CN106291570A - A kind of Laser Radar Scanning devices and methods therefor of two dimension - Google Patents
A kind of Laser Radar Scanning devices and methods therefor of two dimension Download PDFInfo
- Publication number
- CN106291570A CN106291570A CN201610608000.9A CN201610608000A CN106291570A CN 106291570 A CN106291570 A CN 106291570A CN 201610608000 A CN201610608000 A CN 201610608000A CN 106291570 A CN106291570 A CN 106291570A
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- CN
- China
- Prior art keywords
- laser
- measuring equipment
- tilting mirror
- distance measuring
- optics tilting
- 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.)
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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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- 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 the Laser Radar Scanning devices and methods therefor of a kind of two dimension, including Laser Distance Measuring Equipment, optics tilting mirror and motor, it is arranged on pedestal including Laser Distance Measuring Equipment, optics tilting mirror and motor are into a line, the outgoing beam of described Laser Distance Measuring Equipment is through the reflecting surface of optics tilting mirror, exiting parallel, after outgoing beam runs into barrier, barrier can be by certain luminous reflectance, the laser of reflection is echo beam, described echo beam reflecting surface through optics tilting mirror again returns to, in the receiving plane of Laser Distance Measuring Equipment, obtain current range information after treatment；Driven by motor optics tilting mirror at the uniform velocity rotates with certain speed, in rotary course, corresponding different multi-angle laser distance-measuring equipment all can record current range information, after the range information of different angles uploads data handling equipment by PORT COM, the scanning information that treated display is current.
Description
Technical field
The present invention relates to a kind of Laser Radar Scanning field, be specifically related to a kind of two dimension Laser Radar Scanning device and
Method.
Background technology
Laser radar be widely used in scan monitoring objective barrier size and and other object between distance and mesh
The speed of service of mark barrier, such as barrier size on railroad rail, and distance between rail with barrier and relative
Speed.
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 arteries and veins
Punching, after target object reflects, is received by laser pickoff.Laser pickoff measure accurately light pulse from Laser emission to
Time between laser pick-off.And the light velocity is known, the laser propagation time measured can be converted into laser propagation
Distance.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 the Laser Radar Scanning device of a kind of two dimension and
Its method, solves existing Laser Radar Scanning device and can not meet high-velocity scanning and high-resolution monitoring, it is impossible to realize quickly
The problem of range measurement.
The present invention is achieved through the following technical solutions:
The Laser Radar Scanning device of a kind of two dimension, including Laser Distance Measuring Equipment, optics tilting mirror and motor, described laser ranging sets
Standby, optics tilting mirror and motor is into a line is arranged on pedestal, the outgoing beam of described Laser Distance Measuring Equipment is through optics tilting mirror
Reflecting surface, exiting parallel, after outgoing beam runs into barrier, barrier can be by certain luminous reflectance, and the laser of reflection is echo
Signal, described echo-signal reflecting surface through optics tilting mirror again returns in the receiving plane of Laser Distance Measuring Equipment, after treatment
To current range information；Driven by motor optics tilting mirror at the uniform velocity rotates with certain speed, in rotary course, corresponding different
Multi-angle laser distance-measuring equipment all can record current range information, and the range information of different angles uploads data by PORT COM
After processing equipment, the scanning information that treated display is current.
Further, described Laser Distance Measuring Equipment includes: for laser beam launch laser emitting module, be used for receiving
The laser pick-off module of laser echo signal, for processing the laser circuit module of laser echo signal；Described Laser emission mould
Block 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 connect
Receive；Described laser circuit module is connected with laser emitting module and laser pick-off module.
Further, the transmitting laser beam of described Laser Distance Measuring Equipment includes but not limited to iraser light beam, described
Beam divergence angle is less than 3mrad.
Further, described laser ranging module device range finding speed includes but not limited to minimum 10KHz.
Further, described motor uses brushless DC servomotor.
The present invention is realized by another technical scheme following:
A kind of Laser Radar Scanning method, including step:
The outgoing beam of Laser Distance Measuring Equipment described in step 1) runs into through the reflecting surface of optics tilting mirror, exiting parallel, outgoing beam
After barrier, barrier can be by certain luminous reflectance；
Step 2) laser that reflects is echo-signal, described echo-signal reflecting surface through optics tilting mirror again returns to laser ranging
In the receiving plane of equipment, obtain current range information after treatment；
Step 3) driven by motor optics tilting mirror at the uniform velocity rotates with certain speed, and in rotary course, corresponding different angle swashs
Ligh-ranging equipment all can record current range information,
The range information of step 4) different angles is uploaded data process by the PORT COM being arranged on Laser Distance Measuring Equipment and is set
After Bei, the scanning information that treated display is current.
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 sweeping of high-resolution, medium and long distance
Retouch monitoring.
