• 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:
    Scanning set (1) by laser, vehicle and corresponding laser scanning procedure. The invention obtains a geometric characterization of the shape of a surface (100) from the principle of triangulation. The assembly comprises: a light emitter (2) laser, a diffraction means (4) that transform the laser light into a flat fan configuration (6), a redirection means (8) that redirect the beam and project it on the surface (100), a light receiver (10) that captures a scanning area (12) that includes the fan (6) and a control means (14) that controls all of these elements. The receiver (10) has its own processing means for detecting the points illuminated in the captured image. The redirection means (8) are mounted rotatably around at least one fixed axis (16). The rotation of the first redirection means (8) is controlled by said control means (14) in a synchronized manner with the rest of the elements. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2682525A1
    申请号:ES201730372
    申请日:2017-03-20
    公开日:2018-09-20
    发明作者:Albert PALOMER VILA；David RIBAS ROMAGÒS；Pere RIDAO RODRÍGUEZ；Josep FOREST COLLADO
    申请人:Universitat de Girona；
    IPC主号:
    专利说明:

    Field of the Invention
    The invention relates to a laser scanning set for obtaining a geometric characterization of the shape of a surface from the triangulation principle comprising: a laser light emitter for emitting a laser light beam, first diffraction means for transforming said laser light beam into a flat fan configuration disposed downstream of said laser light emitter, first light redirecting means disposed downstream of said laser light emitter, to receive and redirect said laser light beam and project it on said surface that must be characterized, a light receiver arranged with respect to said surface and said first redirection means such that said light receiver captures a scanning area corresponding to an area of said surface that must be characterized that includes said fan projected on said surface, and control means functionally associated with said emitter and said light receiver to synchronize the joint operation of said light emitter and said light receiver, and said first redirection means and said light receiver being separated at a known predetermined distance defining a constant baseline between both and said fan, once redirected, forming a first angle with respect to said baseline, and once reflected by said surface a second angle with respect to said baseline.
    The invention also relates to a vehicle that incorporates said laser scanning set to characterize a surface.
    Finally, the invention also relates to a method of laser scanning procedure to obtain a characterization of the shape of a surface comprising the steps of emitting a laser light beam through a laser light emitter, transforming said light beam laser in a flat fan configuration through first diffraction means arranged downstream of said laser light emitter, receive said laser beam and redirect it to project it on said surface that must be characterized, through first means of redirecting light arranged downstream of said laser light emitter, capturing a scanning area of said surface that must be characterized by a light receiver arranged with respect to said light emitter, said area containing said fan projected on said surface, and synchronizing the emission of said light emitting fan and the acquisition by said light receiver through it is of control means functionally associated with said emitter and said light receiver, said first redirection means and said light receiver being separated at a known predetermined distance defining a baseline between them and forming said fan, once redirected , a first angle with respect to said baseline, and once reflected by said surface a second angle with respect to said baseline.
    State of the art
    In the state of the art, laser scanning sets are known. These sets make it easier to obtain data to generate one or more three-dimensional clouds of points that describe geometrically the surface to be characterized.
    US 2012/0062963 A 1 discloses a laser scanning set that mainly includes a transmitter, a receiver and a central control. The emitter is a laser light emitter that includes means for configuring the laser light in a fan configuration. The fan is projected on the surface that must be characterized. The receiver, which is normally a camera, receives this reflected light from the surface that must be characterized. Finally, the control is associated with the transmitter and the receiver and is responsible for controlling the emission and reception of the laser light. Likewise, the control also moves the transmitter and receiver together in order to obtain the images that then allow to generate the clouds of points that characterize the surface.
    The same document US 2012/0062963 A 1 discloses a second scan set comprising two light receiving subsets and a laser light emitting subset disposed between the light receiving subsets. The light emitter again presents means to convert the spot laser light into a fan configuration. In this case, the emitting subset can be moved relative to the light receiving subsets.
    The geometric characterization of surfaces by laser can be very useful in many areas of the technique, such as autonomous vehicle guidance, mapping, manipulation of devices in dangerous or other environments. However, the problem of laser scanning systems based on the known triangulation principle lies in their slowness in obtaining the characterization of the analyzed surface. This causes important limitations.
