CN109059799A - A kind of laser 3 d scanner and its scan method and scan controller - Google Patents
A kind of laser 3 d scanner and its scan method and scan controller Download PDFInfo
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- CN109059799A CN109059799A CN201810433647.1A CN201810433647A CN109059799A CN 109059799 A CN109059799 A CN 109059799A CN 201810433647 A CN201810433647 A CN 201810433647A CN 109059799 A CN109059799 A CN 109059799A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a kind of laser 3 d scanner and its scan method and scan controllers, are scanned scanning area with the second measured value of the first measured value of corresponding acquisition M group and N group with pulse type laser scan module this method comprises: phase type laser scanning module is respectively started；Wherein, M, N are natural number；First measured value of M group and the second measured value of N group are analyzed, corresponding calculating penalty coefficient is worth on the basis of first measured value, and penalty coefficient mean value is calculated to whole penalty coefficients；And the starting pulse type laser scan module is scanned the scanning area with maximum speed to obtain third measured value, and is compensated the third measured value to obtain revised scanning result using the penalty coefficient mean value.Through the invention, laser 3 d scanner scanning speed with higher in the case where guaranteeing measurement accuracy is realized.
Description
Technical field
The present invention relates to the Airborne Laser Scan field more particularly to a kind of laser 3 d scanner and its scan methods
And scan controller.
Background technique
Laser ranging is to use a laser as detection wave beam, measures the linear measure longimetry of reflecting surface range transmission point absolute distance
Instrument.Laser ranging has many advantages, such as non-cpntact measurement, measuring accuracy height, high resolution, strong antijamming capability, in various surveys
Amount industry in be widely used, in military field, or scientific experimentation, construction production, in terms of, all
It plays an important role.
According to laser distance measuring principle, pulsed and two kinds of phase type can be divided into:
(1) phase laser distance measurement principle is by measuring the laser signal of modulation roundtrip propagation institute shape on testing distance
At phase shift, measure the laser propagation time indirectly, further according to laser propagation speed, find out testing distance.
(2) pulse type laser range measurement principle is that the laser by launching is connect by rangefinder again after object being measured reflects
Receipts, rangefinder while recording laser round-trip time, the half of the light velocity and the product of two-way time is exactly rangefinder and is measured
The distance between object.
In some special applications, farther away measurement distance was both needed, to find, detect several kilometers in time
Outer distant object, and the detection accuracy with higher in short range is needed, to carry out being accurately controlled operation.Conventional swashs
Optar, all only a kind of distance measurement mode are not able to satisfy current measurement demand: pulsed measurement range is remote but short range have it is blind
Area, precision are low；Phase sends out range accuracy height, and measurement range is small.In the prior art in order to solve technical problem as above, measuring
Two sets of rangefinders are integrated in system, carry out pulsed, phase shift rangefinder respectively, but still can not solve the measurement of short distance small range
When the not high technical problem of scanning speed.
Summary of the invention
The purpose of the present invention is to provide a kind of laser 3 d scanner and its scan method and scan controllers, with reality
Existing laser 3 d scanner scanning speed with higher in the case where guaranteeing measurement accuracy.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of laser three-dimensional scanning side is provided
Method, which comprises phase type laser scanning module and pulse type laser scan module is respectively started, scanning area is carried out
Scanning obtains the first measured value of M group and the second measured value of N group with corresponding；Wherein, M, N are natural number；The M group first is surveyed
Magnitude and the second measured value of N group are analyzed, and corresponding calculating penalty coefficient are worth on the basis of first measured value, and to whole
Penalty coefficient calculates penalty coefficient mean value；And start the pulse type laser scan module with maximum speed to the scanning area
Domain is scanned to obtain third measured value, and is compensated the third measured value to obtain using the penalty coefficient mean value
To revised scanning result.
Wherein, first measured value of M group and the second measured value of N group are analyzed, using first measured value as base
Quasi- value is corresponding to calculate penalty coefficient, and calculates penalty coefficient mean value to whole penalty coefficients, specifically includes: to the M group first
Measured value (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z
’2)…(X’n, Y 'n, Z 'n) analyzed, second measured value of N group is same with the X of first measured value of M group, Y value respectively
When compare, to filter out M group second measured value close with first measured value；Wherein, predetermined number is less than according to difference value
Value judges whether the first measured value approaches with the second measured value；The M for extracting first measured value of M group respectively and filtering out
Z coordinate value in the second measured value of group, obtains (Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m)；Using described in the calculating of following formula
Penalty coefficient Km=Zm-Zn m, wherein KmFor penalty coefficient；And to the obtained M penalty coefficient KmIt averages
To obtain penalty coefficient mean value K；Start the pulse type laser scan module to sweep the scanning area with maximum speed
It retouches to obtain third measured value, and after being compensated the third measured value to obtain amendment using the penalty coefficient mean value
Scanning result, specifically include: starting the pulse type laser scan module and the scanning area is swept with maximum speed
It retouches to obtain third measured value；It is compensated using Z coordinate of the penalty coefficient mean value K to the third measured value, with
To revised scanning result.
Wherein, first measured value of M group and the second measured value of N group are analyzed, using first measured value as base
Quasi- value is corresponding to calculate penalty coefficient, and calculates penalty coefficient mean value to whole penalty coefficients, specifically includes: to the M group first
Measured value (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z
’2)…(X’n, Y 'n, Z 'n) analyzed, second measured value of N group is same with the X of first measured value of M group, Y value respectively
When compare, to filter out M group second measured value close with first measured value；Wherein, predetermined number is less than according to difference value
Value judges whether the first measured value approaches with the second measured value；The M for extracting first measured value of M group respectively and filtering out
Z coordinate value in the second measured value of group, obtains (Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m)；It is calculated using least square method
(Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation relation；Start the pulse type laser scan module with maximum speed
The scanning area is scanned to obtain third measured value, and using the penalty coefficient mean value to the third measured value
It compensates to obtain revised scanning result, specifically includes: starting the pulse type laser scan module with maximum speed
The scanning area is scanned to obtain third measured value；The Z of the third measured value is calculated according to the transformation relation
Coordinate obtains revised scanning result to be converted to obtain transformed Z coordinate.
