CN106291573A - A kind of Laser Radar Scanning system and method for two dimension - Google Patents
A kind of Laser Radar Scanning system and method for two dimension Download PDFInfo
- Publication number
- CN106291573A CN106291573A CN201610608289.4A CN201610608289A CN106291573A CN 106291573 A CN106291573 A CN 106291573A CN 201610608289 A CN201610608289 A CN 201610608289A CN 106291573 A CN106291573 A CN 106291573A
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- CN
- China
- Prior art keywords
- laser
- main control
- control board
- actuating device
- data handling
- 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
- 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
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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 a kind of Laser Radar Scanning system and method for two dimension, including Laser Distance Measuring Equipment, main control board, for the actuating device driving optics tilting mirror to rotate, zero for initialization scan angle switchs, for the COM1 that will communicate between main control board with data handling equipment；For processing the data handling equipment of data message and display, Laser Distance Measuring Equipment records the range information in current direction, then range information is passed to the main control board being attached thereto, main control board is connected with zero switch and actuating device simultaneously, zero switch passes to the start angle of main control board scanning, main control board sends the uniform rotation controlling Pulse Width Control actuating device, and obtain current angle information, main control board is by real-time distance and angle information record, data handling equipment is passed information to by PORT COM, data handling equipment processes and shows 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 system for two dimension
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 Laser Radar Scanning system for two dimension
System and method thereof, solve existing Laser Radar Scanning device and can not meet high-velocity scanning and high-resolution monitoring, it is impossible to realize fast
The problem of the range measurement of speed.
The present invention is achieved through the following technical solutions:
A kind of Laser Radar Scanning system for two dimension, including the Laser Distance Measuring Equipment for quick precision ranging, is used for locating
The main control board of the angle information of reason range information and optics tilting mirror, for the actuating device driving optics tilting mirror to rotate, uses
Zero in initialization scan angle switchs, for the COM1 that will communicate between main control board with data handling equipment；
For processing the data handling equipment of data message and display, described Laser Distance Measuring Equipment records the range information in current direction,
Then range information passes to the main control board being attached thereto, and described main control board fills with zero switch and transmission simultaneously
Putting connected, zero switch passes to the start angle of main control board scanning, and main control board sends and controls Pulse Width Control transmission
Device uniform rotation, and obtain current angle information, main control board is by real-time distance and angle information record, by logical
News port passes information to data handling equipment, and data handling equipment processes and shows current scanning result.
Further, described Laser Distance Measuring Equipment includes: for laser beam launch laser emitting module, be used 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 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, described actuating device also includes optics tilting mirror, and above-mentioned optics tilting mirror is used for transmitting and the reception of laser,
Described optics tilting mirror is connected with actuating device.
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, the driving means that described actuating device uses includes but not limited to brushless DC servomotor.
Further, described PORT COM uses RS422, RS232 or Ethernet.
The present invention is realized by another technical scheme following:
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 master being attached thereto
Control circuit board；
Step 2) described main control board switchs with zero simultaneously and actuating device is connected, and described zero switch passes to master control electricity
The start angle of road plate scanning；
Main control board described in step 3) controls pulse to control actuating device uniform rotation by sending, and obtains current angle
Degree information；
Main control board described in step 4), by real-time distance and angle information record, passes information to number by PORT COM
According to processing equipment, data handling equipment processes and shows current scanning 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.
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 one Laser Radar Scanning system principle schematic diagram 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 the schematic flow sheet of the present invention a kind of Laser Radar Scanning method；
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, and 6-data process and set
Standby.
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, a kind of Laser Radar Scanning system for two dimension of the present invention, swashs including for the most quickly
Ligh-ranging equipment 1, Laser Distance Measuring Equipment 1 includes: for laser beam launch laser emitting module, be used for receiving return laser beam
The laser pick-off module of light beam, for processing the laser circuit module of return laser beam light beam.Laser emitting module and laser pick-off
Module is packaged into the module of integration, Laser emission light beam and return laser beam and launches through same optical window and receive.Laser circuit
Module is connected with laser emitting module and laser pick-off module.
Laser Distance Measuring Equipment 1 can record the range information in current direction fast, accurately, is then transmitted by range information
Giving 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 biography
Passing 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 obtaining current angle information, main control board 2, will letter by PORT COM 5 by real-time distance and angle information record
Breath passes to data handling equipment 6, and data handling equipment 6 processes and shows current scanning result.
Actuating device also includes optics tilting mirror, for transmitting and the reception of laser, described optics tilting mirror and actuating device phase
Connect.Optics tilting mirror needs higher reflectance and surface smoothness.Zero switch needs higher response frequency, reduce because of
The error that switching delay causes.Laser Distance Measuring Equipment, its transmitting laser beam includes but not limited to iraser light beam, and light beam is sent out
Dissipating angle is less than 3mrad.Laser ranging module device, range finding speed includes but not limited to minimum 10KHz.Actuating device, adopts
Brushless DC servomotor is included but not limited to by driving means.PORT COM, potentially includes RS422, RS232, Ethernet
Deng.
As it is shown on figure 3, a kind of Laser Radar Scanning system principle for two dimension of the present invention, laser ranging module is launched
Laser 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 is reflected back laser pick-off module, and this time is extremely short, along with the rotation of optics tilting mirror, can quickly scan and obtain angle
And range information, thus realize the barrier monitoring monitoring in region.This monitoring has great scope, and can be the most anti-
Answer size and the movement velocity thereof of target obstacle.
Above-mentioned Laser Distance Measuring Equipment 1 can use existing laser ranging module, pulsed or phase laser distance measurement mould
Block, 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.
