CN105891839A - Omnidirectional laser radar device with colorized point cloud obtaining capability - Google Patents
Omnidirectional laser radar device with colorized point cloud obtaining capability Download PDFInfo
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- CN105891839A CN105891839A CN201610199300.6A CN201610199300A CN105891839A CN 105891839 A CN105891839 A CN 105891839A CN 201610199300 A CN201610199300 A CN 201610199300A CN 105891839 A CN105891839 A CN 105891839A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an omnidirectional laser radar device with a colorized point cloud obtaining capability. The omnidirectional laser radar device is provided with a servo motor, a synchronous belt wheel, a synchronous belt, a linear CCD sensor, a laser emitter, a high-precision six-axis gyroscope, a laser receiver, a rotation disk, a controller, a rotation shaft with a conductive slip ring, a chassis, a stepping motor, a fixed block with a photoelectric encoder, a support block, a locking block and a middle shaft. With the development of an unmanned driving technology, an unmanned vehicle and an unmanned boat urgently need a laser radar device which is capable of integrating position information and image information and realizing two-axis omnidirectional scanning. According to the invention, one-to-one correspondent superposition is carried out on point cloud data received by the linear CCD sensor and the laser receiver after coordinate conversion operation, and finally the colorized point cloud data of an objected to be measure is obtained; in addition, a set of two-axis omnidirectional mechanism is adopted to expand the scanning range of the laser radar device, so that the obtaining of large-range colorized range point cloud data is realized.
Description
Technical field
The present invention relates to a kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, belong to automated machine apparatus field.
Background technology
In recent years, along with unmanned vehicle, the development of unmanned boat technology, domestic and international scientific research institutions have now been developed some unmanned vehicles and unmanned boat model.And laser radar apparatus is the key device of unmanned vehicle and unmanned boat.At present, unmanned vehicle and unmanned boat in the urgent need to a kind of can integrated location information and image information, realize the laser radar apparatus of Liang Zhou omnidirectional scanning.
Summary of the invention
The present invention is directed to existing unmanned boat and the deficiency of unmanned vehicle conventional laser radar installations, it is provided that a kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, this device can not only realize finding range accurately, moreover it is possible to provides the color information of cloud data.This device has the scanning of Liang Zhou omnidirectional, and scan position is big, wide coverage.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, is made up of servomotor, synchronous pulley, Timing Belt, linear CCD sensor, generating laser, high precision six-axis gyroscope, laser pickoff, rotating disk, controller, the rotating shaft of band conducting slip ring, chassis, motor, the fixed block of band photoelectric encoder, a bracer, latch segment, axis；Described servomotor, synchronous pulley, Timing Belt, linear CCD sensor, generating laser, high precision six-axis gyroscope, laser pickoff, rotating disk, controller, rotating shaft one flat scanning laser radar of composition of band conducting slip ring, realize X-plane is realized sector scanning: described servomotor, controller are fixed with chassis, and synchronous pulley is fixed on the rotor of servomotor；The rotating shaft of synchronous pulley, Timing Belt and band conducting slip ring forms a synchronous pulley mechanism, is driven the rotating shaft of band conducting slip ring to rotate by servomotor；One end of rotating shaft with conducting slip ring is placed on the controller, is fixed with controller by bearing；On the other end of the rotating shaft that rotating disk is fixed on band conducting slip ring, linear CCD sensor, generating laser, high precision six-axis gyroscope, laser pickoff are fixed with rotating disk respectively, and the wire on linear CCD sensor, generating laser, high precision six-axis gyroscope, laser pickoff is connected with controller by the conducting slip ring in the rotating shaft of band conducting slip ring；Described chassis, motor, the fixed block of band photoelectric encoder, a bracer, latch segment, axis one governor motion of composition, it is used for scanning the Y face that X-plane is vertical: described motor is fixed on the fixed block of band photoelectric encoder, its rotor is fixed with axis by bearing, prop up bracer to be fixed with axis by its mesopore, and fix with chassis, latch segment is fixed with axis by screw thread, play locking effect, by the driving of motor, drive middle shaft rotation, thus drive above-mentioned flat scanning laser radar apparatus to rotate around the axis of axis.
The cloud data that some cloud information is the fixing linear CCD sensor in relative position and laser pickoff is received is obtained by one_to_one corresponding superposition after controller coordinate transform computing.
Compared with prior art, the invention has the beneficial effects as follows:
Apparatus of the present invention are capable of having positional information and the compound cloud data of color information, and twin shaft omnidirectional is scanned, and scanning coverage is big, can the most independently set sweep limits.
Accompanying drawing explanation
Fig. 1 is that flat scanning laser radar apparatus of the present invention assembles schematic diagram.
