CN105891839B - A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability - Google Patents
A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability Download PDFInfo
- Publication number
- CN105891839B CN105891839B CN201610199300.6A CN201610199300A CN105891839B CN 105891839 B CN105891839 B CN 105891839B CN 201610199300 A CN201610199300 A CN 201610199300A CN 105891839 B CN105891839 B CN 105891839B
- Authority
- CN
- China
- Prior art keywords
- fixed
- axis
- laser
- slip ring
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- 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 a kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, it is made of servomotor, synchronous pulley, synchronous belt, linear CCD sensor, laser emitter, high precision six-axis gyroscope, laser pickoff, turntable, controller, the shaft with conducting slip ring, chassis, stepper motor, the fixed block with photoelectric encoder, supporting block, latch segment, axis.With the development of unmanned technology, unmanned vehicle and unmanned boat there is an urgent need to it is a kind of being capable of integrated location information and image information, the laser radar apparatus for realizing the scanning of Liang Zhou omnidirectionals.The cloud data that the present invention is received by linear CCD sensor and laser pickoff, corresponds it after coordinate transform computing superposition, finally obtains the colour point clouds data of testee.Meanwhile the present invention is expanded the scanning range of laser radar apparatus by mechanism of a set of twin shaft omnidirectional, so as to fulfill a wide range of, the acquisition of color distance cloud data.
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 and set
Standby field.
Background technology
In recent years, as unmanned vehicle, the development of unmanned boat technology, domestic and international scientific research institutions have now been developed some unmanned vehicles
With unmanned boat model.And laser radar apparatus is the key device of unmanned vehicle and unmanned boat.At present, unmanned vehicle and unmanned boat are urgent
Need it is a kind of can integrated location information and image information, realize the laser radar apparatus of Liang Zhou omnidirectionals scanning.
The content of the invention
Deficiency of the present invention for existing unmanned boat and unmanned vehicle conventional laser radar installations, there is provided one kind has colour
Omnidirectional's laser radar apparatus of point cloud acquisition capability, the device can not only realize accurate ranging, moreover it is possible to provide cloud data
Color information.The device is scanned with Liang Zhou omnidirectionals, and scan position is big, wide coverage.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, by servomotor, synchronous pulley, synchronization
Band, linear CCD sensor, laser emitter, high precision six-axis gyroscope, laser pickoff, turntable, controller, band are conductive sliding
The shaft of ring, chassis, stepper motor, the fixed block with photoelectric encoder, supporting block, latch segment, axis composition；The servo electricity
Machine, synchronous pulley, synchronous belt, linear CCD sensor, laser emitter, high precision six-axis gyroscope, laser pickoff, turntable,
Controller, the shaft with conducting slip ring form a flat scanning laser radar, realize and realize sectoring to X-plane：It is described
Servomotor, controller and chassis are fixed, and synchronous pulley is fixed on the rotor of servomotor；Synchronous pulley, synchronous belt and band
The shaft of conducting slip ring forms a synchronous pulley mechanism, drives the shaft with conducting slip ring to rotate by servomotor；Band is led
One end of the shaft of electric slip ring is placed on the controller, is fixed by bearing and controller；Turntable is fixed on conducting slip ring
On the other end of shaft, linear CCD sensor, laser emitter, high precision six-axis gyroscope, laser pickoff respectively with turntable
Fixed, linear CCD sensor, laser emitter, high precision six-axis gyroscope, that the conducting wire on laser pickoff passes through band is conductive sliding
Conducting slip ring in the shaft of ring is connected with controller；The chassis, stepper motor, the fixed block with photoelectric encoder, branch
Bracer, latch segment, axis form an adjusting mechanism, for scanning the vertical Y faces of X-plane：The stepper motor is fixed on band
On the fixed block of photoelectric encoder, its rotor is fixed by bearing and axis, and supporting block is fixed by its mesoporous with axis, and with
Chassis is fixed, and latch segment is fixed by screw thread and axis, plays the role of locking, by the driving of stepper motor, drives axis rotation
Turn, so as to drive above-mentioned flat scanning laser radar apparatus to be rotated around the central axes of axis.