    Summary of the invention
    The purpose of the invention is to provide a laser scanning set to obtain a characterization of the shape of a surface that must be characterized based on the triangulation principle of the type indicated at the beginning, which allows the surface to be characterized at a higher speed and with greater definition than devices known in the state of the art.
    This purpose is achieved by means of a laser scanning set of the type indicated at the beginning, characterized in that said light receiver comprises its own first processing means, configured to obtain, from said scanned area, a plurality of points illuminated by the reflection of said fan on said surface and why said first redirection means are mounted rotatably around at least one fixed axis with respect to said emitter and said light receiver, the rotation of said first redirection means being controlled by said control means, to move said fan within said scanning area along a plurality of different instantaneous positions, in a synchronized manner with the operation of said light emitter and said light receiver.
    The assembly according to the invention has multiple advantages over the known assemblies of the state of the art. In the first place, thanks to the fact that the light redirection means are mounted rotating around a fixed axis with respect to the emitter and the receiver, the need to move both the emitter and the receiver during scanning is eliminated. This reduces the mass that must be moved in order to carry out the scan and therefore gains in the speed of laser light projection at different points of the surface to be characterized, since the inertia of the system is minimal. Preferred redirection means are, for example, a galvanometric mirror. The galvanometric mirror can be formed by any reflective surface capable of supporting the effect of the incident laser without degrading.
    On the other hand, the fact that the receiver incorporates first processing means allows the data transmitted from said light receiver to said central control to be significantly reduced and used for the final obtaining of the point cloud.
    The combination of both characteristics allows to gain enormously in speed, since the laser light can move at great speed to sweep the surface to be characterized. On the other hand, the reception means only process the essential points of each image they receive from the scanned surface to characterize their geometry.
    Furthermore, the invention encompasses a series of preferred features that are the subject of the dependent claims and whose usefulness will be highlighted later in the detailed description of an embodiment of the invention.
    In order to simplify the manufacture of the diffraction means, as well as to facilitate the assembly and alignment of the device to achieve a precision scan, said first diffraction means are arranged between said laser light emitter and said first light redirection means. , so that said laser light beam is first transformed into a flat fan configuration. and then it is redirected by said redirection means to project said fan on said surface that must be characterized. In this case you can use a standard cylindrical or Powell lens adapted to the characteristics of the laser and without the need for high machining and assembly precision.
    In order to further increase the speed of surface characterization, said light receiver comprises a region of interest corresponding to a part of said scanning area, said region of mobile interest being in said scanning area controlled by said means of control, depending on the angular position of said first redirection means, such that said region of interest is displaced in said scanning area to contain the instantaneous position of said fan in said scanning area. This region of interest significantly reduces the scanning area that must be processed through the first processing means of the receiver, which again favors the increase in speed of the set.
    In a preferred embodiment of the assembly said scanning area is a parallelogram of right angles with a predetermined base and height and said region of interest is a parallelogram of right angles. In the most general form of the invention, the light sensor of a camera, and which is projected on a part or all of the surface to be characterized, does not have to be this rectangular projection.
    Especially preferably said region of interest occupies all of said base or said height of said scanning area, that is, that the region of interest occupies the entire height or entire base of said parallelogram. On the other hand, the region of interest only occupies a part of the opposite magnitude, that is, if it occupies the entire height, then it will only occupy part of the base of the scanning area. This simplifies the control of the region of interest with respect to the area of incidence, since it is only necessary to move it in one direction.
    The invention poses the problem of protecting the scan set against external elements that could damage it. Therefore, in a preferred embodiment, the light emitter, said redirection means and said light receiver are encapsulated in at least one housing and said at least one housing comprises an emission window and a reception window, said redirection means being facing said emission window to project said flat fan on said surface, while said light receiver is facing said reception window to capture said scanning area.
