any "apparent" measurement results by linking with the 3D correction data or point clouds
    In an alternative method, a reference space with reference targets of known configuration is provided in a first step, which is measured in a second step with the laser scanner with interposition of the optically active elements and in a third step from the defined by the known reference space "true "And the measured," apparent "3D data or point clouds, possibly by interpolation of intermediate values, correction data in the form of 3D data or point clouds are determined and 3
    Pat. 0670 .......... RIEGij Laser Measurement Systems &lt; In the following, any "apparent" measurement results are shown by linking with the 3D correction data or point clouds "true"
    Data are generated.
    In the case of a laser scanner arranged in a protective housing, measuring errors may also occur due to different conditions inside and outside the protective housing. For example, the media inside and outside the protective housing may have different chemical compositions, and there may also be considerable differences in pressures and temperatures. All of these factors can cause the speed of light in the target area to be measured to deviate from that within the protective housing of the laser scanner, resulting not only in deviations in the measured distance values, but also by different refractive indices in the two spaces to deviations in the coordinates of the Measuring points leads.
    These problems can be solved according to a further method according to the invention in that in a laser scanner with an at least partially transparent protective housing, which contains a medium having a refractive index which differs from that of the medium outside the protective housing as a function of temperature, pressure , etz. Correction data for the scan angles or coordinates and the measured removal values are calculated, which are linked with the measured, "apparent" values to "true" 3D data records or point clouds.
    Further features of the invention will become apparent from the following description of some embodiments and with reference to the drawings. 4
    Pat. 0670. ** .. **. ** ':. * *, R1E6L * J.aser Measurement Systems «· ·« «» «· · · · * *» »4 •» · · · i * * «« • I * «··« · * »41
    Fig. 1 shows a laser scanner with a protective housing according to the invention, Fig. 2 shows an axial section through the protective housing together with a laser scanner. Fig. 3 is a modified exploded view of a laser scanner with protective housing according to the figures 1 and 2. FIG. 4 illustrates a horizontal section according to the plane AA in FIG. 2.
    The protective housing of the laser scanner essentially consists of 3 parts: an upper part 1 which is made up of 6 glass plates 2, which as a whole form a regular, 6-sided prism enclosing the laser scanner 3. The glass plates 2 are welded or glued together along the prism edges and are guided and secured in grooves 4 of the lid 5 and in grooves 6 of the bottom plate 7. The bottom plate 7 of the housing upper part 1 is screwed to the cylindrical housing lower part 8, wherein in the sealing surface an O-ring seal 9 is inserted. By dowel pins 30 ensures that the upper housing part 1 is always placed in a well-defined position on the lower housing part 8. The housing lower part 8 is fastened on a base 10, which comprises a cooling device 11 for the laser scanner 3. The base 10 has a cover plate 12 on the underside of the heat sink 13 are provided with cooling fins of the cooling device 11. The cooling effect is supported by thermostat-controlled blower 14. Inside the cylindrical housing lower part 8, a heat exchanger 15 is provided, the cooling fins 16 are mounted on the cover plate 12 of the base 8. A blower 17 upstream of the cooling fins circulates the gaseous medium within the protective housing and thus carries the heat generated by the laser scanner via the heat exchanger 15, the cover plate 12 and the cooling device 11 to the environment. In the cover plate 12 are not shown electrical feedthroughs for the power supply of the laser scanner 3, and arranged for control and data lines. These bushings are gas-5
    Pat. 0670 * * «* * *; . · *. 9999 9 9 9 9 9 9 99 99 9 · 9999 9t t tightly packed and preferably have multiple plugs on both sides Sockets for connecting the corresponding connection cable.
    In the interior of the housing lower part 8, a platform 18 is provided above the heat exchanger 15, on which the base 19 of the laser scanner 3 is fixed. The base 19 contains the drive (not shown) for the scanner upper part 20, which performs a reciprocating or rotational movement about a vertical axis 21 during the measurement, depending on the application, the vertical fan 23 containing the laser beam 22 forming an angle φ describes. On the top surface of the scanner top 20, a photo-device 29 is mounted, which participates in the rotational movement about the vertical axis 21. In the scanner base 19 also, not shown, device electronics is housed.
    The scanner upper part 20 contains the laser source and behind a window 24, the scanning unit which pivots the laser beam 22 in the plane of the fan 23 about a horizontal axis 25 by an angle α (Fig. 4). The scanning device may for example consist of a vibrating mirror or a rotating mirror prism. It is essential that the pivot axis 21 of the scanner top 20 coincides with the axis of the 6-sided prism formed from the glass plates 2, so that the aberrations and signal amplitude disturbances caused by the joints of the glass plates 2 are minimized. By using an adhesive having substantially the same refractive index as the glass plates 2, the disturbing effects of the prism edges can be further reduced.