Point cloud information is that the linear CCD sensor that relative position is fixed and the cloud data that laser pickoff is received pass through
Correspond what superposition obtained after controller coordinate transform computing.
Compared with prior art, the beneficial effects of the invention are as follows：
Apparatus of the present invention can be realized to be scanned with the compound cloud data of positional information and color information, twin shaft omnidirectional,
It is big to scan coverage, can independently set scanning range according to demand.
Brief description of the drawings
Fig. 1 is flat scanning laser radar apparatus assembling schematic diagram of the present invention.
Fig. 2 is adjusting mechanism assembling schematic diagram of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiments are only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
As depicted in figs. 1 and 2, a kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, by servomotor
1st, synchronous pulley 2, synchronous belt 3, linear CCD sensor 4, laser emitter 5, high precision six-axis gyroscope 6, laser pickoff 7,
Turntable 8, controller 9, the shaft 10 with conducting slip ring, chassis 11, stepper motor 12, the fixed block 13 with photoelectric encoder, branch
Bracer 14, latch segment 15, axis 16 form；The servomotor 1, synchronous pulley 2, synchronous belt 3, linear CCD sensor 4, swash
Optical transmitting set 5, high precision six-axis gyroscope 6, laser pickoff 7, turntable 8, controller 9, the shaft 10 with conducting slip ring form
One flat scanning laser radar, realizes and realizes sectoring to X-plane：The servomotor 1, controller 9 and chassis 11 are solid
Fixed, synchronous pulley 2 is fixed on the rotor of servomotor 1；Synchronous pulley 2, synchronous belt 3 and the shaft 10 with conducting slip ring are formed
One synchronous pulley mechanism, drives the shaft 10 with conducting slip ring to rotate by servomotor 1；Shaft 10 with conducting slip ring
One end is placed on controller 9, is fixed by bearing and controller 9；Turntable 8 is fixed on the another of the shaft 10 with conducting slip ring
On end, linear CCD sensor 4, laser emitter 5, high precision six-axis gyroscope 6, laser pickoff 7 are fixed with turntable 8 respectively,
Linear CCD sensor 4, laser emitter 5, high precision six-axis gyroscope 6, that the conducting wire on laser pickoff 7 passes through band is conductive sliding
Conducting slip ring in the shaft 10 of ring is connected with controller 9；The chassis 11, stepper motor 12, consolidating with photoelectric encoder
Determine block 13, supporting block 14, latch segment 15, axis 16 and form an adjusting mechanism, for scanning the vertical Y faces of X-plane：The step
Stepper motor 12 is fixed on the fixed block 13 with photoelectric encoder, its rotor is fixed by bearing and axis 16, and supporting block 14 is logical
Cross its mesoporous to fix with axis 16, and fixed with chassis 11, latch segment 15 is fixed by screw thread and axis 16, is played locking and is made
With by the driving of stepper motor 12, drive axis 16 rotates, so as to drive above-mentioned flat scanning laser radar apparatus in
The central axes of axis 16 rotate.
The use process and principle of the present invention is as follows：
Controller 9 is rotated according to the scan frequency being previously set, control servomotor 1 by certain rotating speed first.A certain
At the moment, laser emitter 5 is according to the instruction issue of controller 9 by certain frequency transmitting laser, and laser pickoff 7 is according to receiving
The phase place change of laser obtains the distance of testee.After the of short duration time t that laser obtains object distance, linear CCD passes
Sensor 4 obtains the color information of the testee.According to the differential seat angle θ between linear CCD sensor 4 and laser pickoff 7 and
Sample frequency ω calculates the difference n of range points cloud sequence and color point cloud sequence., will be tested by the adder in controller
Object distance and color information are corresponded and are packaged with, and form the color of testee apart from cloud data.