Wherein, phase type laser scanning module is respectively started to be scanned scanning area with pulse type laser scan module
Obtain the first measured value of M group and the second measured value of N group with corresponding, specifically include: be respectively started phase type laser scanning module and
Pulse type laser scan module is scanned the target in scanning area, obtains M group respectively with each target of correspondence
One measured value (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z
’2)…(X’n, Y 'n, Z 'n)；Wherein, the scanning area preselects several positions and is correspondingly arranged a target.
Wherein, first measured value of M group and the second measured value of N group are analyzed, using first measured value as base
Quasi- value is corresponding to calculate penalty coefficient, and calculates penalty coefficient mean value to whole penalty coefficients, specifically includes: to the same target
Corresponding first measured value and the second measured value are analyzed, and the first measured value and second for extracting the same target respectively are surveyed
X, Y, the Z coordinate of magnitude, obtain: (X1, X2…XN) and (X '1, X '2…X’N)；(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1,
Z2…ZN) and (Z '1, Z '2…Z’N)；Penalty coefficient is calculated using following formula, is respectively as follows: KX=X-X ', KY=Y-Y ', KZ=Z-
Z ', wherein KX、KY、KZThe penalty coefficient of respectively X, Y, Z coordinate value；Respectively to N number of penalty coefficient KX、KY、KZIt is averaging
Value is to obtain penalty coefficient mean value KX、KY、KZ；Start the pulse type laser scan module with maximum speed to the scanning area
Domain is scanned to obtain third measured value, and is compensated the third measured value to obtain using the penalty coefficient mean value
It to revised scanning result, specifically includes: starting the pulse type laser scan module with maximum speed to the scanning area
Domain is scanned to obtain third measured value；Utilize the penalty coefficient mean value KX、KY、KZTo X, Y, Z of the third measured value
Coordinate compensates respectively, to obtain revised scanning result.
Wherein, first measured value of M group and the second measured value of N group are analyzed, using first measured value as base
Quasi- value is corresponding to calculate penalty coefficient, and calculates penalty coefficient mean value to whole penalty coefficients, specifically includes: to the same target
Corresponding first measured value and the second measured value are analyzed, and the first measured value and second for extracting the same target respectively are surveyed
X, Y, the Z coordinate of magnitude, obtain: (X1, X2…XN) and (X '1, X '2…X’N)；(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1,
Z2…ZN) and (Z '1, Z '2…Z’N)；(X is calculated using least square method1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN)
With (Y '1, Y '2…Y’N), (Z1, Z2…ZN) and (Z '1, Z '2…Z’N) between transformation relation；Start the pulse type laser to sweep
It retouches module to be scanned the scanning area with maximum speed to obtain third measured value, and utilizes the penalty coefficient mean value
The third measured value is compensated to obtain revised scanning result, is specifically included: starting the pulse type laser and sweeps
It retouches module and the scanning area is scanned with maximum speed to obtain third measured value；Institute is calculated according to the transformation relation
X, Y, the Z coordinate of third measured value are stated, to be converted to obtain transformed X, Y, Z coordinate, obtains revised scanning result.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of laser three-dimensional scanning
Instrument, including phase type laser scanning module, pulse type laser scan module and control module；The control module is used for: point
Not Qi Dong phase type laser scanning module scanning area is scanned with corresponding acquisition M group with pulse type laser scan module
The second measured value of one measured value and N group；Wherein, M, N are natural number；To first measured value of M group and the second measured value of N group
It is analyzed, corresponding calculating penalty coefficient is worth on the basis of first measured value, and compensation system is calculated to whole penalty coefficients
Number mean value；And the starting pulse type laser scan module is scanned the scanning area with maximum speed to obtain the
Three measured values, and the third measured value is compensated using the penalty coefficient mean value to obtain revised scanning knot
Fruit.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of laser three-dimensional scanning
Control device, described device include: start unit, are scanned for phase type laser scanning module and pulse type laser to be respectively started
Module is scanned scanning area and obtains the first measured value of M group and the second measured value of N group with corresponding；Wherein, M, N are nature
Number；Computing unit is with first measured value for analyzing first measured value of M group and the second measured value of N group
A reference value is corresponding to calculate penalty coefficient, and calculates penalty coefficient mean value to whole penalty coefficients；And compensating unit, for institute
It states start unit and is again started up the pulse type laser scan module and acquisition is scanned to the scanning area with maximum speed
Third measured value, the third measured value is compensated using the penalty coefficient mean value to obtain revised scanning knot
Fruit.
Wherein, the computing unit is used for: to the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym,
Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by the N group
Two measured values are compared with the X of first measured value of M group, Y value simultaneously respectively, close with first measured value to filter out
The second measured value of M group；Wherein, predetermined value is less than according to difference value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, obtains (Z1, Z2...,
Zm) and (Zn 1, Zn..., Zn m)；The penalty coefficient K is calculated using following formulam=Zm-Zn m, wherein KmFor penalty coefficient；With
And to the obtained M penalty coefficient KmIt averages to obtain penalty coefficient mean value K；The compensating unit is used for:
The start unit starting impulse formula laser scanning module is triggered to be scanned to obtain scanning area with maximum sweep rate
Third measured value；And compensated using Z coordinate of the penalty coefficient mean value K to the third measured value, to be repaired
Scanning result after just.
Wherein, the computing unit is used for: to the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym,
Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by the N group
Two measured values are compared with the X of first measured value of M group, Y value simultaneously respectively, close with first measured value to filter out
The second measured value of M group；Wherein, predetermined value is less than according to difference value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, obtains (Z1, Z2...,
Zm) and (Zn 1, Zn..., Zn m)；(Z is calculated using least square method1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation close
System；The compensating unit is used for: triggering the start unit starting impulse formula laser scanning module with maximum sweep rate to sweeping
Region is retouched to be scanned to obtain third measured value；And the Z coordinate of the third measured value is calculated according to the transformation relation,
To be converted to obtain transformed Z coordinate, revised scanning result is obtained.