    Another relevant problem is to optimize the scan set to work in media other than air and in particular, submerged in water. To do this, said housing is waterproof and said laser is green or blue. The green or blue laser is less attenuated underwater than other types of lasers and is therefore projected at a greater distance. In environments of clear or slightly cloudy waters, it is especially preferred that the laser is blue since it has less attenuation than the green laser, despite having more backscattering (from English backscattering), that is, the reflection of the light towards itself set. Alternatively, in case of more turbid waters, it is preferred that the laser be green, since despite having more attenuation than a blue laser, the green laser has a lower backscatter than that of the blue laser. Under conditions of a single projection medium, that is, the projection in the air without changing the medium, the flat fan is projected onto the surface as a straight line. This does not happen in cases where there is a change of medium, for example, air-window-water.
    On the other hand, the invention also relates to a vehicle that incorporates a laser scanning set according to the invention. This type of vehicles so equipped, have a great autonomy of operation, since they are able to determine how is their environment.
    Especially preferably, the device is an underwater vehicle.
    The invention poses the problem of reducing human risks in underwater operations. Therefore, especially preferably, the underwater vehicle is operated remotely or is an autonomous vehicle.
    Finally, the invention also relates to a method that allows to improve the speed and definition of the scan of the surface to be characterized.
    This is achieved by a laser scanning procedure to obtain a characterization of the shape of a surface of the type indicated at the beginning, characterized in that it comprises the additional steps of obtaining, through first processing means of said light receiver. which identify a plurality of points illuminated in the scanning area by the reflection of the fan, and rotate said first redirection means around at least one fixed axis with respect to said emitter and said light receiver, the rotation of said first redirection means controlled by said control means, to move said fan within said scanning area along a plurality of different instantaneous positions in a synchronized manner with the operation of said light emitter and said light receiver, and repeat said previous steps for a plurality of angular positions of said redirecting means I lie to obtain a three-dimensional point cloud that characterizes that surface.
    Especially preferably, and to simplify the assembly and machining of the system lenses, said first diffraction means are arranged between said laser light emitter and said first light means so that said laser light beam is transformed first in a flat fan configuration, and then it is redirected by said redirection means to project said fan on said surface that must be characterized.
    On the other hand, to further increase the scanning speed and definition, the method comprises the step of applying a region of interest on a part of said scanning area, said region of mobile interest being in said scanning area and being controlled. by said control means, depending on the angular position of said first redirection means, so that said region of interest is displaced in said scanning area to contain the instantaneous position of said fan in said scanning area.
    Likewise, the invention also encompasses other detail features illustrated in the detailed description of an embodiment of the invention and in the accompanying figures.
    Brief description of the drawings
    Other advantages and features of the invention can be seen from the following description, in which, without any limitation, preferred embodiments of the invention are mentioned, mentioning the accompanying drawings. The figures show:
    Fig. 1, a schematic top plan view of a first embodiment of the scanning assembly according to the invention, in a first scanning position.
    Fig. 2, a schematic top plan view of the scan assembly of Figure 1, in a second scan position.
    Fig. 3, a schematic perspective view of a second embodiment of the scanning set according to the invention, in a first scanning position.
    Fig. 4, a front view of a scanning area of the light receiver with an area of interest in said first scanning position.
    Fig. 5, a schematic perspective view of the scan assembly of Figure 3, in a second scan position.
    Fig. 6, a front view of the scanning area of the light receiver, with the area of interest displaced in the second scanning position.
    Fig. 7, a diagram of the deformation of the flat fan when changing medium due to the passage of the flat fan through a flat emission window as a function of the angle of incidence on said window.
    Fig. 8, a schematic front view of a vehicle according to the invention incorporating a laser scanning set according to the invention.
    Fig. 9, a schematic top plan view cut by a plane of the vehicle of Figure 8.
    Fig. 10, a schematic top plan view of a third embodiment of the scan assembly according to the invention, in a first scan position.
    Detailed description of embodiments of the invention
    Figures 1 and 2 show in a very schematic way, a first embodiment of the laser scanning assembly 1 according to the invention to obtain a characterization of the shape of a surface 100.
    As can be seen in these figures, the assembly 1 comprises a laser light emitter 2, a light receiver 10 and control means 14 functionally associated with both the light emitter 2, the light receiver 10 and the means of Redirect 8 and are responsible for synchronizing the operation of these.
