CN105068085B - High accuracy list motor transmission laser radar three-dimensional scanning instrument - Google Patents
High accuracy list motor transmission laser radar three-dimensional scanning instrument Download PDFInfo
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- CN105068085B CN105068085B CN201510454959.7A CN201510454959A CN105068085B CN 105068085 B CN105068085 B CN 105068085B CN 201510454959 A CN201510454959 A CN 201510454959A CN 105068085 B CN105068085 B CN 105068085B
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- 238000010408 sweeping Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
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- 238000005299 abrasion Methods 0.000 description 1
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Classifications
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of single motor transmission laser radar three-dimensional scanning instrument of high accuracy, on the one hand, realize and realize that the total space is continuously scanned using single high-precision servo motor control scanner, make scanner structure more compact, also reduce cost, simultaneously, gear is replaced with worm gear and worm screw, and single-direction transmission, eliminate the hysterisis error of gear, improve the precision of laser radar scanner, reduce the volume of scanner, horizontal and vertical scanning angle is recorded using the angular transducer of two ± 0.001 ° of precision, make the measurement of scanning type laser radar system more accurately and reliably, the use of wireless twin shaft superhigh precision luffing angle sensor simultaneously, also the single motor transmission laser radar three-dimensional scanning instrument of the high accuracy is allow to realize the start automatic horizontal calibration of probe, simplify the preliminary preparation of measurement, improve the operating efficiency of scanner.
Description
Technical field
Swept the present invention relates to laser radar technique field, more particularly to a kind of single motor transmission laser radar three-dimensional of high accuracy
Retouch instrument.
Background technology
With the fast development of China's aerospace industry, people survey to contactless Atmospheric components measurement, wind field data
The demand of the technical methods such as amount, range measurement, tachometric survey, images steganalysis is increasing, and laser radar is more than solution
The good solution of problem.Due to the highly collimated characteristic of laser, in order to realize that large area is detected, scanning type laser radar is obtained
Extensive use.Wherein, spatial digitizer is the important component of scanning type laser radar.
Spatial digitizer is divided into transmission scanner and reflective scanner.Because there are dispersion differences in transmission scanner
(absorption), and the problems such as differed to different wave length laser transmittance so that transmission scanner is produced in use
Certain measurement error.Reflective scanner application is more extensive, especially, is scanned using the secondary reflection type of periscope principle
Instrument is most widely used.The WindTracer coherent wind laser radars of CLRphotonics companies of the U.S., French LEOSPHERE
The WindCube laser radars of company, what is used is all the secondary reflection type scanner of periscope principle.
But, there is following difficult point in the reflective scanner being currently used on laser radar：
1st, the scanning angle error of scanner will cause the error of actual detection target zone.As shown in figure 1, scanner angle
There is following relation in degree error delta θ and detection range L and the error delta d (i.e. Δ X) of detection target zone：
Δ d=Δ θ L π/180 °
Therefore, in the case where detection range is 10km, ± 0.1 ° of scanning angle error will cause to detect target zone
± 17.44m error, this causes to the pinpoint atmospheric parameter measurement of laser radar and had a strong impact on.
2nd, the detection target zone of laser radar is directly related with the scanning angle of scanner.In WindCube, it is visited
Survey and point to the high-precision servo motors that (azimuth and the angle of pitch) be sent to two autonomous workings by computer and determine and realize
Spacescan.In fact, the detection thereby determined that is pointed to and the detection sensing of reality has deviation, reason is existing scanning
Instrument uses pure gear drive, under the conditions of existing machinery machining accuracy, it is impossible to avoid the hysterisis error (such as Fig. 3) of gear.Even if
It is that high-precision sensing is realized at the initial stage of debuging, with the abrasion of gear, also results in the angular range of scanner actual scanning
And there is deviation in the rotation angle range of servomotor.