    To compensate by the protective housing, to compensate for the remaining deviations resulting from unavoidable manufacturing tolerances, 6
    Pat. 0670, · *. , ·· # ···; ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ In the following procedure calibrate the laser scanner together with the associated protective housings.
    According to a first method, it is provided that, initially without using the protective housing upper part 1, a largely arbitrary reference space is measured or a number of reference targets are measured and the corresponding measurement results are stored as "true" 3D data or point clouds in a memory become. In the following, then the (optically effective) protective housing upper part 1 is mounted. Without changing the location and with the identical device settings, the same reference space or the same reference targets are then measured. The results of this survey are stored as "apparent" 3D data or point clouds. Subsequently, a correction data set in the form of 3D data or a point cloud is determined from the "true" and the "apparent" 3D data or point clouds by subtraction. If the laser scanner is then used to measure any object, building or terrain, "real" data is generated from the immediate, "apparent" measurement results by linking with the 3D correction data or point clouds.
    The above method can be modified if a reference space is provided for calibrating the laser scanner, which is precisely measured with respect to a defined device location and whose structures are in the form of 3D data or point clouds as "true" data. In this case, the first step can be skipped. The laser scanner provided with the complete protective housing is attached to the defined location of the reference space. From the measured "apparent" values, the correction data set in the form of a 3D data set or a point cloud is calculated by subtracting the stored, known, "true" values. Contains the record of 7 5 10 15 20 25
    Pat. 0670 .......... RIEGk «Laser Measurement Systems ·····« «· · · · · · · ··································· · · · · · · · · · · «· · · · · · · · ·
    If there are not enough values in the reference room, intermediate values can be determined by extrapolation. The further course of action corresponds to the above.
    To avoid fogging the glass plates 2 or the laser scanner, the protective housing is generally sealed with an inert gas, e.g. filled with dried nitrogen. In order to keep the refractive index of the media within and outside of the protective case as equal as possible and thus avoid a deflection of the laser beams, one can od the housing with nitrogen. Like. "Flooding", which is ensured by a blow-off valve in the interior of the housing only a slight overpressure based on the external pressure prevails. In this case, however, the system must have a gas supply, since gas is lost during pressure fluctuations and must be supplemented accordingly. When using the system in high mountains, in airplanes or satellites, the setting of a very small pressure difference inside and outside the protective housing may not always be possible because the low pressure inside the housing greatly reduces the cooling effect. In such cases it may be necessary to operate the device with a much higher internal pressure. Since then the media inside and outside of the housing have a different density, it comes to the passage of the laser beams through the glass plates 2 of the upper housing part 1 to a deflection of the laser beams. Due to the lower density of the medium outside the protective housing results in a higher speed of light. Since the laser rangefinder of the scanner is calibrated under normal atmospheric pressure, there are also deviations in the measured removal values. To compensate for the angular and the Entfemungsabweichungen 8 pressure and possibly also temperature sensors are mounted inside the protective housing lower part. Further sensors are located outside the protective housing, for example on the 8 30th
    Pat. 0670 .......... RJ £ GL * jLaser Measurement Systems * · · · · · · · *
    • 4 ·· · · «4 * 4 ·« |
    Base 10. These values are used to calculate appropriate 3D correction datasets or point clouds, which are added to the device-related correction datasets and allow both device-related and environmental-related datum deviations to be compensated.
    The invention is not limited to the example described above. For example, the 6-sided, regular prism constructed of the flat glass plates 2 may be replaced with a prism of a different number of surfaces. If the horizontal measuring angle φ is limited, corresponding surfaces 2 made of a non-transparent material can be used. The glass upper part of the protective housing can also be cylindrical or spherical instead of prismatic.
    The computer for calculating and storing the 3D correction data and for linking the same to the measured values may be arranged externally or in the protective housing, preferably in the base 10.
    The calibration of the protective housing and the laser scanner can be made at the factory, but it may also be appropriate to carry out the calibration at the respective place of use.
    Horn, on 23.03.2012 RIEGL
    Laser Measurement Systems GmbH 9
    权利要求:
    Claims (9)
    [1]
    10 15 20 25 Pat 0670

    RiEGL · Laser Measurement Systems RIEGL Laser Measurement Systems GmbH HORN PATENT CLAIMS 1. A laser scanner incorporating a laser rangefinder according to a signal transit time method Transmitting device for emitting laser beams, esp. Of laser pulses and a receiving device for receiving laser radiation, which has been reflected by objects located in the target area, further comprising an evaluation device that determines removal values from the running time of the received laser signals and with a scanning device for deflecting the optical axes of the transmitting and receiving device in preferably two orthogonal directions, wherein between the scanning device and the target objects optically active elements, such as glass body, are arranged, which are fixed with respect to the laser beam, so that this Beam sweeps different areas of the optically active elements and out a removal value, the deflection angles of the scanning device and possibly the amplitude of the received signal existing measured values affect which measured values and in their entirety, a 3D data set, or a corresponding point cloud define, characterized in that means are provided which comprise a data memory in which correction values are stored for the different spatial angles defined by the scan directions (α, φ) and by linking the respective measurement wheels with the associated co-correction values local r 1 p. 0670 .......... RIEGL Laser Measurement Systems ·· * ···· * · v * · · ♦ ♦ ············································································ · »* · Abnormalities between the scanning device and the target objects arranged, fixed, optically effective elements can be compensated.