Fig. 2 is that governor motion of the present invention assembles schematic diagram.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating technical scheme, and can not limit the scope of the invention with this.
As depicted in figs. 1 and 2, a kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, is made up of servomotor 1, synchronous pulley 2, Timing Belt 3, linear CCD sensor 4, generating laser 5, high precision six-axis gyroscope 6, laser pickoff 7, rotating disk 8, controller 9, the rotating shaft 10 of band conducting slip ring, chassis 11, motor 12, the fixed block 13 of band photoelectric encoder, a bracer 14, latch segment 15, axis 16；Described servomotor 1, synchronous pulley 2, Timing Belt 3, linear CCD sensor 4, generating laser 5, high precision six-axis gyroscope 6, laser pickoff 7, rotating disk 8, controller 9, the rotating shaft 10 of band conducting slip ring form a flat scanning laser radar, realize X-plane is realized sector scanning: described servomotor 1, controller 9 are fixed with chassis 11, and synchronous pulley 2 is fixed on the rotor of servomotor 1；The rotating shaft 10 of synchronous pulley 2, Timing Belt 3 and band conducting slip ring forms a synchronous pulley mechanism, is driven the rotating shaft 10 of band conducting slip ring to rotate by servomotor 1；One end of rotating shaft 10 with conducting slip ring is placed on controller 9, is fixed with controller 9 by bearing；Rotating disk 8 is fixed on the other end of rotating shaft 10 of band conducting slip ring, linear CCD sensor 4, generating laser 5, high precision six-axis gyroscope 6, laser pickoff 7 are fixed with rotating disk 8 respectively, and the wire on linear CCD sensor 4, generating laser 5, high precision six-axis gyroscope 6, laser pickoff 7 is connected with controller 9 by the conducting slip ring in the rotating shaft 10 of band conducting slip ring；Described chassis 11, motor 12, fixed block 13 with photoelectric encoder, prop up bracer 14, latch segment 15, axis 16 forms a governor motion, it is used for scanning the Y face that X-plane is vertical: described motor 12 is fixed on the fixed block 13 of band photoelectric encoder, its rotor is fixed with axis 16 by bearing, prop up bracer 14 to be fixed with axis 16 by its mesopore, and fix with chassis 11, latch segment 15 is fixed with axis 16 by screw thread, play locking effect, driving by motor 12, axis 16 is driven to rotate, thus drive above-mentioned flat scanning laser radar apparatus to rotate around the axis of axis 16.
The use process of the present invention and principle are as follows:
First controller 9 is according to the rate of scanning being previously set, and controls servomotor 1 and rotates by certain rotating speed.At a time, generating laser 5 is pressed certain frequency according to the instruction issue of controller 9 and is launched laser, and laser pickoff 7 changes the distance obtaining testee according to the phase place receiving laser.After laser obtains the of short duration time t of object distance, linear CCD sensor 4 obtains the color information of this testee.Difference n of range points cloud sequence and color point cloud sequence is calculated according to the differential seat angle θ between linear CCD sensor 4 and laser pickoff 7 and sample frequency ω.By the adder in controller, by testee distance and color information one_to_one corresponding and be packaged with, form the color distance cloud data of testee.
While the object of above-mentioned flat scanning laser radar apparatus scanning X face, controller 9 controls motor 12 and rotates.Motor 12 progressively moves according to the rotational frequency of servomotor 1, every time motion δ angle so that above-mentioned flat scanning laser radar apparatus can enclose in every δ angle interscan one.This completes single pass action in Y plane.As required, motor 12 often rotates a circle or certain angle can be scan period of a Y plane.It should be noted that the photoelectric encoder in the fixed block 13 of band photoelectric encoder plays the effect of closed loop feedback, for the control of azimuth to governor motion.Above-mentioned high precision six-axis gyroscope 6 plays the effect of the closed-loop feedback to whole system, for ensureing to obtain the twin shaft omnidirectional laser radar apparatus overall precision of colour point clouds data.
Finally, each color distance cloud data can be shown by the position of spherical coordinates inside gui program by differential seat angle θ and sample frequency ω and δ angle, or obtain corresponding information according to the exploitation program of user.Thus complete the information access process of whole device.