While above-mentioned flat scanning laser radar apparatus scans X face objects, controller 9 controls 12 turns of stepper motor
It is dynamic.Stepper motor 12 is progressively moved according to the rotational frequency of servomotor 1, moves δ angles every time so that above-mentioned flat scanning
Laser radar apparatus can scan a circle in every δ angles.This completes single pass in Y plane to act.As needed, walk
Stepper motor 12 often rotates a circle or certain angle can be the scan period of a Y plane.It should be noted that compiled with photoelectricity
Photoelectric encoder in the fixed block 13 of code device plays the role of closed loop feedback, for the orientation control to adjusting mechanism.It is above-mentioned
High precision six-axis gyroscope 6 play the role of closed-loop feedback to whole system, for ensureing to obtain colour point clouds data
Twin shaft omnidirectional laser radar apparatus overall precision.
Finally, each color can be pressed by differential seat angle θ and sample frequency ω and δ angles by spherical coordinates apart from cloud data
Position shown inside gui program, or corresponding information is obtained according to the exploitation program of user.It is whole so as to complete
The information access process of device.
Claims (1)
1. a kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability, it is characterised in that by servomotor (1), together
Step belt wheel (2), synchronous belt (3), linear CCD sensor (4), laser emitter (5), high precision six-axis gyroscope (6), laser connect
Receive device (7), turntable (8), controller (9), the shaft (10) with conducting slip ring, chassis (11), stepper motor (12), band photoelectricity volume
Fixed block (13), supporting block (14), latch segment (15), axis (16) composition of code device；The servomotor (1), synchronous pulley
(2), synchronous belt (3), linear CCD sensor (4), laser emitter (5), high precision six-axis gyroscope (6), laser pickoff
(7), turntable (8), controller (9), the shaft (10) with conducting slip ring form a flat scanning laser radar, realize and X is put down
Realize sectoring in face：The servomotor (1), controller (9) are fixed with chassis (11), and synchronous pulley (2) is fixed on servo
On the rotor of motor (1)；Synchronous pulley (2), synchronous belt (3) and the shaft (10) with conducting slip ring form a synchronous belt turbine
Structure, drives the shaft (10) with conducting slip ring to rotate by servomotor (1)；Place one end of shaft (10) with conducting slip ring
It is fixed by bearing and controller (9) on controller (9)；Turntable (8) is fixed on the another of the shaft (10) with conducting slip ring
On end, linear CCD sensor (4), laser emitter (5), high precision six-axis gyroscope (6), laser pickoff (7) are respectively with turning
Disk (8) is fixed, linear CCD sensor (4), laser emitter (5), high precision six-axis gyroscope (6), on laser pickoff (7)
Conducting wire be connected by the conducting slip ring in the shaft (10) with conducting slip ring with controller (9)；The chassis (11), stepping
Motor (12), the fixed block (13) with photoelectric encoder, supporting block (14), latch segment (15), axis (16) form an adjusting
Mechanism, for scanning the Y plane vertical with X-plane：The stepper motor (12) is fixed on the fixed block with photoelectric encoder
(13) on, its rotor is fixed by bearing and axis (16), and supporting block (14) is fixed by its mesoporous and axis (16), and with bottom
Disk (11) is fixed, and latch segment (15) is fixed by screw thread and axis (16), plays the role of locking, passes through the drive of stepper motor (12)
It is dynamic, axis (16) rotation is driven, so as to drive above-mentioned flat scanning laser radar apparatus to be rotated around the central axes of axis (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199300.6A CN105891839B (en) | 2016-04-02 | 2016-04-02 | A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199300.6A CN105891839B (en) | 2016-04-02 | 2016-04-02 | A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105891839A CN105891839A (en) | 2016-08-24 |
| CN105891839B true CN105891839B (en) | 2018-04-27 |
Family
ID=57012393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199300.6A Active CN105891839B (en) | 2016-04-02 | 2016-04-02 | A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105891839B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108680096B (en) * | 2018-07-06 | 2023-12-19 | 北方工业大学 | Direction scanning positioning mechanism and radar system |