2, the protection point of the present invention is to realize structure and the rotary scanning structure of this kind of scan mode, with better simply
Structure realizes quick wide-angle, 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 of the application
Point, it is not intended that the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is the Laser Radar Scanning device schematic diagram of a kind of two dimension of the present invention；
Fig. 2 is the principle schematic of Laser Distance Measuring Equipment of the present invention；
Fig. 3 is the schematic diagram of the scanning optical path of laser radar of the present invention；
Fig. 4 is Laser Radar Scanning method flow schematic diagram of the present invention；
Labelling and corresponding parts title in accompanying drawing:
101-Laser Distance Measuring Equipment, 102-optics tilting mirror, 103-motor, 104-pedestal, 105-PORT COM.
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, to this
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, do not make
For limitation of the invention.
Embodiment
As shown in Figure 1-2, the Laser Radar Scanning device of a kind of two dimension of the present invention, including Laser Distance Measuring Equipment 101, optics
Tilting mirror 102 and motor 103, Laser Distance Measuring Equipment 101, optics tilting mirror 102 and motor 103 are into a line to be arranged on pedestal 104,
The outgoing beam of described Laser Distance Measuring Equipment 101 is through the reflecting surface of optics tilting mirror 102, exiting parallel, and outgoing beam runs into obstacle
After thing, barrier can be by certain luminous reflectance, and the laser of reflection is echo-signal, and described echo-signal is again through optics tilting mirror
The reflecting surface of 102 returns to, in the receiving plane of Laser Distance Measuring Equipment 101, obtain current range information after treatment；Motor 103 carries
Dynamic optics tilting mirror 102 at the uniform velocity rotates with certain speed, in rotary course, and corresponding different multi-angle laser distance-measuring equipment 101
Will record current range information, the range information of different angles is by being arranged on the communication terminal on Laser Distance Measuring Equipment 101
After mouth 105 uploads data handling equipment, the scanning information that treated display is current, data handling equipment can use computer,
The reflecting surface of described optics tilting mirror 102 and shoot laser angle at 45 °.
Laser Distance Measuring Equipment 101 includes: the laser emitting module launched for laser beam, be used for receiving return laser beam letter
Number laser pick-off module, for processing the laser circuit module of laser echo signal；Described laser emitting module and laser connect
Receive module and be packaged into the module of integration, Laser emission light beam and return laser beam through the transmitting of same optical window and reception；Described sharp
Optical circuit module is connected with laser emitting module and laser pick-off module.The transmitting laser beam bag of Laser Distance Measuring Equipment 101
Including but be not limited to iraser light beam, described beam divergence angle is less than 3mrad.Laser ranging module device 101 is found range speed
Include but not limited to minimum 10KHz.Motor 103 uses brushless DC servomotor.
As it is shown on figure 3, the Laser Radar Scanning principle of device of a kind of two dimension of the present invention, the laser that laser ranging module is launched
Light beam, after optics tilting mirror reflects, can be got on object, and after reflecting via target obstacle, return laser beam is by optics tilting mirror
Being reflected back laser pick-off module, this time is extremely short, along with the rotation of optics tilting mirror, can quickly scan obtain angle and away from
From information, thus realize the barrier monitoring monitoring in region.This monitoring has great scope, and can react mesh accurately
The size of mark barrier and movement velocity thereof.
Above-mentioned Laser Distance Measuring Equipment 101 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, and 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, swashing of optional higher range frequency
Ligh-ranging equipment.
Above-mentioned optics tilting mirror 102 can use silvered reflective face, and its reflectance may select more than 95%.
Above-mentioned motor 103 can use brushless DC servomotor, and optional parameters is 3000 turns/min.
Alternatively, optics tilting mirror 102 can also use the structure of remaining shape, and plated film is made on surface and protection processes.
Alternatively, motor 103 can join the encoder of degree of precision, improves the precision of angle.
A kind of Laser Radar Scanning method as shown in Figure 4, including step:
Described in step 1), the outgoing beam of Laser Distance Measuring Equipment 101 is through the reflecting surface of optics tilting mirror 102, exiting parallel, emergent light
After bundle runs into barrier, barrier can be by certain luminous reflectance；
Step 2) laser that reflects is echo-signal, described echo-signal reflecting surface through optics tilting mirror 102 again returns to laser
In the receiving plane of distance-measuring equipment 101, obtain current range information after treatment；
Step 3) motor 103 drives optics tilting mirror 102 at the uniform velocity to rotate with certain speed, in rotary course, corresponding different
Multi-angle laser distance-measuring equipment 101 all can record current range information,
The range information of step 4) different angles uploads data by the PORT COM 105 being arranged on Laser Distance Measuring Equipment 101
After processing equipment, the scanning information that treated display is current.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all should comprise
Within protection scope of the present invention.
Claims (6)
1. a two-dimentional Laser Radar Scanning device, including Laser Distance Measuring Equipment (101), optics tilting mirror (102) and motor
(103), it is characterised in that: described Laser Distance Measuring Equipment (101), optics tilting mirror (102) and motor (103) is into a line is arranged on
On pedestal (104), the outgoing beam of described Laser Distance Measuring Equipment (101) through the reflecting surface of optics tilting mirror (102), exiting parallel,
After outgoing beam runs into barrier, barrier can be by certain luminous reflectance, and the laser of reflection is echo-signal, described echo-signal
During reflecting surface through optics tilting mirror (102) returns to the receiving plane of Laser Distance Measuring Equipment (101) again, obtain current after treatment
Range information；Motor (103) drives optics tilting mirror (102) at the uniform velocity to rotate with certain speed, in rotary course, corresponding different
Multi-angle laser distance-measuring equipment (101) all can record current range information, the range information of different angles is sharp by being arranged on
After PORT COM (105) on ligh-ranging equipment (101) uploads data handling equipment, the scanning information that treated display is current.