    The light emitter 2 is a point laser light source, that is to say a beam that projects on a point-shaped surface. In the broader concept of the invention, the laser can be any type of laser, such as a semiconductor-based or solid-state laser of any wavelength. At the emission end, the light emitter 2 has diffraction means 4 that transform the spot laser beam into a flat fan configuration 6. Preferably, the diffraction means 4 are, for example, a cylindrical lens or a Powell lens. In the invention, it is not essential that the light emitter 2 and the diffraction means 4 form a unit. Alternatively, the diffraction means 4 may be aligned with the light emitter 2, but somewhat apart.
    In another alternative embodiment, the light emitter 2 can be separated from the diffraction means 4. In this case, both elements are connected to each other through light guiding means 30, such as an optical fiber . This allows to achieve more compact constructive configurations.
    Downstream of the light emitter 2, first light redirection means 8 are provided in the assembly 1 of the invention. Accordingly, in this embodiment the diffraction means 4 are located between the light emitter 2 and the light redirection means 8. This greatly simplifies the assembly and the lens of the diffraction means 4 is easier to manufacture. In a preferred embodiment, the light redirection means 8 is a galvanometric mirror manufactured, for example, from monocrystalline silicon with concentrations greater than 95%. In service, the galvanometric mirror is oriented to project the laser beam configured as a fan 6 from the diffraction means 4 on the surface 100 that it is desired to characterize.
    As can be seen in the figures of this embodiment, especially preferably, the light emitter 2 and the redirection means 8 of the incident beam are encapsulated in a first housing 22a. This housing 22a has an emission window 24. The galvanometric mirror faces this emission window 24 to receive the laser light fan 6 of the light emitter 2, redirect it and project it on the surface 100 to be characterized. Under conditions of a single projection medium, that is, the projection in the air without changing the medium, the flat fan 6 is projected onto the surface as a straight line. This does not occur in cases where there is a change of medium, for example, air-window emission 24-water.
    On the other hand, the assembly 1 also has a light receiver 10 arranged oriented towards the surface 100 that must be characterized and oriented with respect to the first redirection means 8 so that it can capture a scanning area 12 of the surface 100 in that the fan 6 is projected. The light receiver 10 can be a camera capable of identifying the pixels illuminated by the reflection of the laser light coming from the surface to be characterized.
    Especially preferably, the light receiver 10 is also mounted inside a second protective housing 22b. The housing 22b of the light receiver 10 comprises a reception window 26. Especially preferably, the reception window 26 is large enough so that the light receiver 10, when faced with this reception window 26, can capture said scanning area 12, without being covered by the walls the edges of the reception window 26.
    To achieve a correct characterization of the surface 100, when the assembly 1 is in operation, the orientation is such that for any angular position the first redirection means 8, within the scanning area 12 the fan 6 projected on the surface 100 is contained .
    As can also be seen in these figures, the first redirection means 8 and the light receiver 10 are separated by a predetermined, known and constant linear distance. This linear distance defines a baseline 28 between both elements of the assembly 1. As shown in the figures, the fan 6, once redirected, forms a first angle a with respect to said baseline 28, and once reflected by said surface 10 forms a second angle ¡3 with respect to said baseline 28.
    The assembly 1 according to the invention also presents the control means 14 that are functionally associated with the emitter and the light receiver 2, 10 as well as the redirection elements 8 via cables to synchronize the emission of the laser beam by the light emitter 2, with the angular position of the redirection means 8, with the acquisition of the scanning area 12 by the light receiver 10. In other words, for each position of the fan 6, the light receiver 10 captures an image .
    It should be noted that optionally all the elements of the assembly 1 according to the invention can be arranged in a single housing 22a with individual emission and reception windows (see Figures 8 and 9) or with a single window for the two functions. On the other hand, it is also preferred that the housing 22a is waterproof. This allows scanning set 1 to be used underwater. This solution can be applied, for example, to a remotely operated underwater vehicle, better known in the art as ROV, by Remotely Operated Vehicle or an autonomous underwater vehicle, known as AUV, by Autonomous Underwater Vehicle.
