CN107367737A - A kind of multi-thread rotation sweep detection method - Google Patents
A kind of multi-thread rotation sweep detection method Download PDFInfo
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- CN107367737A CN107367737A CN201610319089.7A CN201610319089A CN107367737A CN 107367737 A CN107367737 A CN 107367737A CN 201610319089 A CN201610319089 A CN 201610319089A CN 107367737 A CN107367737 A CN 107367737A
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- 238000001514 detection method Methods 0.000 title claims abstract description 92
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000002366 time-of-flight method Methods 0.000 claims abstract description 6
- 238000005259 measurement Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 12
- 230000000644 propagated effect Effects 0.000 claims description 10
- 239000000523 sample Substances 0.000 claims description 7
- 238000010408 sweeping Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000002452 interceptive effect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- 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
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4911—Transmitters
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application is related to a kind of multi-thread rotation sweep detection method, and for measuring the distance between multi-thread rotation sweep detection device and testee, this method includes following method and step：Transmitting light source launches infrared acquisition light, meanwhile, record the directional bearing angle of multi-thread rotation sweep detection device；Photoelectric sensor receives the infrared acquisition light reflected by testee；Signal processing unit, the distance between multi-thread rotation sweep detection device and testee are calculated based on time-of-flight method；Detection device constantly rotates, and records orientation angles and range information.The application launches the light beam with small divergence angle using LED as light source, avoids in the prior art using interfering with each other caused by multiple LASER Light Sources.Sensor uses sensor array, and multiple positions are scanned in level and to vertical direction, obtains the multi-thread scanning three-dimensional point cloud range data of 360 degree of field ranges.In the course of the work, launch light source and reception device structure design is simple.
Description
Technical field
The application is related to optical ranging field, in particular to a kind of multi-thread rotation sweep detection device and method.
Background technology
Optical scanner range unit is that one kind uses collimated light beam, passes through triangulation, flight time（Time of Flight, referred to as TOF）The methods of carry out non-contact scanning ranging equipment.At present, common flight time optical scanner range unit includes：Light emission module, optical lens, chip, motor, bearing and the conducting slip ring for receiving simultaneously process signal.Light emission module sends single light beam, optical lens is located in the light path of light emission module, by the beam emissions of collimation to testee surface, light beam is reflected in reception chip after running into barrier, reception chip is by measuring the time being transmitted between receiving, phase difference, the known light velocity, you can obtains testee to the distance of device.The parts such as the light emission module, optical lens, Optical Receivers for ranging are arranged on the scanning that collimated light beam is realized on a platform that can continuously rotate by this kind of device, and the environment distance signal of tour can be obtained by motor rotation.The common optical scanner range unit can only obtain the range information of single-point in each angle.
In the prior art, CN101688774A discloses a kind of high definition lidar system, and the laser radar system launches light source using 64 laser diodes as detection light, forms 64 line laser radars of in the vertical direction.Above-mentioned multi-line laser radar system of the prior art, by 64 independent range-measurement systems（LASER Light Source/detector pair）Composition, and individually LASER Light Source/detector is required for setting fixed angle, manufactures complicated.However, when using multiple laser as probe source, in detection process preferably（Referring to above-mentioned DESCRIPTION OF THE PRIOR ART book page 6）Once only launch several laser or only launch a laser, emission detection light can produce cross-talk to all laser simultaneously, or dazzle the eyes when laser beam meets with the laser beam that returns, and once only launching several laser reduces the efficiency detected in same angle.In addition, 64 laser diodes are to carry out distance measurement to 64 angles in same vertical direction, in the same angle residing for laser radar, it is impossible to extend in the horizontal direction.In the same angle that laser radar rotates to, one of laser can only be scanned detection to a bit, and the region with certain area can not be detected.
The content of the invention
In order to solve the deficiencies in the prior art, present applicant proposes a kind of multi-thread rotation sweep detection method, using light emitting diode（Light Emitting
Diode, abbreviation LED）As light source；In addition, by using a part of the photoelectric sensor that the sensor by multiple autonomous workings is formed as reception device.
A kind of multi-thread rotation sweep detection method, for measuring the distance between multi-thread rotation sweep detection device and testee, this method includes following method and step：
Launch light source, infrared acquisition light is gone out by the modulate emission of modulated signal, infrared acquisition light is propagated in space, is run into testee and is reflected；Meanwhile record the directional bearing angle of multi-thread rotation sweep detection device；
Reception device, has photoelectric sensor, and the photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to electric signal；
Signal processing unit, the electric signal changed by sensor, the distance between multi-thread rotation sweep detection device and testee are calculated based on time-of-flight method；
Control the multi-thread rotation sweep detection device constantly to rotate, record each gyrobearing angle, and calculate the range information in rotary course corresponding to each orientation angles；
Wherein, the transmitting light source is LED light source, photoelectric sensor is the array photoelectric for including multiple autonomous working sensors, multi-thread rotation sweep detection device obtains 360 degree of horizontal view angles and in the range data of the multi-thread scanning of vertical direction according to orientation angles and its corresponding range information.
An embodiment wherein, the number of LED light source is one or more, it is simultaneously emitted by infrared acquisition light, transmitting light convergent lens is provided with the transmitting light path of each LED light source, launch light convergent lens to assemble the divergent rays directly sent by LED light source, the infrared acquisition light angle of divergence propagated in space is 1-20 degree.An embodiment wherein, the infrared acquisition light angle of divergence propagated in space are 2 degree or 3 degree.
An embodiment wherein, LED light source are evenly arranged around reception device.
An embodiment wherein, photoelectric sensor is arranges the block array sensor that sensor formed by N rows M, in each detection angle that multi-thread rotation sweep detection device rotates to, distance measurement is carried out to the N number of diverse location of search coverage in the horizontal direction and M diverse location in vertical direction.
An embodiment wherein, the respective independently detection range of N rows M row sensor in each detection angle that multi-thread rotation sweep detection device rotates to, the photoelectric sensor.
An embodiment wherein, in two adjacent detector angles that multi-thread rotation sweep detection device rotates to, there is overlapping distance measurement information to same search coverage.
An embodiment wherein, in two adjacent detector angles that multi-thread rotation sweep detection device rotates to, there is no overlapping distance measurement information to same search coverage.
An embodiment wherein, the modulating frequency of modulation of source signal is launched by changing, change the distance measurement scope of multi-thread rotation sweep detection device.
An embodiment wherein, photoelectric sensor are ccd sensor or are cmos sensor.
An embodiment wherein, detection method are used for multi-thread scanning probe of the intelligence machine mobile devices such as walking robot, sweeping robot, unmanned plane to surrounding environment.
A kind of multi-thread rotation sweep detection method involved by the application, by using LED as light source, avoid in the prior art simultaneously using interfering with each other caused by multiple LASER Light Sources, the LED detection light launched is the small divergence angle degree light beam with certain cross-sectional area, face detection is carried out to the region in environment during work, improves distance measurement scope of the detection device in each angle rotated to.Transmitting light source needed for multi-thread scanning is same（Multiple transmitting light sources are to increase light intensity, do not distinguished in ranging mutually）, and the scanning in each vertical direction is not needed, the multiple independent light sources for being required for respective fixed angle to set.The sensor be with multiple autonomous working sensor groups into sensor array, same angle can not only be located to scanning probe device and carry out multi-thread scanning in vertical direction, multiple positions that simultaneously also can be in the horizontal direction are scanned, so as to obtain the multi-thread scanning three-dimensional point cloud range data of 360 degree of field ranges.
Multi-thread rotation sweep detection method in the application, in the course of the work, it is one group to launch light source with reception device, needs multiple individually LASER Light Source/detectors pair without multi-line laser radar of the prior art, structure design is simple, avoids the interference between multiple range-measurement systems.
Brief description of the drawings
Fig. 1 is the schematic diagram of the multi-thread rotation sweep detection device of the application wherein embodiment.
Fig. 2 is the light path schematic diagram of the multi-thread rotation sweep detection device of the application wherein embodiment.
Fig. 3 is the step flow chart of the multi-thread rotation sweep detection method of the application wherein embodiment.
Fig. 4 is the multi-thread rotation sweep detection device sensor array schematic diagram of the application wherein embodiment.
Embodiment
The application is related to a kind of multi-thread rotation sweep detection method, realizes the multi-thread scanning in the range of 360 degree, obtains three-dimensional point cloud range information.As shown in accompanying drawing 1-2, wherein multi-thread rotation sweep detection device includes：
Launch light source, be fixed on rotation enclosure interior, infrared acquisition light is gone out by the modulate emission of modulated signal, infrared acquisition light is propagated in space, is run into testee and is reflected；
Reception device, rotation enclosure interior is fixed on, there is photoelectric sensor, the photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to electric signal；
Signal processing unit, electrically connected with photoelectric sensor, the electric signal changed by sensor, the distance between multi-thread rotation sweep detection device and testee are calculated based on time-of-flight method；
Photoelectric coded disk, for determining the angle position of rotation housing；
Motor, by controlling motor so that rotation housing constantly rotates, and can control the rotating speed of motor, so as to adjust the rotating speed of rotation housing；
Bearing and slip ring, wherein slip ring are at rotation housing bottom centre axle, and one end of slip ring is connected with the circuit board of rotated detection partial interior, and the other end contacts with external equipment；Circuit board is connected with transmitting light source and reception device.