The Laser Radar Scanning device of two dimension the most according to claim 1, it is characterised in that described Laser Distance Measuring Equipment
(101) including: for laser beam launch laser emitting module, for receive laser echo signal laser pick-off module,
For processing the laser circuit module of laser echo signal；Described laser emitting module and laser pick-off module are packaged into one
The module changed, Laser emission light beam and return laser beam are launched through same optical window and receive；Described laser circuit module is sent out with laser
Penetrate module to be connected with laser pick-off module.
The Laser Radar Scanning device of two dimension the most according to claim 2, it is characterised in that described Laser Distance Measuring Equipment
(101) transmitting laser beam includes but not limited to that iraser light beam, described beam divergence angle are less than 3mrad.
The Laser Radar Scanning device of two dimension the most according to claim 3, it is characterised in that described laser ranging module sets
Standby (101) range finding speed includes but not limited to minimum 10KHz.
The Laser Radar Scanning device of two dimension the most according to claim 4, it is characterised in that described motor (103) uses
Brushless DC servomotor.
6. the Laser Radar Scanning method utilizing any one of claim 1-5, it is characterised in that include step:
The outgoing beam of Laser Distance Measuring Equipment described in step 1) (101), through the reflecting surface of optics tilting mirror (102), exiting parallel, goes out
After irradiating light beam runs into barrier, barrier can be by certain luminous reflectance；
Step 2) laser that reflects is echo-signal, described echo-signal reflecting surface through optics tilting mirror (102) again returns to swash
In the receiving plane of ligh-ranging equipment (101), obtain current range information after treatment；
Step 3) motor (103) drives optics tilting mirror (102) at the uniform velocity to rotate with certain speed, and in rotary course, correspondence is not
Same multi-angle laser distance-measuring equipment (101) all can record current range information,
The range information of step 4) different angles is uploaded by the PORT COM (105) being arranged on Laser Distance Measuring Equipment (101)
After data handling equipment, the scanning information that treated display is current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608000.9A CN106291570A (en) | 2016-07-29 | 2016-07-29 | A kind of Laser Radar Scanning devices and methods therefor of two dimension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608000.9A CN106291570A (en) | 2016-07-29 | 2016-07-29 | A kind of Laser Radar Scanning devices and methods therefor of two dimension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106291570A true CN106291570A (en) | 2017-01-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610608000.9A Withdrawn CN106291570A (en) | 2016-07-29 | 2016-07-29 | A kind of Laser Radar Scanning devices and methods therefor of two dimension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106291570A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085207A (en) * | 2017-04-01 | 2017-08-22 | 北京图来激光科技有限公司 | A kind of 360 ° of scanning probe laser radar apparatus |
| CN108226903A (en) * | 2018-03-26 | 2018-06-29 | 苏州清研微视电子科技有限公司 | A kind of four line laser radar scanners based on single laser ranging system |
| CN113777617A (en) * | 2021-09-13 | 2021-12-10 | 广州中海达卫星导航技术股份有限公司 | Scanning device and laser radar system |
| CN115575968A (en) * | 2022-11-09 | 2023-01-06 | 陀螺人工智能(山东)有限公司 | Space obstacle distance measuring device and method based on laser distance measurement |
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| CN102338875A (en) * | 2010-07-16 | 2012-02-01 | 李少勤 | Multi-spectral scanning foresight anti-collision laser radar device and application thereof |
| 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 |
| CN204044362U (en) * | 2014-07-25 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of laser vehicle pick-up unit received more |
| 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 CN201610608000.9A patent/CN106291570A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102338875A (en) * | 2010-07-16 | 2012-02-01 | 李少勤 | Multi-spectral scanning foresight anti-collision laser radar device and application thereof |
| 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 |
| CN204044362U (en) * | 2014-07-25 | 2014-12-24 | 武汉万集信息技术有限公司 | A kind of laser vehicle pick-up unit received more |
| 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 (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085207A (en) * | 2017-04-01 | 2017-08-22 | 北京图来激光科技有限公司 | A kind of 360 ° of scanning probe laser radar apparatus |
| CN107085207B (en) * | 2017-04-01 | 2020-05-01 | 北京图来激光科技有限公司 | 360 scanning detection laser radar device |
| CN108226903A (en) * | 2018-03-26 | 2018-06-29 | 苏州清研微视电子科技有限公司 | A kind of four line laser radar scanners based on single laser ranging system |
| CN113777617A (en) * | 2021-09-13 | 2021-12-10 | 广州中海达卫星导航技术股份有限公司 | Scanning device and laser radar system |
| CN115575968A (en) * | 2022-11-09 | 2023-01-06 | 陀螺人工智能(山东)有限公司 | Space obstacle distance measuring device and method based on laser distance measurement |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170104 |
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