    In this context, it is also worth mentioning that if the set 1 is used in an underwater environment, the laser used is preferably green or blue. As explained above, the blue color is preferable in the case of clear or slightly cloudy waters, while the green laser is preferable when the water is cloudy.
    As the first element for increasing the scanning speed, or alternatively the definition of the surface, the invention provides that the first redirection means 8 are mounted rotary around the fixed axis 16 with respect to the emitter and the light receiver 2, 10. In in this case, the rotation with respect to the emitter and the light receiver 2, 10 is carried out with respect to the vertical axis, which would protrude from the plane of figures 1 and 2 and the rotation is indicated in the figures with the double arrow A. rotation of the first redirection means 8 is controlled by the control means 14. Thus, the fan 6 is displaced by rotating the first redirection means within the scanning area 12 along a plurality of different instantaneous positions P1, P2 . This rotation to move the fan is synchronized with the emission of the fan 6 by the light emitter 2 and the acquisition of the scanning area by the light receiver 10 with the consequent determination of the illuminated points.
    As a second element for increasing the scanning speed, or alternatively the definition of the surface, in the set of figures 1 and 2 it is first provided that the light receiver 10 comprises its own first processing means 18, that is, integrated in the light receiver itself 10. These processing means 18 allow, at least, to distinguish which points of said scanning area 12 are illuminated by said laser fan 6. That is, of the entire image captured by the light receiver 10, the first processing means 18 are able to discriminate which points or pixels in the image correspond to the reflection of the laser light and which points or pixels do not correspond.
    When the fan 6 is projected on the instantaneous position P1, if the medium is constant, for example when the projection occurs only in the air, this projection is a straight line. If there is a change of medium, for example air-emission window 24water, then, the fan 6 forms a curve whose curvature increases as the angle of incidence of the fan 6 increases over the emission window 24. The light receiver 10 detects in the scanning area 12, the reflection of this dotted line. Using the triangulation between the light that has illuminated the points of the scanning area 12 identified by the processing means 18 and the fan 6 and knowing the relative position of the axis 16 with the light sensor 10 (baseline 28), the assembly 1 can determine and characterize the surface 100 in this position P1 by defining a plurality of reference points. This triangulation process can occur either in the central unit 14, or preferably in the same processing means
    18.
    From here, the operations described in the previous paragraphs are repeated for as many instantaneous positions as desired. This procedure is repeated successively and a cloud of points that geometrically characterizes the surface 100 is obtained. Preferably, the redirection means 8 will always make an angular movement in the same direction during the acquisition of said point cloud. The greater the number of instantaneous positions captured by the light receiver 10, determining the shape of the projection of the fan on the surface 100, the greater the definition of the geometric characterization thereof.
    Thanks to the fact that the processing of the points for each angular position of the redirection means 8 is done by the first processing means 18, the volume of data that must be handled later to obtain the point cloud is much smaller. This allows either to achieve more speed or to increase the level of definition of the characterized surface 100.
    On the other hand, it should be noted that in a particularly preferred manner, the generation of the point cloud according to the invention can also be obtained by the first processing means 18. However, in any of the embodiments of the invention this can be achieved. alternatively perform in centralized control means 14.
    Below is another embodiment of the laser scanning assembly according to the invention that shares a large part of the features described in the preceding paragraphs. Therefore, from now on only the differentiating elements will be described, while for the common elements reference is made to the description of the first embodiment.
    The scanning assembly 1 of Figures 3 to 6 is essentially identical to that of Figures 1 and 2, that is, it also comprises a laser light emitter 2, first diffraction means 4 for transforming the laser light beam into a configuration of flat fan 6, first redirection means 8 mounted on a fixed axis, a light receiver 10 with its own processing means 18 and control means 14 responsible for the control of the emitter and the light receiver 2, 10 However, in this case, set 1 is not encapsulated.