3rd, the scanning angle of scanner is controlled using high-precision servo motor, if not introducing real-time angular detecting system
Scanning angle is calibrated and current orientation angles are actually obtained, can not just be avoided due to the vibrations in conductive process, device
Part fabrication error, gear hysterisis error, expand with heat and contract with cold, scanner anglec of rotation error caused by mechanical wear etc..Use tradition
Angular transducer be scanned the detection of the instrument anglec of rotation, be limited to the cable of sensor so that scanner can not continuous up time
Pin or continuous scanning counterclockwise.
4th, the three-dimensional continuous scanner of periscopic used at present, scanning is controlled using two high-precision servo motors respectively
The horizontal and vertical scanning of instrument, but in laser radar concrete application, spatial digitizer typically makees RHI, VAD or PPI scanning；
It is the scanning of the single free degree of half spherical space for a kind of scan mode of any of the above, so being redundancy using bi-motor
, cost is added, and reduce operational reliability.
The content of the invention
It is an object of the invention to provide a kind of single motor transmission laser radar three-dimensional scanning instrument of high accuracy, realize using single
The individual high-precision servo motor control scanner total space is continuously scanned, and improves the precision of laser radar scanner, is reduced
The volume of scanner, simplifies the operating process of scanner, makes the measurement of scanning type laser radar system more accurately and reliably.
The purpose of the present invention is achieved through the following technical solutions：
A kind of single motor transmission laser radar three-dimensional scanning instrument of high accuracy, including：High-precision servo motor 1, band are clockwise
The worm screw 2 of holdback, the worm screw 3 with holdback counterclockwise, inner cylinder worm gear 4, scanner inner cylinder 5, it is inner cylinder gear train 6 and 7, wireless
Twin shaft superhigh precision luffing angle sensor 8, luffing angle probe power module 9, outer barrel worm gear 10, scanner outer barrel 11,
Annular angular encoder 12, bearing group 13 and lidar housings 17；
High-precision servo motor 1 respectively with the worm screw 2 with holdback clockwise and the phase of the worm screw with holdback counterclockwise 3
Even, the worm screw 2 with holdback clockwise passes through the inner cylinder worm gear 4 installed in the lower end of scanner inner cylinder 5, driving scanner inner cylinder 5
Rotate, scanner inner cylinder top is provided with inner cylinder gear train 6 and 7, the scanner inner cylinder 5 of horizontal rotation is converted to scanner
Vertical direction is scanned；Worm screw 3 with holdback counterclockwise passes through the outer barrel worm gear 10 installed in the lower end of scanner outer barrel 3, driving
Scanner outer barrel 11 is horizontally rotated, so as to realize the horizontal sweep of scanner；The encoder of annular angular encoder 12 is fixed on
In lidar housings 17, its code-disc is fixed on scanner outer barrel 11；Wireless twin shaft superhigh precision angular transducer 8 is fixed on
On the outer wall of scanner inner cylinder 5, it is built-in with luffing angle probe power module 9；Scanner inner cylinder 5 and scanner outer barrel
It is connected between 11, and scanner outer barrel 11 and lidar housings 17 by bearing group 13；
Realize that the mode that horizontal direction rotation and angle are detected is as follows：One horizontal scan angle is set by control computer
Degree, and the rotate counterclockwise of high-precision servo motor 1 is controlled, by the worm screw 3 of the drive belt of high-precision servo motor 1 holdback counterclockwise
Rotation, and drive outer barrel worm gear 10 to rotate by the worm screw 3 with holdback counterclockwise, the driving scanner of outer barrel worm gear 10 outer barrel 11 revolves
Turn, while the code-disc of the annular angular encoder 12 on scanner outer barrel 11 rotates with outer barrel, annular angle is compiled
The encoder of code device 12 is fixed in lidar housings 17, records the outer barrel anglec of rotation；
Realize that the mode that vertical direction rotation and angle are detected is as follows：One vertical scan angle is set by control computer
Degree, and control high-precision servo motor 1 to turn clockwise, by the worm screw 2 of the drive belt of high-precision servo motor 1 holdback clockwise
Rotation, and drive inner cylinder worm gear 4 to rotate by the worm screw 2 with holdback clockwise, the driving scanner of inner cylinder worm gear 4 inner cylinder 5 passes through
Inner cylinder gear train 6 and 7 is by the rotation that the translating rotation of the horizontal direction of scanner inner cylinder 5 is probe vertical direction, while wirelessly
The real-time writing scan of twin shaft superhigh precision luffing angle sensor 8 head vertical rotation angle.