| CN109471088A (en) * | 2018-12-29 | 2019-03-15 | 同方威视技术股份有限公司 | Scanning angle adjusts device, laser radar system, carrier and auto-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 |
| CN113566733B (en) * | 2021-06-29 | 2023-11-14 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308925A (en) * | 2013-05-31 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Integral three-dimensional color laser radar data point cloud generating method and device thereof |
| CN104345448A (en) * | 2014-10-16 | 2015-02-11 | 中国电子科技集团公司第五十研究所 | Large-view-field rapid two-dimensional scanning mirror mounting structure |
| CN104599272A (en) * | 2015-01-22 | 2015-05-06 | 中国测绘科学研究院 | Movable target sphere oriented onboard LiDAR point cloud and image united rectification method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9128185B2 (en) * | 2012-03-15 | 2015-09-08 | GM Global Technology Operations LLC | Methods and apparatus of fusing radar/camera object data and LiDAR scan points |
| US20130342657A1 (en) * | 2012-06-15 | 2013-12-26 | Nikon Corporation | Stereo vision camera for laser radar |
-
2016
- 2016-04-02 CN CN201610199300.6A patent/CN105891839B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103308925A (en) * | 2013-05-31 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Integral three-dimensional color laser radar data point cloud generating method and device thereof |
| CN104345448A (en) * | 2014-10-16 | 2015-02-11 | 中国电子科技集团公司第五十研究所 | Large-view-field rapid two-dimensional scanning mirror mounting structure |
| CN104599272A (en) * | 2015-01-22 | 2015-05-06 | 中国测绘科学研究院 | Movable target sphere oriented onboard LiDAR point cloud and image united rectification method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105891839A (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105891839B (en) | A kind of omnidirectional's laser radar apparatus with colour point clouds acquisition capability | |
| CN106598081B (en) | A kind of image-pickup method and electronic equipment | |
| Rong et al. | Improving attitude detection performance for spherical motors using a MEMS inertial measurement sensor | |
| CN108021534B (en) | Permanent magnet spherical motor position detection method based on 3-D magnetic field sensor | |
| CN106005455B (en) | A kind of two axis Towed bird systems for being directed toward control based on geographic coordinate system | |
| CN111366908B (en) | Laser radar rotary table and measuring device and measuring method thereof | |
| CN110488850A (en) | A kind of quadrotor drone vision navigation system and method based on raspberry pie | |
| CN110640738A (en) | Industrial robot platform of developments seizure | |
| CN106289098A (en) | The method of controlling rotation of three-dimensional laser scanner | |
| CN107044857A (en) | Asynchronous system map structuring and alignment system and method applied to service robot | |
| CN104615152B (en) | A kind of disturbance angle compensation system | |
| CN111152931B (en) | Small-size triaxial photoelectric pod control system | |
| CN104199118A (en) | Searching and tracking integrated photoelectric detection system | |
| CN103885458A (en) | Fast reflection mirror scanning tracking system for aerospace imaging field and method thereof | |
| CN111123280A (en) | Laser radar positioning method, device and system, electronic equipment and storage medium | |
| CN201152896Y (en) | Infrared light electrical alarming turntable | |
| CN206117467U (en) | Two degrees of freedom of non - spherical orthohormbic structure hybrid step motor | |
| CN102662407B (en) | Tracking control method of three-axis telescope | |
| CN109612375B (en) | Spherical motor rotor position detection method based on Hall element | |
| CN203773357U (en) | Fast reflector scanning and tracking system applied to aerospace imaging field | |
| CN206470615U (en) | A kind of universal unmanned plane cloud platform control system | |
| CN103049002A (en) | Multi-degrees-of-freedom phase center robot | |
| CN206618858U (en) | A kind of three-dimensional scanner | |
| JP2003505897A (en) | Video surveillance camera movement control | |
| CN204086575U (en) | The Photodetection system of search and tracking one |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |