CN106646499A - Laser radar and laser radar measuring device - Google Patents
Laser radar and laser radar measuring device Download PDFInfo
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- CN106646499A CN106646499A CN201710040385.8A CN201710040385A CN106646499A CN 106646499 A CN106646499 A CN 106646499A CN 201710040385 A CN201710040385 A CN 201710040385A CN 106646499 A CN106646499 A CN 106646499A
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- laser
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- lidar
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- laser radar
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- 238000003384 imaging method Methods 0.000 claims abstract description 42
- 238000005259 measurement Methods 0.000 claims description 11
- 238000010586 diagram Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000001069 Raman spectroscopy Methods 0.000 description 1
- JNDMLEXHDPKVFC-UHFFFAOYSA-N aluminum;oxygen(2-);yttrium(3+) Chemical compound [O-2].[O-2].[O-2].[Al+3].[Y+3] JNDMLEXHDPKVFC-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 229910019901 yttrium aluminum garnet Inorganic materials 0.000 description 1
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
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (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 provides a laser radar and a laser radar measuring device and relates to the technical field of radars. The laser radar comprises an annular laser beam emitting system, a receiving imaging system and an information processor which are arranged successively, wherein the annular laser beam emitting system is used for emitting a laser beam and projecting the laser beam onto a measured object, the receiving imaging system is arranged opposite to the annular laser beam emitting system and is used for receiving the laser beam projected onto the measured object and imaging; and the information processor is used for determining the imaging position of the laser beam at the receiving imaging system and calculating the exact position of the measured object. The laser radar and the laser radar measuring device can overcome a problem that a conventional laser radar is not suitable for harsh environment.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a laser radar and a laser radar measuring device.
Background
The laser radar is an active remote sensing device which is a radar system for emitting laser beams to detect characteristic quantities such as position, speed and the like of a target, uses a laser as an emission light source and adopts a photoelectric detection technical means. Laser radar is an advanced detection mode combining laser technology and modern photoelectric detection technology. The system consists of a transmitting system, a receiving imaging system, information processing and the like. The emitting system is composed of various lasers, such as a carbon dioxide laser, a neodymium-doped yttrium aluminum garnet laser, a semiconductor laser, a wavelength tunable solid laser, an optical beam expanding unit and the like; the receiving imaging system adopts a telescope and various forms of photodetectors, such as photomultiplier tubes, semiconductor photodiodes, avalanche photodiodes, infrared and visible light multi-element detection devices and the like. The laser radar adopts two working modes of pulse or continuous wave, and the detection method can be divided into laser radars of meter scattering, Rayleigh scattering, Raman scattering, Brillouin scattering, fluorescence, Doppler and the like according to different detection principles.
The existing laser radar is mainly based on a trigonometry method, as shown in fig. 2, the principle is that when a laser is projected on a measured object, due to different distances z, the positions x of laser spots on an imaging device are different, and the accurate value of z can be reversely deduced by measuring the position of x, so that the distance from the object to a laser is obtained. Because the triangulation method can only measure the distance of one point at a time, in the actual engineering measurement, the rotating mechanism is often used to drive the laser and the imaging device to carry out rapid scanning so as to complete the panoramic distance measurement.
The rotary mechanism generally has the disadvantages of poor reliability and high power consumption, so the laser radar based on the technology is not suitable for the severe working environment. In some harsh environments where the jerk is strong and the power consumption is strictly required, the lidar with a rotating mechanism is not suitable.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a laser radar and a laser radar measuring device, which solve the problems to a great extent.
A first object of the present invention is to provide a lidar.
A second object of the present invention is to provide a lidar measurement device.
On one hand, the laser radar provided by the invention comprises an annular laser beam transmitting system, a receiving imaging system and an information processor which are sequentially arranged; wherein,
the emission system is used for emitting a laser beam and projecting the laser beam on an object to be measured;
the receiving imaging system is arranged opposite to the transmitting system and is used for receiving the laser beam projected on the measured object and imaging;
the information processor is used for positioning the imaging position of the laser beam on the receiving imaging system and calculating the accurate position of the measured object.
Further, the transmitting system is an annular laser, and the receiving imaging system is a camera.
Further, the information processor is an image signal processor.
Further, a laser modulator for coding and modulating the laser beam is arranged between the ring laser and the camera.
Furthermore, a reflector group for focusing laser beams is arranged between the laser modulator and the camera.