Wherein, the scanning area preselects several positions and is correspondingly arranged a target；The start unit is for dividing
Not Qi Dong phase type laser scanning module the target in scanning area is scanned with pulse type laser scan module, with correspondence
Each target obtains the first measured value of M group (X respectively1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the measurement of N group second
It is worth (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
Wherein, the computing unit is used for: being carried out to corresponding first measured value of the same target and the second measured value
Analysis, extracts the first measured value of the same target and X, Y, the Z coordinate of the second measured value respectively, obtains: (X1, X2…XN)
With (X '1, X '2…X’N)；(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；Using as follows
Formula calculates penalty coefficient, is respectively as follows: KX=X-X ', KY=Y-Y ', KZ=Z-Z ', wherein KX、KY、KZRespectively X, Y, Z coordinate
The penalty coefficient of value；Respectively to N number of penalty coefficient KX、KY、KZIt averages to obtain penalty coefficient mean value KX、KY、KZ；Institute
It states compensating unit to be used for: triggering the start unit starting impulse formula laser scanning module with maximum sweep rate to scanning area
It is scanned to obtain third measured value；And utilize the penalty coefficient mean value KX、KY、KZTo the X of the third measured value,
Y, Z coordinate compensates respectively, to obtain revised scanning result.
Wherein, the computing unit is used for: being carried out to corresponding first measured value of the same target and the second measured value
Analysis, extracts the first measured value of the same target and X, Y, the Z coordinate of the second measured value respectively, obtains: (X1, X2…XN)
With (X '1, X '2…X’N)；(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；Utilize minimum
Square law calculates (X1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN) and (Y '1, Y '2…Y’N), (Z1, Z2…ZN) with
(Z’1, Z '2…Z’N) between transformation relation；The compensating unit is used for: being triggered the start unit starting impulse formula laser and is swept
It retouches module and scanning area is scanned with maximum sweep rate to obtain third measured value；And according to the transformation relation meter
X, Y, the Z coordinate of the third measured value are calculated, to be converted to obtain transformed X, Y, Z coordinate, obtains revised scanning
As a result.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of laser three-dimensional scanning
Instrument, including phase type laser scanning circuit, pulse type laser scanning circuit, measurement process module, display module and control mould
Block；The input terminal of the input terminal of the phase type laser scanning circuit and the pulse type laser scanning circuit with the control
The output end connection of molding block, the output end of the phase type laser scanning circuit and the pulse type laser scanning circuit
Output end is connect with the input terminal of the measurement process module, and the input terminal of the display module is defeated with the control module
Outlet connection, the output end of the measurement process module are connect with the input terminal of the control module；The measurement process module
Including compensation circuit, arithmetic unit and memory, the control module includes control circuit and master control borad；The input of the memory
End is connect with the output end of the output end of the phase type laser scanning circuit and the pulse type laser scanning circuit, described
The output end of memory is connect with the compensation circuit, the arithmetic unit respectively, the output end of the arithmetic unit and the compensation
The input terminal of circuit connects；The input terminal of the master control borad is connect with the output end of the compensation circuit, the master control borad it is defeated
Outlet is also connect with the input terminal of the control circuit, the display module respectively, and the output end of the control circuit is also distinguished
It is connect with the input terminal of the input terminal of the phase type laser scanning circuit, the pulse type laser scanning circuit.
The beneficial effects of the present invention are: being in contrast to the prior art, a kind of laser three-dimensional scanning provided by the invention
Instrument and its scan method and scan controller, on same scanner simultaneously Pulse-width modulation formula 3 D laser scanning and phase
Formula laser scanning sets a few place's targets, while surveying to region using pulsed and phase in the region for needing to scan
Amount；For same target, the measurement result of impulse method and phase method is analyzed, on the basis of the higher phase method of precision,
The measured value of impulse method is compensated, and obtains the penalty coefficient at the target；The penalty coefficient that different targets are obtained into
Row weighted calculation is obtained penalty coefficient mean value, and is mended using the result that penalty coefficient mean value measures pulsed mensuration
Calculating is repaid, obtains revised scanning result.By compensating calibration to pulsed laser scanning data, so that entirely
Scanning has pulsed scanning speed, there is the precision for having had both phase type scanning.
Detailed description of the invention
Fig. 1 is the flow diagram of the laser three-dimensional scanning method in first embodiment of the invention；
Fig. 2 is the flow diagram of the laser three-dimensional scanning method in second embodiment of the invention；
Fig. 3 is the flow diagram of the laser three-dimensional scanning method in third embodiment of the invention；
Fig. 4 is the flow diagram of the laser three-dimensional scanning method in four embodiment of the invention；
Fig. 5 is the flow diagram of the laser three-dimensional scanning method in fifth embodiment of the invention；
Fig. 6 is the structural schematic diagram of the laser 3 d scanner in first embodiment of the invention；
Fig. 7 is the structural schematic diagram of the laser 3 d scanner in second embodiment of the invention.
Specific embodiment
To facilitate the understanding of the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail
It is bright.
Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to
The normally understood meaning of the technical staff in domain is identical.Used term is only in the description of the invention in this specification
The purpose of description specific embodiment is not intended to the limitation present invention.Term "and/or" used in this specification includes
Any and all combinations of one or more related listed items.
Referring to Fig. 1, for the flow diagram of the laser three-dimensional scanning method in first embodiment of the invention.This method
Applied to the laser 3 d scanner including phase type laser scanning module and pulse type laser scan module, to pass through laser three
Error is compensated using measured value to the faster pulse type laser Scan Architecture of scanning speed in dimension scanner, is swashed to improve
Light spatial digitizer scanning speed with higher in the case where guaranteeing measurement accuracy.A kind of laser three-dimensional scanning method, packet
Include following steps:
Step S10 is respectively started phase type laser scanning module and pulse type laser scan module and carries out to scanning area
Scanning obtains the first measured value of M group and the second measured value of N group with corresponding；Wherein, M, N are natural number.
Specifically, phase type laser scanning module and pulse type laser scan module can be rotated horizontally around plumb line 360 ° into
Row scanning, can also move up and down along plumb line and be scanned, and while can also moving up and down along plumb line, rotate horizontally and carry out
Scanning.