Further, the worm screw 2 with holdback clockwise and the worm screw 3 with holdback counterclockwise are worm screw and holdback
Socket use, by connecting high-precision servo motor 1, realize when being turned clockwise using a high-precision servo motor,
Control the scanning of scanner horizontal direction；During rotate counterclockwise, scanner vertical scan direction is controlled.
Further, when scanner is started shooting, wireless twin shaft superhigh precision luffing angle sensor 8 detects the water of probe
Square position, and the dextrorotation of high-precision servo motor 1 is controlled by control computer to control computer by wireless signal feedback
Turn, the worm screw 2 of drive belt holdback clockwise rotates, and drives inner cylinder worm gear 4 to rotate by the worm screw 2 with holdback clockwise, interior
Cylinder worm gear 4 by gear train 6 and 7 by the translating rotation of inner cylinder horizontal direction be probe vertical direction rotation, until scanning
Head is in dead-center position straight up, so as to realize the start automatic horizontal calibration of scanner.
Further, the precision of the wireless twin shaft superhigh precision luffing angle sensor 8 and annular angular encoder 12
It is ± 0.001 °, by reading the data of the two sensors, the actual anglec of rotation of scanner is recorded in real time, and
In follow-up data processing, pivoting angle data is corrected.
Further, in addition to：Protect camera lens 15 and rain shelter 16；
The protection camera lens 15 is arranged on above probe, and the rain shelter 16 is arranged on lidar housings and scanner
The contact site of outer barrel 11.
As seen from the above technical solution provided by the invention,
(1) high-precision servo motor, by ± 0.001 ° of circular encoder of horizontal rotatio direction, vertical direction are used
± 0.001 ° of wireless twin shaft superhigh precision luffing angle sensor is recorded in real time to scanning angle, is solved due to servo electricity
Caused by the machine anglec of rotation is not inconsistent with the actual anglec of rotation the problem of scanner anglec of rotation error, realizes horizontal direction and be less than
± 0.001 ° of angular error, vertical direction is less than ± 0.001 ° of angular error, by the level detection of laser radar at 10km
Coverage error narrows down to ± 0.17m, and vertical coverage error narrows down to ± 0.17m.
(2) by using worm screw collocation holdback, between realizing single 360 ° of high-precision servo motor control scanner not
Disconnection continues 3-D scanning.Simultaneously because the single direction rotation scan characteristic of holdback, it is to avoid the backhaul that gear Bidirectional driving is produced
Error, and at home under existing machining level, the making precision and wear resistance of worm screw are all higher than gear.
(3) single high-precision servo motor is used, the volume of scanner is reduced, reduces the complexity of scanner.
(4) the wireless twin shaft superhigh precision luffing angle sensor of use ± 0.001 °, realizes the start of probe certainly
Dynamic horizontal alignment, it is to avoid the manual calibration when hogwallow is used, the operation that reduces scanning type laser radar system is answered
Miscellaneous degree, improves accuracy of measurement.
(5) probe light-emitting window adds the protection camera lens that can individually dismantle.Telescope light path and probe light path level
Linking, can protect telescopic system.Between scanner outer barrel and shell, rain-proof device is mounted with, can prevent rainwater from passing through
Space intrusion instrument internal between scanner and shell.