    [2]
    2. Laser scanner according to claim 1, characterized in that the correction values stored in the memory for compensation of distortion correction vectors and / or for compensation of measurement errors include correction values for the measured removal values and / or correction values for the measured value amplitudes.
    [3]
    3. Laser scanner according to claim 1 or 2, characterized in that, the laser scanner (3) in a, at least partially made of glass protective housing (1.8) is arranged, the glass walls as a flat plates (2), prismatic , Pyramiden- or pyramidal stump-shaped, cylindrical or spherical and optically active.
    [4]
    4. Laser scanner according to claim 3, characterized in that the protective housing (1,8) comprises at least parts of a regular, preferably 6-sided, prism.
    [5]
    5. laser scanner according to claim 4, characterized in that the glass prism surfaces of the protective housing from plane-parallel, flat glass plates (2) consist, which are welded or glued along the prism edges.
    [6]
    6. Laser scanner according to claim 5, characterized in that, 2 Pat. 0670 »** .. **. *** i. **. i E E as as as as er er Systems Systems Systems »» »» »» »» »» »» »» IM IM IM IM IM IM IM IM IM IM ·· "the surfaces of the glass plates (2) to be welded or glued are ground at an angle such that joints of minimal width with respect to the laser beam (22) result.
    [7]
    7. A method for processing measurement results of laser scanners according to one of the patent claims 1 to 6, characterized in that in a first step without the interposition of the optically active elements, for example without a glass protective housing (1), a reference space or reference targets be measured and these "true" 3D data or point clouds stored in a memory and in a second step, the same reference space or the same reference targets with identical settings of the laser scanner (3) as in the first step measurement but with interposition the optically active elements, for example, using a glass protective housing (1) is measured and these "apparent" 3D data or point clouds are stored and in a third step from the "true" and the "apparent" 3D data or Point cloud correction data in the form of 3D data or point clouds can be determined and below from any "apparent" measurement results are generated by linking with the 3D correction data or point clouds "true" data.
    [8]
    8. A method for processing measurement results of laser scanners according to one of the patent claims 1 to 6, characterized in that in a first step, a reference space with reference targets of known configuration is provided, the 3 Pat. 0670, ··. . · *. ** ·; . "GiEQE ^ aser Measurement Systems • · tt · ft ft ·· ft ···· · * * ft *« · · ················································· second step with the laser scanner (3) with interposition of the optically active elements (1) is measured and in a third step from the defined by the known reference space "true" and the measured, "apparent" 3D data or point clouds, if necessary be determined by interpolation of intermediate values, correction data in the form of 3D data or point clouds and are generated in the following from any "apparent" measurement results by linking with the 3D correction data or point clouds "true" data.
    [9]
    9. A method for processing measurement results of laser scanners according to one of the patent claims 1 to 8, characterized in that in a laser scanner with an at least partially transparent protective housing, which contains a medium having a refractive index, which of the medium outside the protective housing As a result, correction data for the scan angles and the measured removal values are calculated, which are linked with the measured "apparent" values to "true" 3D data records or point clouds. Horn, on 23.03.2012 RIEGL Laser Measurement Systems GmbH 4
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    同族专利:
    公开号 | 公开日
    AT512768B1|2017-01-15|
    引用文献:
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    US20050110977A1|2003-11-26|2005-05-26|Labelle John|Rangefinder and method for collecting calibration data|
    JP2006224652A|2005-01-20|2006-08-31|Noritsu Koki Co Ltd|Laser exposure system|
    EP2299234A1|2009-09-18|2011-03-23|Mitutoyo Corporation|Tracking type laser gauge interferometer|DE102018106083B4|2017-03-23|2020-06-04|GM Global Technology Operations LLC|HEAT SINK AND CLEANING DEVICE|
    EP3792653A1|2019-09-12|2021-03-17|Riegl Laser Measurement Systems GmbH|Laser scanner|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA372/2012A|AT512768B1|2012-03-28|2012-03-28|Laser Scanner|ATA372/2012A| AT512768B1|2012-03-28|2012-03-28|Laser Scanner|
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