CN106019298A - Two-dimensional laser radar scanning method - Google Patents
Two-dimensional laser radar scanning method Download PDFInfo
- Publication number
- CN106019298A CN106019298A CN201610607999.5A CN201610607999A CN106019298A CN 106019298 A CN106019298 A CN 106019298A CN 201610607999 A CN201610607999 A CN 201610607999A CN 106019298 A CN106019298 A CN 106019298A
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- China
- Prior art keywords
- laser
- module
- scanning method
- radar scanning
- main control
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a two-dimensional laser radar scanning method which comprises the steps that (1) laser distance measuring equipment measures the distance information of a current direction and then transmits the distance information to a master control circuit board which is connected to the laser distance measuring equipment, (2) the master control circuit board is connected to a zero setting switch and a transmission device at the same time, and the zero setting switch transmits a scanned initial angle to the master control circuit board, (3) the master control circuit board sends a control pulse to control the transmission device to rotate in a uniform speed and obtains current angle information, (4) the master control circuit board records the real-time distance and angle information and transmits the information to data processing equipment through a communication port, and the data processing equipment processed and displays a current scanning result.
Description
Technical field
The present invention relates to a kind of Laser Radar Scanning field, be specifically related to a kind of Laser Radar Scanning method of two dimension.
Background technology
Laser radar be widely used in scanning monitoring objective barrier size and and other object between distance and the speed of service of target obstacle, such as railroad rail on barrier size, and the distance between rail and barrier and relative velocity.
As a example by the scanning laser radar of main flow in the market, the brief operation principle introducing laser radar.Scanning laser radar includes a generating laser, a laser pickoff and a The Cloud Terrace.Laser transmitter projects beam of laser pulse, after target object reflects, is received by laser pickoff.The light pulse time between Laser emission to laser pick-off measured accurately by laser pickoff.And the light velocity is known, the laser propagation time measured can be converted into the distance to laser propagation.And The Cloud Terrace ceaselessly rotates, it is possible to achieve the range measurement on different directions, obtain the distance on laser scanning cross section and angle information.Along with people's raising to security requirement, it is desirable to have higher scanning degree of accuracy and faster scanning speed.
Summary of the invention
The purpose of the present invention is i.e. to overcome the deficiencies in the prior art, it is provided that a kind of Laser Radar Scanning method of two dimension, solves existing Laser Radar Scanning device and can not meet high-velocity scanning and high-resolution monitoring, it is impossible to the problem realizing quick range measurement.
The present invention is achieved through the following technical solutions:
A kind of Laser Radar Scanning method of two dimension, including step:
Step 1) Laser Distance Measuring Equipment records the range information in current direction, and then range information passes to the main control board being attached thereto；
Step 2) described main control board switchs with zero simultaneously and actuating device is connected, and described zero switch passes to the start angle of main control board scanning；
Main control board described in step 3) controls pulse to control actuating device uniform rotation by sending, and obtains current angle information；
Main control board described in step 4), by real-time distance and angle information record, passes information to data handling equipment by PORT COM, and data handling equipment processes and shows current scanning result.
Further, step 1), described Laser Distance Measuring Equipment includes: for the laser emitting module of laser beam transmitting, for receiving the laser pick-off module of return laser beam light beam, for processing the laser circuit module of return laser beam light beam；Described laser emitting module and laser pick-off module are packaged into the module of integration, Laser emission light beam and return laser beam and launch through same optical window and receive；Described laser circuit module is connected with laser emitting module and laser pick-off module.
Further, step 2), described actuating device also includes optics tilting mirror, and above-mentioned optics tilting mirror is used for transmitting and the reception of laser, and described optics tilting mirror is connected with actuating device.
Further, step 1), the transmitting laser beam of described Laser Distance Measuring Equipment includes but not limited to that iraser light beam, described beam divergence angle are less than 3mrad.
Further, step 1), described laser ranging module device range finding speed includes but not limited to minimum 10KHz.
Further, step 2), the driving means that described actuating device uses includes but not limited to brushless DC servomotor.
Further, step 4), described PORT COM uses RS422, RS232 or Ethernet.
The present invention compared with prior art, has such advantages as and beneficial effect:
1, the key point of the present invention is to use simple structure (low cost), it is achieved at a high speed, the scanning of high-resolution, medium and long distance monitoring.