Scan module rotates horizontally one week, and phasescan instrument and pulse scanner respectively obtain M and N number of coordinate point data point
Not are as follows:
(X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm)；
(X’1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)；
Due to the scan characteristic of phase type laser scanning module and pulse type laser scan module, scanning result number is determined
According to amount, that is, M < < N.
Step S11, analyzes first measured value of M group and the second measured value of N group, is with first measured value
A reference value is corresponding to calculate penalty coefficient, and calculates penalty coefficient mean value to whole penalty coefficients.
Step S12, start the pulse type laser scan module with maximum speed to the scanning area be scanned with
Third measured value is obtained, and the third measured value is compensated to obtain revised sweep using the penalty coefficient mean value
Retouch result.
Specifically, scanning area is scanned and obtains the first measured value of M group and the second measured value of N group, can usually led to
The following two kinds mode is crossed to carry out:
(1) target is not set up in scanning area: phase type laser scanning module is then respectively started and pulse type laser scans
Module is scanned scanning area, directly acquires the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and N
The second measured value (X ' of group1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
(2) several positions are preselected in scanning area, and a target is arranged in corresponding each position: phase is then respectively started
Formula laser scanning module is scanned scanning area with pulse type laser scan module, is obtained respectively with each target of correspondence
Obtain the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1, Z '1),
(X’2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
It will be directed to both scanning modes below, laser three-dimensional scanning method will be illustrated respectively in conjunction with attached drawing.
Referring to Fig. 2, for the flow diagram of the laser three-dimensional scanning method in second embodiment of the invention.This method
Laser three-dimensional scanning is carried out in the case where applied to " not setting up target in scanning area ", is specifically comprised the following steps:
Step S20 is respectively started phase type laser scanning module and pulse type laser scan module and carries out to scanning area
Scanning obtains the first measured value of M group and the second measured value of N group with corresponding.
Wherein, M, N are natural number.
Step S21, to the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the survey of N group second
Magnitude (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with
First measured value of M group compares, to filter out M group second measured value close with first measured value.
Wherein, predetermined value is less than according to difference value and judges whether the first measured value approaches with the second measured value.
Specifically, scanning result data are compared, it is right in the N group data that pulse type laser scan module obtains
The M group data obtained with phase type laser scanning module, every group of immediate coordinate value of data (X, Y) value should be found.
Step S22 extracts the Z coordinate in first measured value of M group and second measured value of M group that filters out respectively
Value, obtains (Z1, Z2..., Zm) and (Zn 1, Zn 2..., Zn m)。
Step S23 calculates the penalty coefficient K using following formulam=Zm-Zn m.Wherein, KmFor penalty coefficient.
Step S24, to the obtained M penalty coefficient KmIt averages to obtain penalty coefficient mean value K.
Specifically, Z is utilized1-Zn 1=K1, Z2-Zn 2=K2... Zm-Zn m=Km, (the K that will obtain1, K2... Km) have M altogether
Value, averages, can be by calculating arithmetic average, geometric mean, mean square, harmonic-mean, weighting
Average value obtains penalty coefficient mean value K.
Step S25, start the pulse type laser scan module with maximum speed to the scanning area be scanned with
Obtain third measured value.
Step S26 is compensated using Z coordinate of the penalty coefficient mean value K to the third measured value, to be repaired
Scanning result after just.
Specifically, after obtaining penalty coefficient mean value K, then individually scanning area is carried out using pulse type laser scan module
Scanning, both scan velocity modulation is maximum, and all result data Z coordinates that pulse type laser scan module is scanned are all corresponding to be added
Upper K plays the effect of compensation correction.
Further, referring to Fig. 3, the M group second measurement extracting first measured value of M group respectively and filtering out
Z coordinate value in value, obtains (Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m) after, this method further include:
Step S33 calculates (Z using least square method1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation relation.
Step S34, start the pulse type laser scan module with maximum speed to the scanning area be scanned with
Obtain third measured value.
Step S35 calculates the Z coordinate of the third measured value, according to the transformation relation to be converted
Z coordinate afterwards obtains revised scanning result.
Referring to Fig. 4, for the flow diagram of the laser three-dimensional scanning method in four embodiment of the invention.This method
Laser three is carried out in the case where applied to " preselect several positions and corresponding each position in scanning area and a target is arranged "
Dimension scanning, specifically comprises the following steps:
Step S40 is respectively started phase type laser scanning module and pulse type laser scan module and carries out to scanning area
Scanning, obtains the first measured value of M group (X with each target of correspondence respectively1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and N
The second measured value (X ' of group1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
Step S41, analyzes corresponding first measured value of the same target and the second measured value, extracts respectively same
First measured value of one target and X, Y, the Z coordinate of the second measured value, that is, (X1, X2…XN) and (X '1, X '2…X’N)；
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)。
Step S42 calculates penalty coefficient using following formula, is respectively as follows: KX=X-X ', KY=Y-Y ', KZ=Z-Z ',
In, KX、KY、KZThe penalty coefficient of respectively X, Y, Z coordinate value.
Specifically, 360 ° of regions to be scanned are uniformly divided into H (1~36000) part, every part of region labeling h (1~
5000000) a mark point.
For example, phase type laser scanning module and pulse type laser scan module rotate horizontally as H=3, h=2
One week, the mark point coordinate value (X, Y, Z) in every part of region was measured respectively.
