CN106291572A - A kind of for 2D Laser Radar Scanning devices and methods therefor - Google Patents
A kind of for 2D Laser Radar Scanning devices and methods therefor Download PDFInfo
- Publication number
- CN106291572A CN106291572A CN201610608288.XA CN201610608288A CN106291572A CN 106291572 A CN106291572 A CN 106291572A CN 201610608288 A CN201610608288 A CN 201610608288A CN 106291572 A CN106291572 A CN 106291572A
- Authority
- CN
- China
- Prior art keywords
- laser
- tilting mirror
- measuring equipment
- 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.)
- Withdrawn
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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
- 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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- 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
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
nullThe invention discloses a kind of for 2D Laser Radar Scanning devices and methods therefor，Motor is arranged on pedestal，Optics tilting mirror is set in parallel on pedestal by rotating seat and motor，The belt pulley of motor is taken turns with the rotation of optics tilting mirror and is connected synchronous uniform velocity rotation by band，Laser Distance Measuring Equipment is arranged on motor by corner bracket and with optics tilting mirror in the same horizontal line，Laser Distance Measuring Equipment launches laser beam to the reflecting surface of optics tilting mirror，The laser of vertical exit is exiting parallel after the reflecting surface of optics tilting mirror，After light beam is irradiated on barrier，Can reflect，Echo-signal again passes by optics tilting mirror，Reflex in the reception optical window of Laser Distance Measuring Equipment，Record current range information，When optics tilting mirror at the uniform velocity rotates under the drive of motor，Laser Distance Measuring Equipment can record the range information in all directions，The range information of different angles is by being arranged on after on pedestal, PORT COM uploads data handling equipment，The scanning obstacle information result of treated display.
Description
Technical field
The present invention relates to a kind of Laser Radar Scanning field, be specifically related to a kind of for 2D 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 a kind of for 2D Laser Radar Scanning device 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:
A kind of for 2D Laser Radar Scanning device, including Laser Distance Measuring Equipment, motor and optics tilting mirror, described motor is arranged on
On pedestal, described optics tilting mirror is set in parallel on pedestal by rotating seat and motor, and the belt pulley of described motor turns with optics
The rotation wheel of mirror connects synchronous uniform velocity by band and rotates, and described Laser Distance Measuring Equipment is arranged on motor by corner bracket and and optics
In the same horizontal line, described Laser Distance Measuring Equipment launches laser beam on the reflecting surface of optics tilting mirror to tilting mirror, described optics
The reflecting surface of tilting mirror and shoot laser angle at 45 °, the laser of vertical exit is exiting parallel after the reflecting surface of optics tilting mirror, when
After light beam is irradiated on barrier, it may occur that reflection, being echo-signal, described echo-signal again passes by optics tilting mirror,
Reflex to, in the reception optical window of Laser Distance Measuring Equipment, record current range information, when optics tilting mirror under the drive of motor even
When speed rotates, Laser Distance Measuring Equipment can record the range information in all directions, and the range information of different angles is by being arranged on
After on pedestal, PORT COM uploads data handling equipment, the scanning obstacle information result 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 for 2D Laser Radar Scanning method, it is characterised in that to include:
Laser Distance Measuring Equipment described in step 1) launches laser beam to the reflecting surface of optics tilting mirror；
Step 2) reflecting surface and the shoot laser angle at 45 ° of described optics tilting mirror, the laser of vertical exit is through optics tilting mirror
Exiting parallel after reflecting surface；
Step 3) is after light beam is irradiated on barrier, it may occur that reflection, is echo-signal, described echo-signal warp again
Cross optics tilting mirror, reflex to, in the reception optical window of Laser Distance Measuring Equipment, record current range information；
Step 4) when optics tilting mirror at the uniform velocity rotates under the drive of motor, Laser Distance Measuring Equipment can record in all directions away from
From information；
The range information of step 5) different angles is by being arranged on after on pedestal, PORT COM uploads data handling equipment, treated
Show current scanning obstacle information result.
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.
3, the present invention can effectively utilize space, and the integrated level making radar installations is higher, motor and tilting mirror is placed on simultaneously
On same bearing, make center reduce, it is only necessary to allow Laser Distance Measuring Equipment and optics tilting mirror be in same in the heart, make integrated more
Convenient.
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 that the present invention is a kind of for 2D Laser Radar Scanning device front-end view；
Fig. 2 is that the present invention is a kind of for 2D Laser Radar Scanning device rear end schematic diagram；
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；
Fig. 5 is that the present invention is a kind of for 2D Laser Radar Scanning method flow schematic diagram；
Labelling and corresponding parts title in accompanying drawing:
201-Laser Distance Measuring Equipment, 202-motor, 203-optics tilting mirror, 204-rotating seat, 205-PORT COM, 206-rotates
Wheel, 207-pedestal, 208-belt pulley.