As shown in Figure 4, 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, then passes to range information to be attached thereto
Main control board 2；
Step 2) described main control board 2 is connected with zero switch 4 and actuating device 3 simultaneously, and it is electric that zero switch 4 passes to master control
The start angle of road plate 2 scanning；
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, is passed information to by PORT COM 5
Data handling equipment 6, data handling equipment 6 processes and shows current scanning result.
As shown in Figure 4, the Laser Radar Scanning method of a kind of two dimension of the present invention, Laser Distance Measuring Equipment 1 can quickly, accurately
The range information recording current direction, then range information is passed to the main control board 2 being attached thereto, main control board
2 are connected with zero switch 4 and actuating device 3 simultaneously, and zero switch 4 passes to the start angle of main control board 2 scanning, master control
Circuit board 2 sends the uniform rotation controlling Pulse Width Control actuating device 3, and obtains current angle information, and main control board 2 will
Real-time distance and angle information record, pass information to data handling equipment 6, data handling equipment 6 by PORT COM 5
Process and show current scanning result.
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 (8)
1., for a Laser Radar Scanning system for two dimension, including the Laser Distance Measuring Equipment (1) for quick precision ranging, use
In the main control board (2) of the angle information processing range information and optics tilting mirror, for the transmission driving optics tilting mirror to rotate
Device (3), the zero for initialization scan angle switchs (4), for by logical between main control board and data handling equipment
The COM1 (5) of letter；For processing the data handling equipment (6) of data message and display, it is characterised in that: described Laser Measuring
Record the range information in current direction away from equipment (1), then range information passed to the main control board (2) being attached thereto,
Described main control board (2) is connected with zero switch (4) and actuating device (3) simultaneously, and zero switch (4) passes to governor circuit
The start angle that plate (2) scans, main control board (2) by send control pulse to control actuating device (3) uniform rotation, and
Obtaining current angle information, main control board (2), will by PORT COM (5) by real-time distance and angle information record
Information passes to data handling equipment (6), and data handling equipment (6) processes and shows current scanning result.
Laser Radar Scanning system for two dimension the most according to claim 1, it is characterised in that described laser ranging sets
Standby (1) including: the laser emitting module launched for laser beam, for receive return laser beam light beam laser pick-off module,
For processing the laser circuit module of return laser beam light beam；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.
Laser Radar Scanning system for two dimension the most according to claim 1, it is characterised in that described actuating device
(3) also including optics tilting mirror, above-mentioned optics tilting mirror is used for transmitting and the reception of laser, described optics tilting mirror and actuating device (3)
It is connected.
Laser Radar Scanning system for two dimension the most according to claim 3, it is characterised in that described laser ranging sets
Standby transmitting laser beam includes but not limited to that iraser light beam, described beam divergence angle are less than 3mrad.
Laser Radar Scanning system for two dimension the most according to claim 4, it is characterised in that described laser ranging mould
Block device (1) range finding speed includes but not limited to minimum 10KHz.
Laser Radar Scanning system for two dimension the most according to claim 5, it is characterised in that described actuating device
(3) driving means used includes but not limited to brushless DC servomotor.
Laser Radar Scanning system for two dimension the most according to claim 6, it is characterised in that described PORT COM is adopted
With RS422, RS232 or Ethernet.
8. the Laser Radar Scanning method for any one of claim 1-7, it is characterised in that: include step:
Step 1) Laser Distance Measuring Equipment (1) records the range information in current direction, then passes to be attached thereto by range information
Main control board (2)；
Step 2) described main control board (2) switchs (4) with zero simultaneously and actuating device (3) is connected, described zero switch (4)
Pass to the start angle that main control board (2) scans；
Main control board described in step 3) (2) by send control pulse to control actuating device (3) uniform rotation, and obtain ought
Front angle information；
Information, by real-time distance and angle information record, is passed by main control board described in step 4) (2) by PORT COM (5)
Passing data handling equipment (6), data handling equipment (6) processes and shows current scanning result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608289.4A CN106291573A (en) | 2016-07-29 | 2016-07-29 | A kind of Laser Radar Scanning system and method for two dimension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610608289.4A CN106291573A (en) | 2016-07-29 | 2016-07-29 | A kind of Laser Radar Scanning system and method for two dimension |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106291573A true CN106291573A (en) | 2017-01-04 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610608289.4A Withdrawn CN106291573A (en) | 2016-07-29 | 2016-07-29 | A kind of Laser Radar Scanning system and method for two dimension |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202025084U (en) * | 2010-12-24 | 2011-11-02 | 无锡物联网产业研究院 | Laser radar monitoring system |
| 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 |
| CN105372642A (en) * | 2015-11-06 | 2016-03-02 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Super high density laser two-dimensional scanning device based on modulation frequency measurement |
| 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 |
| CN105572678A (en) * | 2015-12-07 | 2016-05-11 | 宁波镭基光电技术有限公司 | Laser radar fully-dimensional precise positioning device and method |
-
2016
- 2016-07-29 CN CN201610608289.4A patent/CN106291573A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202025084U (en) * | 2010-12-24 | 2011-11-02 | 无锡物联网产业研究院 | Laser radar monitoring system |
| 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 |
| CN105372642A (en) * | 2015-11-06 | 2016-03-02 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | Super high density laser two-dimensional scanning device based on modulation frequency measurement |
| 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 |
| CN105572678A (en) * | 2015-12-07 | 2016-05-11 | 宁波镭基光电技术有限公司 | Laser radar fully-dimensional precise positioning device and method |
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Application publication date: 20170104 |
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