Further, the lens surface of the camera and the annular laser are oppositely arranged.
Further, the camera is electrically connected with the image signal processor.
Further, the image signal processor comprises a laser pulse decoding module, a laser positioning module and a world coordinate mapping module which are electrically connected in sequence; wherein,
the laser pulse decoding module is used for extracting a laser strip;
the laser positioning module is used for carrying out thinning operation on the extracted laser strips, extracting a skeleton diagram of the finishing strips and acquiring the accurate positions of the laser strips;
the mapping world coordinate module is used for calibrating the accurate position of the obtained laser strip, obtaining the distance from the laser strip pixel to the light source center, and converting the distance into the real distance of a world coordinate system through calibration parameters so as to obtain the accurate position of the measured object.
Further, the ring laser is a laser capable of radiating a ring laser beam 360 degrees on any horizontal plane from the bottom end to the top end thereof in the vertical direction.
On the other hand, the invention also provides a laser radar measuring device which comprises the laser radar.
Compared with the prior art, the invention can achieve the following beneficial effects:
the laser radar provided by the invention comprises an annular laser beam transmitting system, a receiving imaging system and an information processor which are arranged in sequence; the transmitting system is used for transmitting a laser beam and projecting the laser beam on an object to be measured; the receiving imaging system is arranged opposite to the transmitting system and is used for receiving the laser beam projected on the measured object and imaging; the information processor is used for positioning the imaging position of the laser beam at the receiving imaging system and calculating the accurate position of the measured object, the transmitting system can transmit the annular laser beam, compared with the prior rotary mechanism which drives the laser to rotate, the structure is greatly simplified, and the device can also adapt to severe environments with strong jolt and strict requirements on power consumption.
In addition, the laser radar measuring device provided by the invention comprises the laser radar, so that the laser radar measuring device has all the advantages of the laser radar, and the description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a laser radar according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser radar for measuring distance based on triangulation as mentioned in the background of the invention;
FIG. 3 is a schematic structural diagram of a ring laser and an object to be measured according to the first embodiment of the present invention shown in FIG. 1;
FIG. 4 is a diagram illustrating an operating state of a laser beam passing through a laser modulator according to the first embodiment of the present invention shown in FIG. 1;
FIG. 5 is a diagram illustrating the light condensing effect of the reflector assembly of FIG. 1 according to an embodiment of the present invention;
fig. 6 is a diagram illustrating an effect of final imaging of the camera according to the first embodiment of the present invention shown in fig. 1;
fig. 7 is a schematic diagram of an internal structure of the image signal processor according to the first embodiment of the present invention shown in fig. 1.
Reference numerals: 1-a transmission system; 2-a laser modulator; 3-receiving an imaging system; 4-an information processor; 5-a reflector group; 6-laser beam; 7-an imaging laser source; 402-laser decoding pulse module; 403-laser positioning module; 404-map world coordinates module; 61-first laser beam; 62-second laser beam.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Example one
As shown in fig. 1, the laser radar provided in this embodiment includes an annular laser beam emitting system 1, a receiving imaging system 3, and an information processor 4, which are sequentially arranged; wherein the emitting system 1 is used for emitting a laser beam 6 and projecting the beam on an object to be measured; the receiving imaging system 3 is arranged opposite to the transmitting system 1, and the receiving imaging system 3 is used for receiving and imaging the laser beam projected on the measured object; the information processor 4 is used to locate the imaging position of the laser beam 6 at the receiving imaging system 3 and to calculate the precise position of the measured object.
It should be noted that the present embodiment provides a laser radar, which includes a transmitting system 1, a receiving imaging system 3, and an information processor 4, which are sequentially arranged; the transmitting system 1 and the receiving imaging system 3 are arranged oppositely, and the receiving imaging system 3 can directly receive the transmitting system 1 and image on the receiving imaging system 3, so that the distance or the shape of an object can be calculated conveniently in the later period; the transmitting system 1 can transmit the annular laser beam 6, compared with the prior rotary mechanism which drives a laser to rotate, the structure is greatly simplified, and the transmitting system can also adapt to severe environments with strong jolting and strict requirements on power consumption.
Specifically, the following detailed analysis is made for the internal structure of the laser radar in the present embodiment:
for the receiving imaging system 3, the receiving imaging system 3 is a camera.
It should be noted that the receiving imaging system 3 may also be a telescope or various types of photodetectors, which are not described herein.