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 Figure 1-3, one of the present invention is used for 2D Laser Radar Scanning device, including Laser Distance Measuring Equipment 201, motor
202 and optics tilting mirror 203, described motor 202 is arranged on pedestal 207, and optics tilting mirror 203 is by rotating seat 204 and motor 202
Being set in parallel on pedestal 207, the belt pulley 208 of motor 202 connects Tong Bu with the rotation of optics tilting mirror 203 wheel 206 by band
Uniform rotation, Laser Distance Measuring Equipment 201 is arranged on motor 202 by corner bracket and with optics tilting mirror 203 in the same horizontal line,
Laser Distance Measuring Equipment 201 launches laser beam to the reflecting surface of optics tilting mirror 203, the reflecting surface of optics tilting mirror 203 and outgoing
Laser angle at 45 °, the laser of vertical exit is exiting parallel after the reflecting surface of optics tilting mirror 203, when light beam is irradiated to obstacle
After on thing, it may occur that reflection, being echo-signal, described echo-signal again passes by optics tilting mirror 203, reflexes to Laser Measuring
In the reception optical window of equipment 201, record current range information, when optics tilting mirror 203 at the uniform velocity revolves under the drive of motor 202
When turning, Laser Distance Measuring Equipment 201 can record the range information in all directions, and the range information of different angles is by being arranged on base
After on seat 207, PORT COM 205 uploads data handling equipment, the scanning obstacle information result that treated display is current.
As it is shown on figure 3, Laser Distance Measuring Equipment 201 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.
The transmitting laser beam of Laser Distance Measuring Equipment 201 includes but not limited to iraser light beam, described beam divergence angle
For less than 3mrad.Laser ranging module device 201 speed of finding range includes but not limited to minimum 10KHz.Motor 202 uses nothing
Brush DC servo motor.
As shown in Figure 4, one of the present invention is used for 2D Laser Radar Scanning principle of device, 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 201 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 203 can use silvered reflective face, and its reflectance may select more than 95%.
Above-mentioned motor 202 can use brushless DC servomotor, and optional parameters is 3000 turns/min.
Alternatively, optics tilting mirror 203 can also use the structure of remaining shape, and plated film is made on surface and protection processes.
Alternatively, motor 202 can join the encoder of degree of precision, improves the precision of angle.
One as shown in Figure 5 is used for 2D Laser Radar Scanning method, including:
Laser Distance Measuring Equipment 201 described in step 1) launches laser beam to the reflecting surface of optics tilting mirror 203；
Step 2) reflecting surface and the shoot laser angle at 45 ° of described optics tilting mirror 203, the laser of vertical exit is through optics tilting mirror
Exiting parallel after the reflecting surface of 203；
Step 3) is after light beam is irradiated on barrier, it may occur that reflection, is echo-signal, described echo-signal warp again
Cross optics tilting mirror 203, reflex to, in the reception optical window of Laser Distance Measuring Equipment 201, record current range information；
Step 4) is when optics tilting mirror 203 at the uniform velocity rotates under the drive of motor 202, and Laser Distance Measuring Equipment 201 can record each
Range information on direction；
The range information of step 5) different angles by being arranged on after on pedestal 207, PORT COM 205 uploads data handling equipment,
The scanning obstacle information result 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. for a 2D Laser Radar Scanning device, including Laser Distance Measuring Equipment (201), motor (202) and optics tilting mirror
(203), it is characterised in that: described motor (202) is arranged on pedestal (207), and described optics tilting mirror (203) passes through rotating seat
(204) it is set in parallel on pedestal (207) with motor (202), the belt pulley (208) of described motor (202) and optics tilting mirror
(203) rotation wheel (206) connects synchronous uniform velocity by band and rotates, and described Laser Distance Measuring Equipment (201) is arranged on by corner bracket
Motor (202) is gone up and with optics tilting mirror (203) in the same horizontal line, described Laser Distance Measuring Equipment (201) launches laser beam
On the reflecting surface of optics tilting mirror (203), the reflecting surface of described optics tilting mirror (203) and shoot laser angle at 45 °, vertically go out
The laser penetrated is exiting parallel after the reflecting surface of optics tilting mirror (203), after light beam is irradiated on barrier, it may occur that anti-
Penetrating, be echo-signal, described echo-signal again passes by optics tilting mirror (203), reflexes to connecing of Laser Distance Measuring Equipment (201)
Receive in optical window, record current range information, when optics tilting mirror (203) at the uniform velocity rotates under the drive of motor (202), laser
Distance-measuring equipment (201) can record the range information in all directions, and the range information of different angles is by being arranged on pedestal (207)
After upper PORT COM (205) uploads data handling equipment, the scanning obstacle information result that treated display is current.