Assuming that it is (X that phase type laser scanning module, which measures the 1st coordinate, in the 1st part of region1-1, Y1-1, Z1-1), the 2nd point
Coordinate is (X1-2, Y1-2, Z1-2), the 3rd coordinate is (X1-3, Y1-3, Z1-3)；Pulse type laser scan module measures first coordinate
For (X '1-1, Y '1-1, Z '1-1), the 2nd coordinate is (X '1-2, Y '1-2, Z '1-2), the 3rd coordinate is (X '1-3, Y '1-3, Z '1-3)。
In the 2nd part of region, it is (X that phase type laser scanning module, which measures first coordinate,2-1, Y2-1,Z2-1), the 2nd point of seat
It is designated as (X2-2, Y2-2,Z2-2), the 3rd coordinate is (X2-3, Y2-3,Z2-3)；Pulse type laser scan module measures first coordinate
(X’2-1, Y '2-1,Z’2-1), the 2nd coordinate is (X '2-2, Y '2-2,Z’2-2), the 3rd coordinate is (X '2-3, Y '2-3, Z '2-3)。
Utilize X1-1-X’1-1=Kx 1-1, Y1-1-Y’1-1=Ky 1-1, Z1-1-Z’1-1=Kz 1-1, and so on, it obtains:
(Kx 1-1, Ky 1-1, Kz 1-1), (Kx 1-2, Ky 1-2, Kz 1-2), (Kx 1-3, Ky 1-3, Kz 1-3), (Kx 2-1, Ky 2-1, Kz 2-1),
(Kx 2-2, Ky 2-2, Kz 2-2), (Kx 2-3, Ky 2-3, Kz 2-3)。
Step S43, respectively to N number of penalty coefficient KX、KY、KZIt averages to obtain penalty coefficient mean value KX、KY、
KZ。
It specifically, can be by calculating arithmetic average, geometric mean, mean square, harmonic-mean, weighting and put down
Mean value obtains penalty coefficient mean value K.
The method one: (K that will be obtainedx 1-1, Kx 1-2, Kx 1-3, Kx 2-1, Kx 2-2, Kx 2-3) have 6 values altogether, it averages, asks
The method of average value can have arithmetic average, geometric mean, mean square, harmonic-mean, weighted average, obtain
KX, similarly, obtain KY、KZ。
Method two: by first area data (Kx 1-1, Kx 1-2, Kx 1-3) averaging obtains Kx 1, similarly obtain Ky 1, Kz 1, will
Second area data (Kx 2-1, Kx 2-2, Kx 2-3) averaging obtains Kx 2, similarly obtain Ky 2, Kz 2。
Step S44, start the pulse type laser scan module with maximum speed to the scanning area be scanned with
Obtain third measured value.
Step S45 utilizes the penalty coefficient mean value KX、KY、KZTo X, Y of the third measured value, Z coordinate respectively into
Row compensation, to obtain revised scanning result.
The third measured value is compensated, corresponding calculating penalty coefficient mean value K as described above, comprising:
Method one: all result datas pulse type laser scan module will be stated scanned, it is all corresponding to add KX、KY、
KZ, play the effect of compensation correction.
Method two: all result datas pulse type laser scan module will be stated scanned, according to the regional scope of division,
Such as, just corresponding to add (K in region 1x 1, Ky 1, Kz 1), second area similarly, the effect of compensation correction is played with this.
Further, referring to Fig. 5, dividing corresponding first measured value of the same target and the second measured value
Analysis, extracts the first measured value of the same target and X, Y, the Z coordinate of the second measured value, that is, (X respectively1, X2…XN) with
(X’1, X '2…X’N)；(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)。
After completing step as above, this method further include:
Step S52 calculates (X using least square method1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN) and (Y '1,
Y’2…Y’N), (Z1, Z2…ZN) and (Z '1, Z '2…Z’N) between transformation relation.
Step S53, start the pulse type laser scan module with maximum speed to the scanning area be scanned with
Obtain third measured value；
Step S54 calculates X, Y, the Z coordinate of the third measured value according to the transformation relation, to be converted to obtain
Transformed X, Y, Z coordinate obtain revised scanning result.
Referring to Fig. 6, for the structural schematic diagram of the laser 3 d scanner in first embodiment of the invention.The laser three
Tieing up scanner 60 includes phase type laser scanning module 61, pulse type laser scan module 62 and control module 63.Wherein, should
Control module 63 includes start unit 631, computing unit 632 and compensating unit 633.
The start unit 631 is for being respectively started phase type laser scanning module and pulse type laser scan module to scanning
Region, which is scanned, obtains the first measured value of M group and the second measured value of N group with corresponding；Wherein, M, N are natural number；
The computing unit 632 is for analyzing first measured value of M group and the second measured value of N group, with described the
It is worth corresponding calculating penalty coefficient on the basis of one measured value, and penalty coefficient mean value is calculated to whole penalty coefficients；
The compensating unit 633 is used to be again started up the start unit pulse type laser scan module with maximum speed
Degree is scanned the third measured value of acquisition to the scanning area, using the penalty coefficient mean value to the third measured value
It compensates to obtain revised scanning result.
Specifically, which is used for:
To the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1,
Y’1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with the M group
One measured value compares, and screening control methods is while comparing X and Y value, to filter out the M group close with first measured value the
Two measured values；Wherein, predetermined value is less than according to difference value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, is obtained
(Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m)；
The penalty coefficient K is calculated using following formulam=Zm-Zn m, wherein KmFor penalty coefficient；And
To the obtained M penalty coefficient KmIt averages to obtain penalty coefficient mean value K；
The compensating unit 633 is specifically used for: triggering the start unit starting impulse formula laser scanning module and is swept with maximum
Speed is retouched to be scanned scanning area to obtain third measured value；And using the penalty coefficient mean value K to the third
The Z coordinate of measured value compensates, to obtain revised scanning result.
In another embodiment, further, which is also used to:
To the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1,
Y’1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with the M group
One measured value compares, and screening control methods is while comparing X and Y value, to filter out the M group close with first measured value the
Two measured values；Wherein, predetermined value is less than according to difference value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, is obtained
(Z1, Z2..., Zm) and (Zn 1, Zn..., Zn m)；
(Z is calculated using least square method1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation relation；
Correspondingly, which is specifically used for: trigger the start unit starting impulse formula laser scanning module with
Maximum sweep rate is scanned scanning area to obtain third measured value；And described the is calculated according to the transformation relation
The Z coordinate of three measured values obtains revised scanning result to be converted to obtain transformed Z coordinate.