2, the protection point of the present invention is to realize structure and the rotary scanning structure of this kind of scan mode, realizes quick wide-angle with better simply structure, quickly scans monitoring.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by the embodiment of the present invention, constitutes the part of the application, is not intended that the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet of the Laser Radar Scanning method of a kind of two dimension of the present invention；
Fig. 2 is the principle schematic of the Laser Radar Scanning of a kind of two dimension of the present invention；
Fig. 3 is the principle schematic of Laser Distance Measuring Equipment of the present invention；
Fig. 4 is the schematic diagram of the scanning optical path of laser radar of the present invention；
Labelling and corresponding parts title in accompanying drawing:
1-Laser Distance Measuring Equipment, 2-main control board, 3-actuating device, 4-makes zero switch, 5-PORT COM, 6-data handling equipment.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, and the exemplary embodiment of the present invention and explanation thereof are only used for explaining the present invention, not as a limitation of the invention.
Embodiment
As it is shown in figure 1, the Laser Radar Scanning method of a kind of two dimension of the present invention, including step:
Step 1) Laser Distance Measuring Equipment 1 records the range information in current direction, and then range information passes to the main control board 2 being attached thereto；
Step 2) described main control board 2 is connected with zero switch 4 and actuating device 3 simultaneously, and zero switch 4 passes to the start angles that main control board 2 scans；
Main control board 2 described in step 3) controls pulse to control actuating device 3 uniform rotation by sending, and obtains current angle information；
Main control board 2 described in step 4), by real-time distance and angle information record, passes information to data handling equipment 6 by PORT COM 5, and data handling equipment 6 processes and shows current scanning result.
As shown in Figure 2, the Laser Radar Scanning method of a kind of two dimension of the present invention, Laser Distance Measuring Equipment 1 can be quick, record the range information in current direction accurately, then range information is passed to the main control board 2 being attached thereto, main control board 2 is connected with zero switch 4 and actuating device 3 simultaneously, zero switch 4 passes to the start angle of main control board 2 scanning, main control board 2 sends the uniform rotation controlling Pulse Width Control actuating device 3, and obtain current angle information, main control board 2 is by real-time distance and angle information record, data handling equipment 6 is passed information to by PORT COM 5, data handling equipment 6 processes and shows current scanning result.
Actuating device also includes optics tilting mirror, and for transmitting and the reception of laser, described optics tilting mirror is connected with actuating device.Optics tilting mirror needs higher reflectance and surface smoothness.Zero switch needs higher response frequency, reduces the error caused because of switching delay.Laser Distance Measuring Equipment, its transmitting laser beam includes but not limited to iraser light beam, and beam divergence angle is less than 3mrad.Laser ranging module device, range finding speed includes but not limited to minimum 10KHz.Actuating device, uses driving means to include but not limited to brushless DC servomotor.PORT COM, potentially includes RS422, RS232, Ethernet etc..
As shown in Figure 3, the Laser Radar Scanning method of a kind of two dimension of the present invention, including for the most quickly Laser Distance Measuring Equipment 1, Laser Distance Measuring Equipment 1 includes: for the laser emitting module of laser beam transmitting, for receiving the laser pick-off module of return laser beam light beam, for processing the laser circuit module of return laser beam light beam.Laser emitting module and laser pick-off module are packaged into the module of integration, Laser emission light beam and return laser beam and launch through same optical window and receive.Laser circuit module is connected with laser emitting module and laser pick-off module.
As shown in Figure 4, the Laser Radar Scanning Method And Principle of a kind of two dimension of the present invention, the laser beam that laser ranging module is launched is after optics tilting mirror reflects, can get on object, after reflecting via target obstacle, return laser beam is reflected back laser pick-off module by optics tilting mirror, this time is extremely short, along with the rotation of optics tilting mirror, can quickly scan the angle and distance information that obtains, thus realize the barrier monitoring monitoring in region.This monitoring has great scope, and can react size and the movement velocity thereof of target obstacle accurately.