(6) vertical scanning is to be driven to realize by gear train, and accurate angle positioning is realized using high precision position sensor,
This mode avoids bi-motor and realizes the coiling problem that two-dimensional scan is produced so that entire scan more compact structure, position refer to
To precision is higher, rotary freedom is stronger.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, being used required in being described below to embodiment
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Detection target zone error schematic diagram caused by the scanner scanning angular error that Fig. 1 provides for background technology；
The schematic diagram of the hysterisis error for the gear that Fig. 2 provides for background technology；
Fig. 3 cuts open for a kind of structure of the single motor transmission laser radar three-dimensional scanning instrument of high accuracy provided in an embodiment of the present invention
View；
Fig. 4 cuts open figure for the section of laser radar provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of wireless twin shaft superhigh precision luffing angle sensor provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of annular angular encoder provided in an embodiment of the present invention；
Fig. 7 is that use PPI scan modes provided in an embodiment of the present invention are coordinate value using the actual reading numerical values of sensor
Carry out the data record format schematic diagram of data record.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
The embodiment of invention, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The embodiment of the present invention provides a kind of high accuracy single motor transmission laser radar three-dimensional scanning instrument, and its structure sectional view is such as
Shown in Fig. 3, it mainly includes：High-precision servo motor 1, the worm screw 2 with holdback clockwise, the worm screw with holdback counterclockwise
3rd, inner cylinder worm gear 4, scanner inner cylinder 5, inner cylinder gear train 6 and 7, wireless twin shaft superhigh precision luffing angle sensor 8, the angle of pitch
Spend probe power module 9, outer barrel worm gear 10, scanner outer barrel 11, annular angular encoder 12, bearing group 13, internal reflection
Mirror 14, protection camera lens 15, rain shelter 16, lidar housings 17；
High-precision servo motor 1 respectively with the worm screw 2 with holdback clockwise and the phase of the worm screw with holdback counterclockwise 3
Even, the worm screw 2 with holdback clockwise passes through the inner cylinder worm gear 4 installed in the lower end of scanner inner cylinder 5, driving scanner inner cylinder 5
Rotate, scanner inner cylinder top is provided with inner cylinder gear train 6 and 7, the scanner inner cylinder 5 of horizontal rotation is converted to scanner
Vertical direction is scanned.
Worm screw 3 with holdback counterclockwise passes through the outer barrel worm gear 10 installed in the lower end of scanner outer barrel 11, driving scanning
Instrument outer barrel 11 is horizontally rotated, so as to realize the horizontal sweep of scanner.Meanwhile, the encoder of annular angular encoder 12 is fixed on
In lidar housings 17, its code-disc is fixed on scanner outer barrel 11, can together be rotated with scanner outer barrel 11, so that
The horizontal scan angle of scanner outer barrel 11 is recorded in real time.
Wireless twin shaft superhigh precision angular transducer 8 is fixed on the outer wall of scanner inner cylinder 5 (close to probe), in it
Luffing angle probe power module 9 is equipped with, scanner inner cylinder vertical sweep angle is recorded in real time.
Meanwhile, it is connected between scanner inner cylinder 5 and scanner outer barrel 11 by bearing group 13, scanner outer barrel 11 and laser
Between radar shell 17, it is connected also by bearing group 13, and between scanner outer barrel 11 and lidar housings, using keeping off the rain
Device 16, is protected inside scanner not by external environmental interference.Replaceable protection camera lens 15 is used at probe, it is convenient to tie up later
Shield.
The single motor of high accuracy that the embodiment of the present invention is provided is driven the light propagation principle of laser radar three-dimensional scanning instrument
It is similar with existing periscope principle；Its contour structures and the laser radar apparatus (Fig. 1 lower left corners cube device) described in Fig. 1
It is similar, for the ease of understand its contour structures reference can be made to lidar housings 17 described in Fig. 4, i.e. the present embodiment with Fig. 1
Cube body case is similar, and position of the scanner in laser radar is similar with the scanner in Fig. 1 at the top of cube.