In another embodiment, several positions are preselected in scanning area, and a target is arranged in corresponding each position,
Then the start unit 631 is also used to be respectively started phase type laser scanning module and pulse type laser scan module to scanning area
Interior target is scanned, and obtains the first measured value of M group (X respectively with each target of correspondence1, Y1, Z1), (X2, Y2, Z2)…
(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
Correspondingly, which is used for:
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same mark respectively
First measured value of target and X, Y, the Z coordinate of the second measured value, that is, (X1, X2…XN) and (X '1, X '2…X’N)；(Y1, Y2…YN)
With (Y '1, Y '2…Y’N)；(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)。
Penalty coefficient is calculated using following formula, is respectively as follows: KX=X-X ', KY=Y-Y ', KZ=Z-Z ', wherein KX、KY、
KZThe penalty coefficient of respectively X, Y, Z coordinate value；And
Respectively to N number of penalty coefficient KX、KY、KZIt averages to obtain penalty coefficient mean value KX、KY、KZ。
The compensating unit 633 is also used to: triggering the start unit starting impulse formula laser scanning module with maximum scan
Speed is scanned scanning area to obtain third measured value；And utilize the penalty coefficient mean value KX、KY、KZTo described
X, Y, the Z coordinate of third measured value compensate respectively, to obtain revised scanning result.
Further, which can also be to corresponding first measured value of the same target and the second measurement
Value is analyzed, and extracts the first measured value of the same target and X, Y, the Z coordinate of the second measured value respectively, that is, (X1,
X2…XN) and (X '1, X '2…X’N)；(Y1, Y2…YN) and (Y '1, Y '2…Y’N)；(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；With
And
(X is calculated using least square method1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN) and (Y '1, Y '2…Y
’N), (Z1, Z2…ZN) and (Z '1, Z '2…Z’N) between transformation relation.
Correspondingly, which is also triggered the start unit starting impulse formula laser scanning module and is swept with maximum
Speed is retouched to be scanned scanning area to obtain third measured value；And the third is calculated according to the transformation relation and is measured
X, Y, the Z coordinate of value obtain revised scanning result to be converted to obtain transformed X, Y, Z coordinate.
Referring to Fig. 7, being the laser three-dimensional scanning in second embodiment of the invention with the structural schematic diagram of instrument.The laser
Spatial digitizer 70 includes phase type laser scanning circuit 71, pulse type laser scanning circuit 72, measurement process module 73, display
Module 74 and control module 75.The input terminal of the phase type laser scanning circuit 71 and pulse type laser scanning circuit 72
Input terminal is connect with the output end of control module 75, the output end and pulse type laser of the phase type laser scanning circuit 71
The output end of scanning circuit 72 is connect with the input terminal of the measurement process module 73, the input terminal of the display module 74 and control
The output end of module 75 connects, and the output end of the measurement process module 73 is connect with the input terminal of control module 75.
Wherein, which includes: compensation circuit 731, memory 732 and arithmetic unit 733.The memory
The output end of 732 input terminal and the output end of phase type laser scanning circuit 71 and pulse type laser scanning circuit 72 connects
It connects, the output end of the memory 732 is connect with compensation circuit 731, arithmetic unit 733 respectively, the output end and benefit of the arithmetic unit 733
Repay the input terminal connection of circuit 731.
The control module 75 includes control circuit 751 and master control borad 752, wherein the input terminal and compensation electricity of master control borad 752
The output end on road 731 connects, and the output end of master control borad 752 also connects with the input terminal of control circuit 751, display module 74 respectively
It connects.The output end of the control circuit 751 is also electric with the input terminal of phase type laser scanning circuit 71, pulse type laser scanning respectively
The input terminal on road 72 connects.
Further, which includes first laser driver 711, first laser generator
712 and first laser receive circuit 713.The input terminal of the first laser driver 711 is connected to the output of control circuit 751
End, the output end of the first laser driver 711 are connected to the input terminal of first laser generator 772.Wherein, first laser is driven
The enabling signal that dynamic 711 response control circuit 751 of device issues, starts the phase type laser scanning circuit 71, first laser hair
Raw device 712 receives the laser signal that first laser driver 71 exports, and directive measured target.First laser receives circuit 713
Receive the reflected laser signal of measured target.
The pulse type laser scanning circuit 72 swashs including second laser driver 721, second laser generator 722, second
Optical receiving circuit 723 and modulator 724.The input terminal of the second laser driver 721 is connected to the output of control circuit 751
End, the modulator 724 are connected between the output end of second laser driver 721 and the input terminal of second laser generator 723.
Wherein, the enabling signal that 721 response control circuit 751 of second laser driver issues, makes the pulse type laser scanning circuit 72
Starting, second laser generator 722 receive the laser signal that second laser driver 72 exports, and directive measured target.Second
Laser pick-off circuit 723 receives the reflected laser signal of measured target.
More than, a kind of laser 3 d scanner and its scan method and the scan control dress that are proposed in embodiment of the present invention
It sets, Pulse-width modulation formula 3 D laser scanning and the phase type laser scanning simultaneously on same scanner, in the area that needs scan
In domain, a few place's targets are set, while measuring to region using pulsed and phase；For same target, by impulse method and
The measurement result of phase method is analyzed, and on the basis of the higher phase method of precision, is compensated to the measured value of impulse method, and
Obtain the penalty coefficient at the target；The penalty coefficient that different targets obtain is weighted, obtains penalty coefficient mean value,
And calculating is compensated using the result that penalty coefficient mean value measures pulsed mensuration, obtain revised scanning result.
By compensating calibration to pulsed laser scanning data, so that entire scanning has pulsed scanning speed, have
The precision of phase type scanning is had both.
It should be noted that preferable embodiment of the invention is given in specification and its attached drawing of the invention, but
It is that the present invention can be realized by many different forms, however it is not limited to embodiment described in this specification, these realities
Mode is applied not as the additional limitation to the content of present invention, the purpose of providing these embodiments is that making in disclosure of the invention
The understanding of appearance is more thorough and comprehensive.Also, above-mentioned each technical characteristic continues to be combined with each other, and forms the various realities not being enumerated above
Mode is applied, the range of description of the invention record is accordingly to be regarded as；Further, for those of ordinary skills, Ke Yigen
It is improved or converted according to above description, and all these modifications and variations all should belong to the protection of appended claims of the present invention
Range.