Claims (1)
1. omnidirectional's laser radar apparatus with colour point clouds acquisition capability, it is characterized in that, be made up of servomotor (1), synchronous pulley (2), Timing Belt (3), linear CCD sensor (4), generating laser (5), high precision six-axis gyroscope (6), laser pickoff (7), rotating disk (8), controller (9), the rotating shaft (10) of band conducting slip ring, chassis (11), motor (12), the fixed block (13) of band photoelectric encoder, a bracer (14), latch segment (15), axis (16)；Described servomotor (1), synchronous pulley (2), Timing Belt (3), linear CCD sensor (4), generating laser (5), high precision six-axis gyroscope (6), laser pickoff (7), rotating disk (8), controller (9), rotating shaft (10) one flat scanning laser radar of composition of band conducting slip ring, realize X-plane is realized sector scanning: described servomotor (1), controller (9) are fixed with chassis (11), and synchronous pulley (2) is fixed on the rotor of servomotor (1)；The rotating shaft (10) of synchronous pulley (2), Timing Belt (3) and band conducting slip ring forms a synchronous pulley mechanism, is driven the rotating shaft (10) of band conducting slip ring to rotate by servomotor (1)；One end of rotating shaft (10) with conducting slip ring is placed on controller (9), is fixed with controller (9) by bearing；Rotating disk (8) is fixed on the other end of rotating shaft (10) of band conducting slip ring, linear CCD sensor (4), generating laser (5), high precision six-axis gyroscope (6), laser pickoff (7) are fixed with rotating disk (8) respectively, and the wire on linear CCD sensor (4), generating laser (5), high precision six-axis gyroscope (6), laser pickoff (7) is connected with controller (9) by the conducting slip ring in the rotating shaft (10) of band conducting slip ring；Described chassis (11), motor (12), fixed block (13) with photoelectric encoder, prop up bracer (14), latch segment (15), axis (16) one governor motion of composition, it is used for scanning the Y face that X-plane is vertical: described motor (12) is fixed on the fixed block (13) of band photoelectric encoder, its rotor is fixed with axis (16) by bearing, prop up bracer (14) to be fixed with axis (16) by its mesopore, and fix with chassis (11), latch segment (15) is fixed with axis (16) by screw thread, play locking effect, driving by motor (12), axis (16) is driven to rotate, thus drive above-mentioned flat scanning laser radar apparatus to rotate around the axis of axis (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610199300.6A CN105891839B (en) | 2016-04-02 | 2016-04-02 | A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability |
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| CN201610199300.6A CN105891839B (en) | 2016-04-02 | 2016-04-02 | A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability |
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| CN105891839A true CN105891839A (en) | 2016-08-24 |
| CN105891839B CN105891839B (en) | 2018-04-27 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107044857A (en) * | 2017-03-24 | 2017-08-15 | 黑龙江硅智机器人有限公司 | Asynchronous system map structuring and alignment system and method applied to service robot |
| CN108680096A (en) * | 2018-07-06 | 2018-10-19 | 北方工业大学 | Azimuth scanning positioning mechanism and radar system |
| CN109495692A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of laser auto focusing percussion device based on three-dimensional machine vision |
| CN110045351A (en) * | 2019-04-02 | 2019-07-23 | 南昌艾克威尔机器人有限公司 | Laser radar without sliding ring connector |
| WO2020135433A1 (en) * | 2018-12-29 | 2020-07-02 | 同方威视技术股份有限公司 | Scanning angle adjusting device, laser radar system, vehicle, and automatic correction method |
| CN113566733A (en) * | 2021-06-29 | 2021-10-29 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
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| US20160018524A1 (en) * | 2012-03-15 | 2016-01-21 | GM Global Technology Operations LLC | SYSTEM AND METHOD FOR FUSING RADAR/CAMERA OBJECT DATA AND LiDAR SCAN POINTS |
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| US20160018524A1 (en) * | 2012-03-15 | 2016-01-21 | GM Global Technology Operations LLC | SYSTEM AND METHOD FOR FUSING RADAR/CAMERA OBJECT DATA AND LiDAR SCAN POINTS |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107044857A (en) * | 2017-03-24 | 2017-08-15 | 黑龙江硅智机器人有限公司 | Asynchronous system map structuring and alignment system and method applied to service robot |
| CN108680096A (en) * | 2018-07-06 | 2018-10-19 | 北方工业大学 | Azimuth scanning positioning mechanism and radar system |
| CN108680096B (en) * | 2018-07-06 | 2023-12-19 | 北方工业大学 | Direction scanning positioning mechanism and radar system |
| WO2020135433A1 (en) * | 2018-12-29 | 2020-07-02 | 同方威视技术股份有限公司 | Scanning angle adjusting device, laser radar system, vehicle, and automatic correction method |
| CN109495692A (en) * | 2019-01-09 | 2019-03-19 | 湖南农业大学 | A kind of laser auto focusing percussion device based on three-dimensional machine vision |
| CN110045351A (en) * | 2019-04-02 | 2019-07-23 | 南昌艾克威尔机器人有限公司 | Laser radar without sliding ring connector |
| CN113566733A (en) * | 2021-06-29 | 2021-10-29 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
| CN113566733B (en) * | 2021-06-29 | 2023-11-14 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
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| Publication number | Publication date |
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| CN105891839B (en) | 2018-04-27 |
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