    Also, the arrangement of all the elements and their joint operation is substantially the same and allows the same scanning procedure 1 to be carried out by laser to obtain a characterization of the shape of a surface 100. On the other hand, the most important difference consists wherein the light receiver 10 comprises a region of interest 20 corresponding to only a part of the scanning area 12. In other words, the light receiver 10 itself is capable of reducing the area in which the laser is sought within the scanning area 12, to also reduce the area that must be processed to determine the position of the points illuminated by the laser fan 6. For this, the region of interest 20 is mobile in the scanning area 12, controlled by the control means 14 depending on the position of the redirection means 18. For this purpose, the control means 14 take into account in which position The first redirection means 8 are instantaneous angular, and then move the region of interest 20 in the scanning area 12 so that the curve formed by the fan 6 on the surface 100 to be characterized is contained within the region of interest 20 in each image captured by the light receiver 14.
    The region of interest 20 is smaller than the scanning area 12 that the light receiver 10 can potentially scan in each captured image. In particular, particularly preferably, the scanning area 12 is a parallelogram of right angles with a predetermined base and height and the region of interest 20 may be a parallelogram of right angles that is controlled controlled by the control means 14 within of scan area 12, as seen in the figures. This greatly reduces the number of pixels that the first processing means 18 must analyze and process, in order to determine which of them are really illuminated points by the reflection of the laser fan 6 on the surface to be characterized 100. In this case, the region of interest 20 should move both in a first main direction of the scanning area, and in the perpendicular direction.
    However, in the embodiment of Figures 3 to 6, the region of interest 20 in this case is a parallelogram of right angles that occupies the entire height of the scanning area 12 and only a part of its width. This greatly simplifies the control of the position of the region of interest 20 with respect to the theoretical scanning area. In this embodiment, it is only necessary to move the region of interest 20 horizontally along the scanning area. Alternatively, the parallelogram of the region of interest could occupy the entire width of the scanning area 12, and only a part of the height and therefore would travel along the height of the scanning area 12.
    All this provides a higher speed of acquisition of characteristic points of the surface to be characterized that allows point clouds to be obtained more quickly,
    or but a greater definition of these point clouds.
    As explained, the scanning set 1 according to the invention has multiple applications, especially when mounted in a vehicle and more particularly in an underwater vehicle that can be operated remotely (ROV) or autonomously (AUV), among others. Thanks to this type of vehicles, underwater cartography, maintenance operations in underwater structures, or others can be carried out.
    In this type of applications the laser beam has to go through three differentiated means: the air inside the vehicle's housing, the glass of the emission window and finally the water. The change of medium, depending on the angle of incidence causes that when the fan 6 that theoretically is flat, is projected on the surface 100 to be characterized, it is deformed as a curve. This effect is represented in Figure 7. As can be seen, as the angle of incidence of the fan 6 on the emission window grows, the curvature of the fan on the surface to be characterized is increased.
    Under normal conditions, triangulation is performed between a beam that has illuminated the corresponding pixel of the camera which is the reflection of the fan 6 on the surface 100 with the fan characterized by a plane. However, in conditions of changing the medium, such as when the scanning set works in an underwater environment, the fan 6 is better characterized by an elliptical cone than by a plane. Therefore, triangulation in this case is performed by calculating the intersection of the light beam that has illuminated the pixel of the light receiver 10 with it.
    A vehicle 32 according to the invention is shown in Figures 8 and 9 in which a scan assembly 1 similar to those described up to this point is mounted.
    The vehicle 32 is preferably an underwater vehicle and more particularly a remote or autonomous underwater vehicle propelled by propeller-like propulsion means 34.
    The vehicle 32 has a single first housing 22a which contains the said scanning set 1 inside. This type of vehicle is suitable, for example, for mapping the seabed.
    In figure 9 it can be seen as a feature that in the vehicle the light emitter 2 is separated from the diffraction means 4. However, both elements are connected through a light guiding means 30, such as a cable optical fiber.
    For the rest, the vehicle has a scanning set 1 of similar characteristics to those of the embodiment of Figure 1. Accordingly, as regards these characteristics and the scanning procedure reference is made to the preceding paragraphs.