Claims (14)
1. a kind of laser three-dimensional scanning method, which is characterized in that the described method includes:
Phase type laser scanning module is respectively started scanning area is scanned with pulse type laser scan module and is obtained with corresponding
Take the second measured value of the first measured value of M group and N group；Wherein, M, N are natural number；
First measured value of M group and the second measured value of N group are analyzed, value is to accrued on the basis of first measured value
Penalty coefficient is calculated, and penalty coefficient mean value is calculated to whole penalty coefficients；And the starting pulse type laser scan module with
Maximum speed is scanned the scanning area to obtain third measured value, and using the penalty coefficient mean value to described the
Three measured values are compensated to obtain revised scanning result.
2. laser three-dimensional scanning method according to claim 1, which is characterized in that first measured value of M group and N group
Second measured value is analyzed, and corresponding calculating penalty coefficient is worth on the basis of first measured value, and to whole penalty coefficients
Penalty coefficient mean value is calculated, is specifically included:
To the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1,
Z’1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with the M group first
The X of measured value, Y value compare simultaneously, to filter out M group second measured value close with first measured value；Wherein, according to difference
Different value is less than predetermined value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, obtains (Z1,
Z2..., Zm) and (Zn 1, Zn..., Zn m)；
The penalty coefficient K is calculated using following formulam=Zm-Zn m, wherein KmFor penalty coefficient；And to M obtained institute
State penalty coefficient KmIt averages to obtain penalty coefficient mean value K；
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value, and the third measured value is compensated to obtain revised scanning result, specifically using the penalty coefficient mean value
Include:
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value；
It is compensated using Z coordinate of the penalty coefficient mean value K to the third measured value, to obtain revised scanning knot
Fruit.
3. laser three-dimensional scanning method according to claim 1, which is characterized in that first measured value of M group and N group
Second measured value is analyzed, and corresponding calculating penalty coefficient is worth on the basis of first measured value, and to whole penalty coefficients
Penalty coefficient mean value is calculated, is specifically included:
To the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1,
Z’1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with the M group first
The X of measured value, Y value compare simultaneously, to filter out M group second measured value close with first measured value；Wherein, according to difference
Different value is less than predetermined value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, obtains (Z1,
Z2..., Zm) and (Zn 1, Zn..., Zn m)；
(Z is calculated using least square method1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation relation；
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value, and the third measured value is compensated to obtain revised scanning result, specifically using the penalty coefficient mean value
Include:
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value；
It is obtained according to the Z coordinate that the transformation relation calculates the third measured value with being converted to obtain transformed Z coordinate
To revised scanning result.
4. laser three-dimensional scanning method according to claim 1, which is characterized in that phase type laser scanning mould is respectively started
Block is scanned with the first measured value of corresponding acquisition M group and the measurement of N group second scanning area with pulse type laser scan module
Value, specifically includes:
Phase type laser scanning module is respectively started, the target in scanning area is scanned with pulse type laser scan module,
The first measured value of M group (X is obtained respectively with each target of correspondence1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and N group
Two measured value (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)；Wherein, the scanning area preselects several
Position is simultaneously correspondingly arranged a target.
5. laser three-dimensional scanning method according to claim 4, which is characterized in that first measured value of M group and N group
Second measured value is analyzed, and corresponding calculating penalty coefficient is worth on the basis of first measured value, and to whole penalty coefficients
Penalty coefficient mean value is calculated, is specifically included:
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same target respectively
X, Y of first measured value and the second measured value, Z coordinate, obtain:
(X1, X2…XN) and (X '1, X '2…X’N)
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)
(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；
Penalty coefficient is calculated using following formula, is respectively as follows: KX=X-X ', KY=Y-Y ', KZ=Z-Z ', wherein KX、KY、KZPoint
Not Wei X, Y, Z coordinate value penalty coefficient；
Respectively to N number of penalty coefficient KX、KY、KZIt averages to obtain penalty coefficient mean value KX、KY、KZ；
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value, and the third measured value is compensated to obtain revised scanning result, specifically using the penalty coefficient mean value
Include:
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value；
Utilize the penalty coefficient mean value KX、KY、KZX, Y, the Z coordinate of the third measured value are compensated respectively, to obtain
Revised scanning result.
6. laser three-dimensional scanning method according to claim 4, which is characterized in that first measured value of M group and N group
Second measured value is analyzed, and corresponding calculating penalty coefficient is worth on the basis of first measured value, and to whole penalty coefficients
Penalty coefficient mean value is calculated, is specifically included:
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same target respectively
X, Y of first measured value and the second measured value, Z coordinate, obtain:
(X1, X2…XN) and (X '1, X '2…X’N)
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)
(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；
(X is calculated using least square method1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN) and (Y '1, Y '2…Y’N), (Z1,
Z2…ZN) and (Z '1, Z '2…Z’N) between transformation relation；
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value, and the third measured value is compensated to obtain revised scanning result, specifically using the penalty coefficient mean value
Include:
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value；
X, Y, the Z coordinate of the third measured value are calculated, according to the transformation relation to be converted to obtain transformed X, Y, Z
Coordinate obtains revised scanning result.
7. a kind of laser 3 d scanner, which is characterized in that including phase type laser scanning module, pulse type laser scan module
And control module；
The control module is used for:
Phase type laser scanning module is respectively started scanning area is scanned with pulse type laser scan module and is obtained with corresponding
Take the second measured value of the first measured value of M group and N group；Wherein, M, N are natural number；
First measured value of M group and the second measured value of N group are analyzed, value is to accrued on the basis of first measured value
Penalty coefficient is calculated, and penalty coefficient mean value is calculated to whole penalty coefficients；And
Start the pulse type laser scan module to be scanned the scanning area with maximum speed to obtain third measurement
Value, and the third measured value is compensated to obtain revised scanning result using the penalty coefficient mean value.