Above-mentioned Laser Distance Measuring Equipment 1 can use existing laser ranging module, pulsed or phase laser distance measurement module, the signal carrier of Laser Distance Measuring Equipment can be selected for visible or infrared light, such as 905nm carrier wave, the frequency of range finding may select the above speed of 10KHz, in the case of determining rate of scanning, for improving resolution, the Laser Distance Measuring Equipment of optional higher range frequency.
Above-described detailed description of the invention; the purpose of the present invention, technical scheme and beneficial effect are further described; it is it should be understood that; the foregoing is only the detailed description of the invention of the present invention; the protection domain being not intended to limit the present invention; all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included within the scope of the present invention.
Claims (7)
1. a two-dimentional Laser Radar Scanning method, it is characterised in that: include step:
Step 1) Laser Distance Measuring Equipment (1) records the range information in current direction, and then range information passes to the main control board (2) being attached thereto；
Step 2) described main control board (2) switchs (4) with zero simultaneously and actuating device (3) is connected, and described zero switch (4) passes to the start angle that main control board (2) scans；
Main control board described in step 3) (2) controls pulse to control actuating device (3) uniform rotation by sending, and obtains current angle information；
Main control board described in step 4) (2), by real-time distance and angle information record, passes information to data handling equipment (6) by PORT COM (5), and data handling equipment (6) processes and shows current scanning result.
The Laser Radar Scanning method of two dimension the most according to claim 1, it is characterized in that, step 1), described Laser Distance Measuring Equipment (1) including: for the laser emitting module of laser beam transmitting, for receiving the laser pick-off module of return laser beam light beam, for processing the laser circuit module of return laser beam light beam；Described laser emitting module and laser pick-off module are packaged into the module of integration, Laser emission light beam and return laser beam and launch through same optical window and receive；Described laser circuit module is connected with laser emitting module and laser pick-off module.
The Laser Radar Scanning method of two dimension the most according to claim 1, it is characterized in that, step 2), described actuating device (3) also includes optics tilting mirror, above-mentioned optics tilting mirror is used for transmitting and the reception of laser, and described optics tilting mirror is connected with actuating device (3).
4. according to the Laser Radar Scanning method of the two dimension described in any one of claim 1-3, it is characterised in that step 1), the transmitting laser beam of described Laser Distance Measuring Equipment (1) includes but not limited to that iraser light beam, described beam divergence angle are less than 3mrad.
5., according to the Laser Radar Scanning method of the two dimension described in any one of claim 1-3, it is characterised in that step 1), described laser ranging module device (1) range finding speed includes but not limited to minimum 10KHz.
6. according to the Laser Radar Scanning method of the two dimension described in any one of claim 1-3, it is characterised in that step 2), the driving means that described actuating device (3) uses includes but not limited to brushless DC servomotor.
7., according to the Laser Radar Scanning method of the two dimension described in any one of claim 1-3, it is characterised in that step 4), described PORT COM uses RS422, RS232 or Ethernet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607999.5A CN106019298A (en) | 2016-07-29 | 2016-07-29 | Two-dimensional laser radar scanning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607999.5A CN106019298A (en) | 2016-07-29 | 2016-07-29 | Two-dimensional laser radar scanning method |
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| Publication Number | Publication Date |
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| CN106019298A true CN106019298A (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610607999.5A Withdrawn CN106019298A (en) | 2016-07-29 | 2016-07-29 | Two-dimensional laser radar scanning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917351A (en) * | 2019-04-19 | 2019-06-21 | 上海禾赛光电科技有限公司 | The emission system and its control method of laser radar, laser radar |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204044359U (en) * | 2014-07-11 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of two-dimensional scan formula laser ranging system |
| CN205175364U (en) * | 2015-12-02 | 2016-04-20 | 北京握奇智能科技有限公司 | A laser profile scanning device for data acquisition |
-
2016
- 2016-07-29 CN CN201610607999.5A patent/CN106019298A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204044359U (en) * | 2014-07-11 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of two-dimensional scan formula laser ranging system |
| CN205175364U (en) * | 2015-12-02 | 2016-04-20 | 北京握奇智能科技有限公司 | A laser profile scanning device for data acquisition |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917351A (en) * | 2019-04-19 | 2019-06-21 | 上海禾赛光电科技有限公司 | The emission system and its control method of laser radar, laser radar |
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Application publication date: 20161012 |
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