As the information processor 4, the information processor 4 is an image signal processor.
Preferably, a laser modulator 2 for code modulation of the laser beam 6 is arranged between the ring laser and the camera.
It is noted that, as shown in fig. 4, in order to make the laser beam 6 more easily distinguishable, the laser beam 6 needs to be code modulated by the laser modulator 2 before being emitted. In fig. 4, the laser beam 6 on the left side is in the original laser beam 6 operating state (normally on), and after being coded and modulated by the laser modulator 2, the laser beam 6 on the right side is in the coded and modulated laser beam 6 operating state (coded).
Furthermore, a mirror group 5 for focusing a laser beam 6 is provided between the laser modulator 2 and the camera.
It should be noted that, as shown in fig. 5, in general, the field of view of the camera lens is limited, and when an object is far away from the laser light source, the laser projection line cannot enter the field of view of the camera, so a reflector needs to be installed above the lens to converge the projection beam at the edge of the field of view to the center of the field of view of the camera, thereby increasing the effective working distance of the laser radar.
Because the traditional camera has a limited field of view, the first laser beam 61 far from the center of the laser light source cannot enter the field of view of the camera; the long-distance light beam capable of entering the visual field is also positioned at the edge of the visual field of the camera, and is influenced by the edge effect of the visual field of the camera, so that the signal attenuation is serious. In the embodiment, the direction of the light of the second laser beam 62 is changed due to the reflection of the reflector group 5, so that the final light is converged into the center of the field of view, and the measurement range and accuracy are improved.
It should be further noted that the laser beam 6 that cannot enter the camera field of view or is located at the edge of the camera field of view is reflected to the center of the field of view by the arranged mirror group 5, so that the measurement range and the measurement accuracy of the laser radar are improved.
With continued reference to fig. 1, the lens surface of the camera is disposed opposite to the ring laser.
It should be noted that the lens of the camera (the angle of view is usually large) faces the ring laser, and the main optical path of the lens coincides with the main optical path of the ring laser. It is convenient to receive and image the laser beam 6 projected on the object to be measured.
Specifically, the camera is electrically connected with the image signal processor.
It should be noted that, as shown in fig. 7, the image signal processor includes a laser decoding pulse module 402, a laser positioning module 403 and a mapping world coordinate module 404, which are electrically connected in sequence; wherein,
the laser decoding pulse module 402 is configured to extract a laser stripe, input an image sequence of one modulation period of the laser modulator 2, perform corresponding color enhancement on the image, and determine whether each pixel is located on the laser beam 6 by determining whether a brightness change of the pixel conforms to a laser modulation rule;
the laser positioning module 403 is configured to perform a thinning operation on the extracted laser stripe (the laser stripe extracted in the previous step is usually thicker), extract a skeleton diagram of the finishing stripe, and obtain an accurate position of the laser stripe;
the world coordinate mapping module 404 is configured to calibrate the accurate position of the obtained laser stripe, obtain a distance from a pixel of the laser stripe to the center of the light source, and convert the distance into a real distance of a world coordinate system through calibration parameters, thereby obtaining the accurate position of the measured object.
In this embodiment, the precise distance from the object to the annular laser light source can be reversely deduced by the trigonometry formula by calculating the distance from the laser projection line to the imaging center. After receiving the image, the wide-angle camera sends the image to an image signal processor, and the accurate position of the laser projection line is positioned in the image through an image processing method.
As shown in fig. 1 and 3, the ring laser is a laser capable of radiating a ring laser beam 360 degrees without a dead angle on any horizontal plane from the bottom end to the top end thereof in the vertical direction.
It should be noted that, with continuing reference to fig. 1 and 3, the ring laser radiates ring laser horizontally to the surrounding 360 ° direction without dead angle, instead of the conventional rotating mechanism, to project laser line on the measured object.
Example two
On the basis of the first embodiment, the embodiment further provides a laser radar measuring device, which comprises the laser radar.
The following is a detailed analysis of the specific structure of the lidar measurement device in this embodiment:
in this embodiment, in addition to the laser radar, the laser radar apparatus further includes an object to be measured, and the object to be measured is generally disposed around the ring laser, and the distance between the object to be measured and the ring laser does not exceed the radiation distance of the laser beam 6.
It should be noted that, the lidar measurement device provided by the present invention includes the lidar, so that the lidar measurement device has all the advantages of the lidar, and the description is omitted here.