8. a kind of laser three-dimensional scanning control device, which is characterized in that described device includes:
Start unit carries out scanning area for phase type laser scanning module and pulse type laser scan module to be respectively started
Scanning obtains the first measured value of M group and the second measured value of N group with corresponding；Wherein, M, N are natural number；
Computing unit, for analyzing first measured value of M group and the second measured value of N group, with first measured value
On the basis of be worth it is corresponding calculate penalty coefficient, and penalty coefficient mean value is calculated to whole penalty coefficients；And
Compensating unit, for being again started up the pulse type laser scan module to the start unit with maximum speed to described
Scanning area is scanned the third measured value of acquisition, is compensated using the penalty coefficient mean value to the third measured value
To obtain revised scanning result.
9. laser three-dimensional scanning control device according to claim 8, which is characterized in that the computing unit is used for:
To the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1,
Z’1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with the M group first
The X of measured value, Y value compare simultaneously, to filter out M group second measured value close with first measured value；Wherein, according to difference
Different value is less than predetermined value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, obtains (Z1,
Z2..., Zm) and (Zn 1, Zn..., Zn m)；
The penalty coefficient K is calculated using following formulam=Zm-Zn m, wherein KmFor penalty coefficient；And
To the obtained M penalty coefficient KmIt averages to obtain penalty coefficient mean value K；
The compensating unit is used for:
Trigger the start unit starting impulse formula laser scanning module with maximum sweep rate to scanning area be scanned with
Obtain third measured value；And
It is compensated using Z coordinate of the penalty coefficient mean value K to the third measured value, to obtain revised scanning knot
Fruit.
10. laser three-dimensional scanning control device according to claim 8, which is characterized in that the computing unit is used for:
To the first measured value of M group (X1, Y1, Z1), (X2, Y2, Z2)…(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1,
Z’1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n) analyzed, by second measured value of N group respectively with the M group first
The X of measured value, Y value compare simultaneously, to filter out M group second measured value close with first measured value；Wherein, according to difference
Different value is less than predetermined value and judges whether the first measured value approaches with the second measured value；
The Z coordinate value in first measured value of M group and second measured value of M group that filters out is extracted respectively, obtains (Z1,
Z2..., Zm) and (Zn 1, Zn..., Zn m)；
(Z is calculated using least square method1, Z2..., Zm) and (Zn 1, Zn..., Zn m) between transformation relation；
The compensating unit is used for:
Trigger the start unit starting impulse formula laser scanning module with maximum sweep rate to scanning area be scanned with
Obtain third measured value；And
It is obtained according to the Z coordinate that the transformation relation calculates the third measured value with being converted to obtain transformed Z coordinate
To revised scanning result.
11. laser three-dimensional scanning control device according to claim 8, which is characterized in that the scanning area is selected in advance
Fixed several positions are simultaneously correspondingly arranged a target；
The start unit is for being respectively started phase type laser scanning module and pulse type laser scan module to scanning area
Interior target is scanned, and obtains the first measured value of M group (X respectively with each target of correspondence1, Y1, Z1), (X2, Y2, Z2)…
(Xm, Ym, Zm) and the second measured value of N group (X '1, Y '1, Z '1), (X '2, Y '2, Z '2)…(X’n, Y 'n, Z 'n)。
12. laser three-dimensional scanning control device according to claim 11, which is characterized in that the computing unit is used for:
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same target respectively
X, Y of first measured value and the second measured value, Z coordinate, obtain:
(X1, X2…XN) and (X '1, X '2…X’N)
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)
(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；
Penalty coefficient is calculated using following formula, is respectively as follows: KX=X-X ', KY=Y-Y ', KZ=Z-Z ', wherein KX、KY、KZPoint
Not Wei X, Y, Z coordinate value penalty coefficient；
Respectively to N number of penalty coefficient KX、KY、KZIt averages to obtain penalty coefficient mean value KX、KY、KZ；
The compensating unit is used for:
Trigger the start unit starting impulse formula laser scanning module with maximum sweep rate to scanning area be scanned with
Obtain third measured value；And
Utilize the penalty coefficient mean value KX、KY、KZX, Y, the Z coordinate of the third measured value are compensated respectively, to obtain
Revised scanning result.
13. laser three-dimensional scanning control device according to claim 11, which is characterized in that the computing unit is used for:
Corresponding first measured value of the same target and the second measured value are analyzed, extract the same target respectively
X, Y of first measured value and the second measured value, Z coordinate, obtain:
(X1, X2…XN) and (X '1, X '2…X’N)
(Y1, Y2…YN) and (Y '1, Y '2…Y’N)
(Z1, Z2…ZN) and (Z '1, Z '2…Z’N)；
(X is calculated using least square method1, X2…XN) and (X '1, X '2…X’N), (Y1, Y2…YN) and (Y '1, Y '2…Y’N), (Z1,
Z2…ZN) and (Z '1, Z '2…Z’N) between transformation relation；
The compensating unit is used for:
Trigger the start unit starting impulse formula laser scanning module with maximum sweep rate to scanning area be scanned with
Obtain third measured value；And
X, Y, the Z coordinate of the third measured value are calculated, according to the transformation relation to be converted to obtain transformed X, Y, Z
Coordinate obtains revised scanning result.
14. a kind of laser 3 d scanner, which is characterized in that including phase type laser scanning circuit, pulse type laser scanning electricity
Road, measurement process module, display module and control module；The input terminal and the arteries and veins of the phase type laser scanning circuit
The input terminal for rushing formula laser scanning circuit is connect with the output end of the control module, the phase type laser scanning circuit
The output end of output end and the pulse type laser scanning circuit is connect with the input terminal of the measurement process module, described
The input terminal of display module is connect with the output end of the control module, the output end of the measurement process module and the control
The input terminal of module connects；
The measurement process module includes compensation circuit, arithmetic unit and memory, and the control module includes control circuit and master
Control plate；The output end and the pulse type laser of the input terminal of the memory and the phase type laser scanning circuit scan
The output end of circuit connects, and the output end of the memory is connect with the compensation circuit, the arithmetic unit respectively, the operation
The output end of device is connect with the input terminal of the compensation circuit；The output end of the input terminal of the master control borad and the compensation circuit
Connection, the output end of the master control borad are also connect with the input terminal of the control circuit, the display module respectively, the control
The output end of circuit also respectively with the input terminal of the phase type laser scanning circuit, the pulse type laser scanning circuit it is defeated
Enter end connection.
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