    Finally, a schematic top plan view of a third embodiment of the scan assembly 1 according to the invention is shown in Figure 10. This scan set 1 is practically identical to the embodiment of Figures 1 and 2. Accordingly, for the characteristics not described below, reference is made to the description of the embodiment of Figures 1 and 2. No However, in this case, the diffraction means 4 are disposed downstream of the redirection means 8. In this way, the redirection means redirects a specific laser beam which then, when passing through the diffraction means 4 takes the form of fan 6.
    The diffraction means 4 can also be a cylindrical lens or a Powell lens, but configured as a ring segment.
    In a particularly preferred embodiment not shown in the figures, the diffraction means 4 are formed directly in the emission window itself
    24.
    The embodiments described so far represent non-limiting examples of
    5 so that the person skilled in the art will understand that beyond the examples shown, multiple combinations between the claimed characteristics are possible within the scope of the invention.
    .
    权利要求:
    Claims (13)
    [1]
    1.-Laser scanning set (1) to obtain a geometric characterization of the shape of a surface (100) from the triangulation principle comprising:
    [a] a laser light emitter (2) to emit a beam of laser light,
    [b] first diffraction means (4) for transforming said laser light beam into a flat fan configuration (6), arranged downstream of said laser light emitter (2),
    [e] first means of redirecting (8) of light arranged downstream of said laser light emitter (2), to receive and redirect said laser light beam and project it on said surface (100) that must be characterized, [di a light receiver (10) arranged with respect to said surface (100) and to said first redirection means (8) such that said light receiver (10) captures a scanning area (12) corresponding to an area of said surface (100) that must be characterized that includes said fan
    (6) projected on said surface (100), AND
    [e] control means (14) functionally associated with said emitter and said light receiver (2, 10) to synchronize the joint operation of said light emitter (2) and said light receiver (10), and
    [f] said first redirection means (8) and said light receiver (10) being separated at a known predetermined distance defining a constant baseline (28) between them and forming said fan (6),
    [i] once redirected, a first angle (or) with respect to said baseline (28), and
    [ii] once a second angle (¡3) is reflected by said surface (100)
    with respect to said baseline (28), characterized in that
    [g] said light receiver (10) comprises its own first processing means (18), configured to obtain from said scan area (12) captured, a plurality of points illuminated by the reflection of said fan (6) on said surface (100), and why
    [h] said first redirection means (8) are rotatably mounted around at least one fixed axis (16) with respect to said emitter and said light receiver (2, 10), said first redirection means being rotated (8) controlled by said control means (14), to move said fan (6) within said scanning area (12) along a plurality of different instantaneous positions (P1, P2), in a synchronized manner with the operation of said light emitter (2) and said light receiver (10).
    [2]
    2. Laser scanning set according to claim 1, characterized in that said first diffraction means (4) are arranged between said light emitter
    (2) laser and said first light redirecting means (8), so that said laser light beam is first transformed into a fan configuration
    (6) flat. and then it is redirected by said redirection means (8) to project said fan (6) on said surface (100) that must be characterized.
    [3]
    3. Laser scanning set according to claim 1 or 2, characterized in that said light receiver (10) comprises a region of interest (20) corresponding to a part of said scanning area (12), said region being mobile interest (20) in said scanning area (12) controlled by said control means (14), depending on the angular position of said first redirection means (8), so that said region of interest (20) is displaced in said scanning area
    (12) to contain the instantaneous position of said fan (6) in said scanning area (12).
    [4]
    4. Laser scanning set according to claim 3, characterized in that said scanning area (12) is a parallelogram of right angles with a predetermined base and height and said region of interest (20) is a parallelogram of right angles .
    [5]
    5. Laser scanning set according to claim 4, characterized in that said region of interest (20) occupies all of said base or said height of said scanning area (12).
    [6]
    6. Laser scanning set according to any of claims 1 to 5, characterized in that said light emitter (2), said redirection means and said light receiver (10) are encapsulated in at least one housing (22a , 22b) and because said at least one housing comprises an emission window (24) and a reception window (26), said redirection means being facing said emission window to project said flat fan (6) onto said surface (100), while said light receiver (10) faces said reception window to capture said scanning area (12).
    [7]
    7. Laser scanning set according to claim 6, characterized in that said housing (22a, 22b) is waterproof and said laser is green or blue.