The most according to claim 1 for 2D Laser Radar Scanning device, it is characterised in that described Laser Distance Measuring Equipment
(201) 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 most according to claim 2 for 2D Laser Radar Scanning device, it is characterised in that described Laser Distance Measuring Equipment
(201) transmitting laser beam includes but not limited to that iraser light beam, described beam divergence angle are less than 3mrad.
The most according to claim 3 for 2D Laser Radar Scanning device, it is characterised in that described laser ranging module sets
Standby (201) range finding speed includes but not limited to minimum 10KHz.
The most according to claim 4 for 2D Laser Radar Scanning device, it is characterised in that described motor (202) uses
Brushless DC servomotor.
6. one kind utilizes any one of claim 1-5 for 2D Laser Radar Scanning method, it is characterised in that including:
Laser Distance Measuring Equipment described in step 1) (201) launches laser beam to the reflecting surface of optics tilting mirror (203)；
Step 2) reflecting surface and the shoot laser angle at 45 ° of described optics tilting mirror (203), the laser of vertical exit turns through optics
Exiting parallel after the reflecting surface of mirror (203)；
Step 3) is after light beam is irradiated on barrier, it may occur that reflection, is echo-signal, described echo-signal warp again
Cross optics tilting mirror (203), reflex to, in the reception optical window of Laser Distance Measuring Equipment (201), record current range information；
Step 4) is when optics tilting mirror (203) at the uniform velocity rotates under the drive of motor (202), and Laser Distance Measuring Equipment (201) can be surveyed
Obtain the range information in all directions；
The range information of step 5) different angles is uploaded data and is processed by being arranged on the upper PORT COM (205) of pedestal (207) and set
After Bei, the scanning obstacle information result that treated display is current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608288.XA CN106291572A (en) | 2016-07-29 | 2016-07-29 | A kind of for 2D Laser Radar Scanning devices and methods therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608288.XA CN106291572A (en) | 2016-07-29 | 2016-07-29 | A kind of for 2D Laser Radar Scanning devices and methods therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106291572A true CN106291572A (en) | 2017-01-04 |
Family
ID=57662959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610608288.XA Withdrawn CN106291572A (en) | 2016-07-29 | 2016-07-29 | A kind of for 2D Laser Radar Scanning devices and methods therefor |
Country Status (1)
| Country | Link |
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| CN (1) | CN106291572A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291569A (en) * | 2016-07-29 | 2017-01-04 | 成都希德电子信息技术有限公司 | A kind of for 2D Laser Radar Scanning device |
| 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 |
| CN107132584A (en) * | 2017-06-07 | 2017-09-05 | 嘉兴扬光电科技有限公司 | A kind of target detection system and method based on laser barrier |
| CN111279219A (en) * | 2019-01-09 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device and mobile platform |
| WO2021027165A1 (en) * | 2019-08-14 | 2021-02-18 | 广东机电职业技术学院 | Scanning support for planar laser radar |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101788668A (en) * | 2010-01-31 | 2010-07-28 | 中国海洋大学 | Quasi double doppler laser radar device and measuring method thereof |
| CN201583661U (en) * | 2009-12-24 | 2010-09-15 | 武汉大学 | Multi-wavelength scan lidar remote sensing device |
| US20120062867A1 (en) * | 2010-09-10 | 2012-03-15 | Kazuhiro Shibatani | Laser distance measurement apparatus |
| 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 |
| CN106291569A (en) * | 2016-07-29 | 2017-01-04 | 成都希德电子信息技术有限公司 | A kind of for 2D Laser Radar Scanning device |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201583661U (en) * | 2009-12-24 | 2010-09-15 | 武汉大学 | Multi-wavelength scan lidar remote sensing device |
| CN101788668A (en) * | 2010-01-31 | 2010-07-28 | 中国海洋大学 | Quasi double doppler laser radar device and measuring method thereof |
| US20120062867A1 (en) * | 2010-09-10 | 2012-03-15 | Kazuhiro Shibatani | Laser distance measurement apparatus |
| 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 |
| CN106291569A (en) * | 2016-07-29 | 2017-01-04 | 成都希德电子信息技术有限公司 | A kind of for 2D Laser Radar Scanning device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291569A (en) * | 2016-07-29 | 2017-01-04 | 成都希德电子信息技术有限公司 | A kind of for 2D Laser Radar Scanning device |
| 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 |
| CN107132584A (en) * | 2017-06-07 | 2017-09-05 | 嘉兴扬光电科技有限公司 | A kind of target detection system and method based on laser barrier |
| CN111279219A (en) * | 2019-01-09 | 2020-06-12 | 深圳市大疆创新科技有限公司 | Scanning module, distance measuring device and mobile platform |
| WO2021027165A1 (en) * | 2019-08-14 | 2021-02-18 | 广东机电职业技术学院 | Scanning support for planar laser radar |
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Application publication date: 20170104 |