In the embodiment of the present invention, wireless twin shaft superhigh precision luffing angle sensor 8 is used, so that the high accuracy is single
Motor transmission laser radar three-dimensional scanning instrument can realize the start automatic horizontal calibration of scanner, and its calibration process is as follows：
When scanner is started shooting, installed in the wireless twin shaft superhigh precision angle of pitch of probe (light-emitting window in Fig. 3) nearby
Spend sensor 8 (being powered by luffing angle probe power module 9 for it) and detect the level orientation of probe, and pass through wireless communication
Number control computer is fed back to, control high-precision servo motor 1 to turn clockwise by control computer, drive belt check clockwise
The worm screw 2 of device rotates, and drives inner cylinder worm gear 4 to rotate by the worm screw 2 with holdback clockwise, and inner cylinder worm gear 4 is arranged on scanner
The lower end of inner cylinder 5, by inner cylinder gear train 6 and 7 by the translating rotation of inner cylinder horizontal direction be probe vertical direction rotation, directly
To probe in dead-center position straight up.
Moreover, it is achieved that the mode that horizontal direction rotation and angle are detected is as follows：A level is set by control computer to sweep
Angle is retouched, and controls the rotate counterclockwise of high-precision servo motor 1, by the drive belt of high-precision servo motor 1 holdback counterclockwise
Worm screw 3 rotates, and drives outer barrel worm gear 10 to rotate by the worm screw 3 with holdback counterclockwise, outside the driving scanner of outer barrel worm gear 10
Cylinder 11 rotates, while the code-disc of the annular angular encoder 12 on outer barrel rotates with scanner outer barrel 11, annular
The encoder of angular encoder 12 is fixed in lidar housings (17), so as to record the outer barrel anglec of rotation；
Realize that the mode that vertical direction rotation and angle are detected is as follows：One vertical scan angle is set by control computer
Degree, and control high-precision servo motor 1 to turn clockwise, by the worm screw 2 of the drive belt of high-precision servo motor 1 holdback clockwise
Rotation, and drive inner cylinder worm gear 4 to rotate by the worm screw 2 with holdback clockwise, inner cylinder worm gear 4 is arranged under scanner inner cylinder 5
End, by inner cylinder gear train 6 and 7 by the rotation that the translating rotation of inner cylinder horizontal direction is probe vertical direction, while wirelessly
The real-time writing scan of twin shaft superhigh precision luffing angle sensor 8 head vertical rotation angle.
In the embodiment of the present invention, the wireless twin shaft superhigh precision luffing angle sensor 8 and annular angular encoder 12
Precision be ± 0.001 °, the schematic diagram of the wireless twin shaft superhigh precision luffing angle sensor 7 is as shown in figure 5, described
The schematic diagram of annular angular encoder 12 is as shown in Figure 6.Meanwhile, in the embodiment of the present invention, use the rotation for directly reading probe
The mode of gyration, reduces the measurement target zone error of laser radar caused by the angle scanning error of scanner；Example
Property, as shown in fig. 7, being to use PPI (level) scan mode the use of the actual reading numerical values of sensor to be that coordinate value carries out data
The data record format schematic diagram of record.
The such scheme of the present invention, mainly obtains following beneficial effect：
1) high-precision servo motor, by ± 0.001 ° of circular encoder of horizontal rotatio direction, vertical direction are used
± 0.001 ° of wireless twin shaft superhigh precision luffing angle sensor is recorded in real time to scanning angle, is solved due to servo electricity
Caused by the machine anglec of rotation is not inconsistent with the actual anglec of rotation the problem of scanner anglec of rotation error, realizes horizontal direction and be less than
± 0.001 ° of angular error, vertical direction is less than ± 0.001 ° of angular error, by the level detection of laser radar at 10km
Coverage error narrows down to ± 0.17m, and vertical coverage error narrows down to ± 0.17m.
2) by using worm screw collocation holdback, single 360 ° of high-precision servo motor control scanner is realized uninterrupted
Continuous 3-D scanning.Simultaneously because the single direction rotation scan characteristic of holdback, it is to avoid the backhaul that gear Bidirectional driving is produced is missed
Difference, and at home under existing machining level, the making precision and wear resistance of worm screw are all higher than gear.
3) single high-precision servo motor is used, the volume of scanner is reduced, reduces the complexity of scanner.
