Three-dimensional scanning distance measuring device and method

A technology of three-dimensional scanning and ranging devices, which is applied in the direction of measuring devices, optical devices, instruments, etc., can solve problems such as complex structures of three-dimensional laser scanners, improve frame rate and point cloud density, improve frame rate and pixel resolution The effect of improving the accuracy of distance measurement

Active Publication Date: 2021-03-16
CHINA SCI PHOTON CHIP HAINING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a three-dimensional scanning ranging device and method to solve the technical problem of complex structure of the three-dimensional laser scanner in the prior art

Method used

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  • Three-dimensional scanning distance measuring device and method
  • Three-dimensional scanning distance measuring device and method

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Embodiment 1

[0031] An embodiment of the present invention provides a three-dimensional scanning ranging device, such as figure 1 As shown, the device includes: an optical scanning chip 1, a focusing lens 2, a light receiving element 3 and a microprocessor, and the optical scanning chip 1 is used to sequentially scan and output a line spot of multiple angles onto the object to be measured; the focusing lens 2 is used to sequentially focus multiple light beams reflected by the object to be measured under the irradiation of multiple one-line light spots; the light receiving element 3 is used to sequentially receive multiple light beams focused by the focusing lens 2 to obtain multiple images containing bright spots image; the microprocessor is connected to the light-receiving element 3, and is used to receive multiple images containing bright spots. The image of the spot is analyzed to obtain the three-dimensional point cloud of the object to be measured. Among them, images containing light...

Embodiment 2

[0039] An embodiment of the present invention provides a three-dimensional scanning ranging method, such as image 3 As shown, the method includes the following steps:

[0040] Step S101: Sequentially scan and output one-line spots of multiple scanning angles to irradiate the object to be tested; in one embodiment, an optical scanning chip can be used to scan back and forth vertical one-line spots in the horizontal direction, wherein the light scanning The chip can choose any one of optical phased array, optical switch, and MEMS optical scanning mirror.

[0041] Step S102: Receive multiple light beams reflected by the object to be measured under the irradiation of multiple inline light spots and focus them sequentially; specifically, a focusing lens can be used to receive multiple light beams reflected by the object to be measured under the irradiation of multiple inline light spots For focusing, other elements may also be used to achieve focusing of the light beam, which is ...

Embodiment 3

[0052] An embodiment of the present invention provides a three-dimensional scanning ranging method, which is divided into two processes of calibration and measurement. Wherein, the first relationship between the position of the light spot and the depth of the object is firstly determined through calibration, and then the depth of the object to be measured is measured by using the first relationship.

[0053] In one embodiment, y=f(a0,a1,...an,x) is used to describe the nonlinear relationship between the bright spot position x and the object depth y, and there are n constants to be determined in this relationship, and these n Constants can be obtained by distance calibration. That is, by actually measuring n y-values ​​and x-values, an equation system of n equations is formed to solve the values ​​of a0~an. Since too many constants will increase the complexity of the calibration, n=3 can be selected. In a specific implementation, the relationship between x and y can be descri...

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Abstract

The invention discloses a three-dimensional scanning distance measuring device and method; and the device comprises an optical scanning chip, a focusing lens, an optical receiving element, and a microprocessor, and the optical scanning chip is used for sequentially scanning and outputting linear light spots at a plurality of angles to a to-be-measured object; the focusing lens is used for sequentially focusing a plurality of light beams reflected by the to-be-measured object under the irradiation of the plurality of linear light spots; the optical receiving element is used for sequentially receiving the plurality of light beams focused by the focusing lens to obtain a plurality of images containing bright spots; and the microprocessor is used for analyzing the plurality of images containing the bright spots according to different scanning angles and a first relationship between the bright spots and the depth of the to-be-measured object under different row pixels to obtain a three-dimensional point cloud of the to-be-measured object. By implementing the three-dimensional scanning distance measuring device and method, the optical scanning chip is used for scanning the linear light spots and analyzing the light spots in the optical receiving element, so that a mechanical rotary scanning component is omitted, the function of the three-dimensional solid-state laser radar is realized, and relatively good distance measurement precision is obtained in short-distance distance measurement.

Description

technical field [0001] The invention relates to the field of depth measurement, in particular to a three-dimensional scanning ranging device and method. Background technique [0002] The three-dimensional laser scanner scans the measured object by emitting laser light to obtain the three-dimensional coordinates of the surface of the measured object. 3D laser scanning technology, also known as real scene replication technology, has the advantages of high efficiency and high precision measurement. Three-dimensional laser scanning is another technological revolution in the field of surveying and mapping since GPS technology. 3D laser scanners are widely used in structural measurement, architectural measurement, shipbuilding, railway and engineering construction and other fields. In recent years, 3D laser scanners have developed from fixed to mobile. The most representative one is the vehicle-mounted 3D laser scanner. Scanner and onboard 3D lidar. However, the current 3D lase...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00G01B11/22
CPCG01B11/002G01B11/22G01B11/2513
Inventor 刘敬伟李文玲韦钟辉
Owner CHINA SCI PHOTON CHIP HAINING TECH CO LTD
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