融合LIDAR的激光同步扫描三角测量系统的设计  

Design of laser triangulation system based on synchronized scanners with LIDAR

作　　者：费凯[1] 张璐[2] 朱飞虎[3] 张旭[1,4] 屠大维[1] 

机构地区：[1]上海大学机电工程与自动化学院上海市机械自动化及机器人重点实验室,上海200072 [2]中国科学院空间应用工程与技术中心,北京100094 [3]北京控制工程研究所,北京100080 [4]机械系统与振动国家重点实验室,上海200240

出　　处：《红外与激光工程》2015年第8期2358-2363,共6页Infrared and Laser Engineering

基　　金：国家自然科学基金(51205244);机械系统与振动国家重点实验室课题(MSV2015010);上海市教育委员会科研创新项目(14YZ006)

摘　　要：为了实现对远近距离的物体进行三维测量,扩大系统的测量范围,建立了融合LIDAR的激光同步扫描三角测量系统。对该系统的原理、系统设计及器件选型进行研究。首先,根据同步扫描机制,在普通三角测量的基础上融合LIDAR技术,并推导出三维点的计算公式。接着,根据系统设计要求,介绍了激光器、接收透镜、反射镜、二向色镜、扫描伺服电机、LIDAR接收器以及相机的选型等。然后,根据选型的结果,设计机械结构。最后,通过Zemax对搭建的光学系统进行光路仿真,验证原理的可行性;并在现实环境中,对APD的回光量进行测试以及对实际物体进行扫描并获得三维点云。实验结果表明,该系统的设计是可行的。In order to realize the three-dimensional measurement of the objects regardless of far or near and expand the measurement range, a laser triangulation system based on synchronized scanners with LIDAR was established. Its principle, design and device selection were investigated. First, according to the synchronous scanning mechanism, the LIDAR technology was fused based on traditional three- dimensional measurement and the computational formula of the 3-D points was deduced. The selections of laser device, lens, and dichroscope, scanning servo motor, LIDAR acceptor and camera were analyzed based on system design requirement. After that the mechanical structure was designed and the light path of optical system was simulated by Zemax to prove the feasibility of principle. Finally, the back of light of APD was tested and the actual object was scanned to acquire 3-D point clouds. The experimental results show that the system is feasible.

关 键 词：光学设计 LIDAR系统 三角测量 同步扫描 

分 类 号：TH741[机械工程—光学工程] O439[机械工程—仪器科学与技术]