4) the wireless twin shaft superhigh precision luffing angle sensor of use ± 0.001 °, the start for realizing probe is automatic
Horizontal alignment, it is to avoid manual calibration when hogwallow is used, reduces the complex operation of scanning type laser radar system
Degree, improves accuracy of measurement.
5) probe light-emitting window adds the protection camera lens that can individually dismantle.Telescope light path is held in the mouth with probe light path level
Connect, telescopic system can be protected.Rain shelter is used in the contact site of lidar housings and scanner outer barrel, instrument is prevented
Inside is influenceed by extraneous poor environment.
6) vertical scanning is to be driven to realize by gear train, and accurate angle positioning is realized using high precision position sensor,
This mode avoids bi-motor and realizes the coiling problem that two-dimensional scan is produced so that entire scan more compact structure, position refer to
To precision is higher, rotary freedom is stronger.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art is in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (5)
1. a kind of single motor transmission laser radar three-dimensional scanning instrument of high accuracy, it is characterised in that including：High-precision servo motor
(1) worm screw (2), with holdback clockwise, the worm screw (3) with holdback counterclockwise, inner cylinder worm gear (4), scanner inner cylinder
(5), inner cylinder gear train (6) and (7), wireless twin shaft superhigh precision luffing angle sensor (8), luffing angle probe power mould
Block (9), outer barrel worm gear (10), scanner outer barrel (11), annular angular encoder (12), bearing group (13) and lidar housings
(17)；
High-precision servo motor (1) respectively with the worm screw (2) with holdback clockwise and the worm screw (3) with holdback counterclockwise
It is connected, the worm screw (2) with holdback clockwise passes through the inner cylinder worm gear (4) installed in scanner inner cylinder (5) lower end, driving scanning
Instrument inner cylinder (5) is rotated, and scanner inner cylinder top is provided with inner cylinder gear train (6) and (7), makes the scanner inner cylinder of horizontal rotation
(5) the vertical direction scanning of scanner is converted to；Worm screw (3) with holdback counterclockwise passes through installed in scanner outer barrel (11)
The outer barrel worm gear (10) of lower end, driving scanner outer barrel (11) horizontal rotation, so as to realize the horizontal sweep of scanner；Annular angle
The encoder of degree encoder (12) is fixed in lidar housings (17), and its code-disc is fixed on scanner outer barrel (11)；Nothing
Line twin shaft superhigh precision angular transducer (8) is fixed on the outer wall of scanner inner cylinder (5), and it is built-in with luffing angle sensor
Power module (9)；Scanner inner cylinder (5) and scanner outer barrel (11), and scanner outer barrel (11) and lidar housings
(17) it is connected between by bearing group (13)；
Realize that the mode that horizontal direction rotation and angle are detected is as follows：One horizontal scan angle is set by control computer, and
High-precision servo motor (1) rotate counterclockwise is controlled, by the worm screw of high-precision servo motor (1) drive belt holdback counterclockwise
(3) rotate, and drive outer barrel worm gear (10) to rotate by the worm screw (3) with holdback counterclockwise, outer barrel worm gear (10) driving scanning
Instrument outer barrel (11) rotates, while the code-disc of the annular angular encoder (12) on scanner outer barrel (11) is with outer barrel
Rotation, the encoder of annular angular encoder (12) is fixed in lidar housings (17), records the outer barrel anglec of rotation；
Realize that the mode that vertical direction rotation and angle are detected is as follows：One vertical scan angle is set by control computer, and
Control high-precision servo motor (1) turns clockwise, by the worm screw of high-precision servo motor (1) drive belt holdback clockwise
(2) rotate, and drive inner cylinder worm gear (4) to rotate by the worm screw (2) with holdback clockwise, inner cylinder worm gear (4) driving scanner
Inner cylinder (5), by the translating rotation of scanner inner cylinder (5) horizontal direction is scanning head erect side by inner cylinder gear train (6) and (7)
To rotation, while wireless twin shaft superhigh precision luffing angle sensor (8) the head vertical rotation angle of writing scan in real time.