It should be further noted that the specific structure of the lidar measurement device provided in this embodiment has been disclosed as the prior art, and is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A laser radar is characterized by comprising an annular laser beam emitting system, a receiving imaging system and an information processor which are arranged in sequence; wherein,
the emission system is used for emitting a laser beam and projecting the laser beam on an object to be measured;
the receiving imaging system is arranged opposite to the transmitting system and is used for receiving the laser beam projected on the measured object and imaging;
the information processor is used for positioning the imaging position of the laser beam on the receiving imaging system and calculating the accurate position of the measured object.
2. The lidar of claim 1, wherein the transmitting system is a ring laser and the receiving imaging system is a camera.
3. The lidar of claim 1, wherein the information processor is an image signal processor.
4. Lidar according to claim 2, wherein a laser modulator for code modulation of the laser beam is arranged between the ring laser and the camera.
5. Lidar according to claim 3, wherein a mirror group for focusing the laser beam is arranged between the laser modulator and the camera head.
6. The lidar of claim 5, wherein a lens surface of the camera is disposed opposite the ring laser.
7. The lidar of claim 6, wherein the camera is electrically connected to the image signal processor.
8. The lidar of claim 7, wherein the image signal processor comprises a laser pulse decoding module, a laser positioning module, and a mapped world coordinate module electrically connected in sequence; wherein,
the laser pulse decoding module is used for extracting a laser strip;
the laser positioning module is used for carrying out thinning operation on the extracted laser strips, extracting a skeleton diagram of the finishing strips and acquiring the accurate positions of the laser strips;
the mapping world coordinate module is used for calibrating the accurate position of the obtained laser strip, obtaining the distance from the laser strip pixel to the light source center, and converting the distance into the real distance of a world coordinate system through calibration parameters so as to obtain the accurate position of the measured object.
9. The lidar according to any of claims 1 to 8, wherein the ring laser is a laser capable of radiating a ring laser beam 360 degrees in any horizontal plane from a bottom end to a top end thereof in a vertical direction.
10. Lidar measurement device, characterized in that it comprises a lidar according to any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710040385.8A CN106646499A (en) | 2017-01-18 | 2017-01-18 | Laser radar and laser radar measuring device |
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| CN201710040385.8A CN106646499A (en) | 2017-01-18 | 2017-01-18 | Laser radar and laser radar measuring device |
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Cited By (5)
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| CN107656540A (en) * | 2017-08-30 | 2018-02-02 | 南京理工大学 | Uncooled ir and the compound circumferential scanning detection device of laser |
| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| CN109387858A (en) * | 2018-08-29 | 2019-02-26 | 北京信息科技大学 | A kind of full filed angle solid-state laser radar detection apparatus and obstacle detection method |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| CN111983638A (en) * | 2020-08-20 | 2020-11-24 | 江苏美的清洁电器股份有限公司 | Laser radar and equipment with cleaning function |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656540A (en) * | 2017-08-30 | 2018-02-02 | 南京理工大学 | Uncooled ir and the compound circumferential scanning detection device of laser |
| CN107656540B (en) * | 2017-08-30 | 2019-11-15 | 南京理工大学 | Uncooled ir and the compound circumferential scanning detection device of laser |
| CN109387858A (en) * | 2018-08-29 | 2019-02-26 | 北京信息科技大学 | A kind of full filed angle solid-state laser radar detection apparatus and obstacle detection method |
| CN109283545A (en) * | 2018-10-11 | 2019-01-29 | 东莞市光劲光电有限公司 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| WO2020073724A1 (en) * | 2018-10-11 | 2020-04-16 | 东莞市光劲光电有限公司 | Novel two-dimensional solid led laser radar and distance measurement method therefor |
| CN110749876A (en) * | 2019-08-30 | 2020-02-04 | 上海禾赛光电科技有限公司 | Calibration method and calibration structure for laser radar |
| CN110749876B (en) * | 2019-08-30 | 2021-11-19 | 上海禾赛科技有限公司 | Calibration method and calibration structure for laser radar |
| CN111983638A (en) * | 2020-08-20 | 2020-11-24 | 江苏美的清洁电器股份有限公司 | Laser radar and equipment with cleaning function |
| CN111983638B (en) * | 2020-08-20 | 2023-12-15 | 美智纵横科技有限责任公司 | Laser radar and equipment with cleaning function |
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