    [8]
    8.-Vehicle, characterized in that it comprises a scanning set according to any one of claims 1 to 7.
    [9]
    9. Vehicle according to claim 8 when it depends on claims 6 or 7, characterized in that said device is an underwater vehicle.
    [10]
    10. Vehicle according to claim 9, characterized in that said underwater vehicle is a remote or autonomous underwater operated vehicle.
    [11]
    11.-Scanning procedure (1) by laser to obtain a characterization of the shape of a surface (100) comprising the steps of:
    [a] emit a laser beam of light through a laser light emitter (2),
    [b] transforming said laser light beam into a flat fan configuration (6) through first diffraction means (4) disposed downstream of said laser light emitter (2),
    [b] receiving said laser beam and redirecting it to project it on said surface (100) that must be characterized. through first means of redirection (8) of light arranged downstream of said light emitter
    (2) laser,
    [c] capturing a scanning area (12) of said surface (100) that must be characterized by a light receiver (10) arranged with respect to said light emitter (2), said area containing said fan (6) projected on said surface (100), and
    [d] synchronize the emission of said light-emitting fan (2) and the capture by said light receiver (10) through control means (14) functionally associated with said emitter and said light receiver (2 , 10),
    [e] said first redirection means (8) and said light receiver (10) being separated at a known predetermined distance defining a baseline (28) between them and forming said fan (6),
    [i] once redirected, a first angle (or) with respect to said baseline (28), and
    [ii] once a second angle (¡3) is reflected by said surface (100)
    with respect to said baseline (28), characterized in that it comprises the additional steps of
    [f] obtain, through first processing means (18) of said light receiver (10) that identify a plurality of points illuminated in the scanning area (12) by the reflection of the fan (6), and
    [9] rotate said first redirection means (8) around at least one fixed axis (16) with respect to said emitter and said light receiver (2, 10), said first redirection means (8) being rotated ) controlled by said control means (14), to move said fan (6) within said scanning area (12) along a plurality of different instantaneous positions (P1, P2) in a synchronized manner with the operation of said light emitter (2) and said light receiver (10), and
    [h] repeat said steps [a] to [f] for a plurality of angular positions of said redirection means to obtain a three-dimensional point cloud that geometrically characterizes said surface (100).
    [12]
    12. Laser scanning method (1) according to claim 11, characterized in that said first diffraction means (4) are arranged between said laser light emitter (2) and said first light redirection means (8) so that said laser light beam is first transformed into a flat fan configuration (6), and then is redirected by said redirection means (8) to project said fan (6) onto said surface (100) that must be characterized .
    [13]
    13. Laser scanning method (1) according to claim 11 or 12, characterized in that it comprises the step of applying a region of interest (20) on a part of said scanning area (12), said region of interest being ( 20) mobile in said scan area (12) controlled said control means (14), depending on the angular position of said first redirection means (8), so that said region of interest (20) is displaced in said scan area (12) to contain the instantaneous position of said fan (6) in said scan area (12).
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    同族专利:
    公开号 | 公开日
    EP3605012B1|2021-02-24|
    ES2870625T3|2021-10-27|
    EP3605012A1|2020-02-05|
    WO2018172585A1|2018-09-27|
    ES2682525B1|2019-10-21|
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    ES201730372A|ES2682525B1|2017-03-20|2017-03-20|LASER SCANNING SET, VEHICLE AND CORRESPONDING LASER SCANNING PROCEDURE|ES201730372A| ES2682525B1|2017-03-20|2017-03-20|LASER SCANNING SET, VEHICLE AND CORRESPONDING LASER SCANNING PROCEDURE|
    ES18727337T| ES2870625T3|2017-03-20|2018-03-20|Laser scanning assembly and procedure, and underwater vehicle comprising a corresponding assembly|
    PCT/ES2018/070211| WO2018172585A1|2017-03-20|2018-03-20|Laser scanning assembly, corresponding vehicle and corresponding laser scanning method|
    EP18727337.0A| EP3605012B1|2017-03-20|2018-03-20|Laser scanning method, assembly and underwater vehicle comprising corresponding assembly|
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