2. the single motor transmission laser radar three-dimensional scanning instrument of high accuracy according to claim 1, it is characterised in that
Worm screw (2) with holdback clockwise makes with the socket that the worm screw (3) with holdback counterclockwise is worm screw and holdback
With by connecting high-precision servo motor (1), realizing when being turned clockwise using a high-precision servo motor, control is swept
Retouch instrument vertical scan direction；During rotate counterclockwise, the horizontal direction scanning of control scanner.
3. the single motor transmission laser radar three-dimensional scanning instrument of high accuracy according to claim 1, it is characterised in that
When scanner is started shooting, wireless twin shaft superhigh precision luffing angle sensor (8) detects the level orientation of probe, and leads to
Wireless signal feedback is crossed to control computer, controls high-precision servo motor (1) to turn clockwise by control computer, drive belt
Worm screw (2) rotation of holdback clockwise, drives inner cylinder worm gear (4) to rotate, inner cylinder snail by the worm screw (2) with holdback clockwise
Take turns (4) and the translating rotation of inner cylinder horizontal direction is the rotation of probe vertical direction by gear train (6) and (7), until sweeping
Head is retouched in dead-center position straight up, so as to realize the start automatic horizontal calibration of scanner.
4. the single motor transmission laser radar three-dimensional scanning instrument of high accuracy according to claim 1, it is characterised in that
The precision of the wireless twin shaft superhigh precision luffing angle sensor (8) and annular angular encoder (12) is ±
0.001 °, by reading the data of the two sensors, the actual anglec of rotation of scanner is recorded in real time, and is subsequently counting
According in processing, pivoting angle data is corrected.
5. the single motor transmission laser radar three-dimensional scanning instrument of high accuracy according to claim 1, it is characterised in that also wrap
Include：Protect camera lens (15) and rain shelter (16)；
The protection camera lens (15) is arranged on above probe, and the rain shelter (16) is arranged on lidar housings and scanner
The contact site of outer barrel (11).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510454959.7A CN105068085B (en) | 2015-07-27 | 2015-07-27 | High accuracy list motor transmission laser radar three-dimensional scanning instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510454959.7A CN105068085B (en) | 2015-07-27 | 2015-07-27 | High accuracy list motor transmission laser radar three-dimensional scanning instrument |
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| Publication Number | Publication Date |
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| CN105068085A CN105068085A (en) | 2015-11-18 |
| CN105068085B true CN105068085B (en) | 2017-08-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015226502A1 (en) * | 2015-12-22 | 2017-06-22 | Robert Bosch Gmbh | Lidar scanner on a motor vehicle |
| CN105785381A (en) * | 2016-04-07 | 2016-07-20 | 张和光 | Rotary scanning laser radar and corresponding laser range finding method |
| CN107044857B (en) * | 2017-03-24 | 2020-02-07 | 黑龙江硅智机器人有限公司 | Asynchronous map construction and positioning system and method applied to service robot |
| CN106886030B (en) * | 2017-03-24 | 2019-05-07 | 黑龙江硅智机器人有限公司 | Synchronous mode map structuring and positioning system and method applied to service robot |
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| CA2668064A1 (en) * | 2006-10-30 | 2008-05-08 | Autonosys Inc. | Scanning system for lidar |
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| CN201293837Y (en) * | 2008-11-28 | 2009-08-19 | 北京工业大学 | Moonmobile high speed three-dimensional laser imaging radar system |
| JP5891893B2 (en) * | 2012-03-27 | 2016-03-23 | 株式会社デンソーウェーブ | Laser radar equipment |
| CN103278808B (en) * | 2013-05-28 | 2015-12-23 | 中国科学院合肥物质科学研究院 | A kind of multi-thread scanning type laser radar installations |
| CN104749565B (en) * | 2015-04-22 | 2018-06-01 | 深圳大舜激光技术有限公司 | A kind of laser radar three-dimensional scanning rotating mirror system |
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