When multi-thread rotation sweep detection device works, with 360 degree of constantly rotations, for measuring the distance between multi-thread rotation sweep detection device and testee, as shown in Figure 3, multi-thread rotation sweep detection method includes following method and step：
Launch light source, infrared acquisition light is gone out by the modulate emission of modulated signal, the waveform of modulated signal can be square wave, or sine wave, be in a preferred embodiment periodic modulated signal, and the cycle of modulated signal is according to the selection control of the needs of concrete application.The infrared acquisition light that LED is sent by rotating outside the loophole directive on housing in the environment of required detection, propagate in space, runs into testee or barrier and is reflected by infrared acquisition light；Meanwhile by photoelectric coded disk, record the directional bearing angle of multi-thread rotation sweep detection device.
Reception device, it has photoelectric transducer element, and the photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to electric signal.In a preferred embodiment, in the light path of the reception light of photoelectric sensor, it is provided with and receives light convergent lens, the infrared acquisition light fired back by barrier etc. is converged on photoelectric sensor.In a preferred embodiment, it is the front and rear convex lens set of two panels to receive light convergent lens.
Signal processing unit, the electric signal changed by sensor, by contrasting the phase difference of the infrared acquisition light launched and the infrared acquisition light reflected, the distance between multi-thread rotation sweep detection device and testee are calculated based on time-of-flight method.Wherein, the calculating of phase difference is based on four-stepped switching policy.
Control the multi-thread rotation sweep detection device constantly to rotate, record each gyrobearing angle, and calculate the range information in rotary course corresponding to each orientation angles；
Wherein, transmitting light source is LED light source, the infrared acquisition light propagated in space is the light beam of the small divergence angle with certain cross-sectional area, photoelectric sensor is one piece of integrated array photoelectric sensor comprising multiple autonomous working sensors, each standalone sensor wherein in sensor array can each detect the infrared acquisition light of reflection, and binding signal processing unit, it each can individually obtain detection range.The multi-thread rotation sweep detection device according to orientation angles and its corresponding range information, obtain 360 degree of horizontal view angles and can be detected in vertical direction the multi-thread scanning of multiple diverse locations apart from three-dimensional point cloud atlas.
An embodiment wherein, the number of LED light source is one or more, the selection principle of LED light source number is, according to the different detection range of detection, need different infrared acquisition light energies, for example, tens meters of detection distance, it is necessary to 4 either 6 or more LED light sources, and when only need to test several meters apart from when, a LED light source disclosure satisfy that detection demand.Multiple LED are simultaneously emitted by infrared acquisition light at work, due to the divergence characterization of LED light source, will not produce mutual interference.
An embodiment wherein, in order to which the diverging light for directly sending LED is assembled, launched with the state with small divergence angle.Transmitting light convergent lens is provided with the transmitting light path of each LED light source, transmitting light convergent lens assembles the divergent rays directly sent by LED light source.The transmitting light convergent lens is convex lens, or is total internal reflection（Total Internal
Reflection, referred to as：TIR）Lens.Launch light convergent lens by setting, the angle of divergence of detection light beam is propagated in control in space, the needs selection of control search coverage needed for of the angle of divergence is set, such as when preferential detection is located at testee closely, the infrared acquisition light angle of divergence control propagated in space is the larger angle of divergence, such as 20 degree, when needing to detect remote testee, it is necessary to be controlled the angle of divergence in such as 1 degree, 2 degree or 3 degree by launching light convergent lens.
An embodiment wherein, multiple LED light sources are evenly arranged around reception device, such as are evenly arranged using receiving sensor as symmetrical centre point, multiple LED with triangle, rectangle, circle, polygon etc., when to be symmetrical arranged during two LED in sensor both sides.
Photoelectric sensor is the block array sensor being made up of N rows M row sensors, and as shown in Figure 4, the sensor array is formed by the N*M standalone sensor by being arranged in same plane.Each standalone sensor can standalone probe infrared acquisition light, and binding signal processing unit obtains independent range information.When multi-thread rotation sweep detection device works, in each detection angle that multi-thread rotation sweep detection device rotates to, distance measurement is carried out to the N number of diverse location of search coverage in the horizontal direction and M diverse location in vertical direction, obtains N*M range information.In an embodiment wherein, the sensor array is is made up of 8*8 standalone sensor.Photoelectric sensor is ccd sensor or is cmos sensor.
In two adjacent detector angles that multi-thread rotation sweep detection device rotates to, there is overlapping distance measurement information to same search coverage, can not also there is no overlapping distance measurement information to same search coverage.When rotation sweep detection device works, each angle that the device rotates to, the detection light that LED light source is sent detects to the region with certain area, each angle that sensor array rotates to for the device, the distance range that sensor is detected are to have an angle in the horizontal direction.In a preferred embodiment, when rotation sweep detection device works, the angle of divergence angle numerically equal of detection angle and LED light source in horizontal direction.Therefore, the two adjacent detection angles rotated in detection device, by controlling the probe interval of sensor, there is overlapping distance measurement information to same search coverage, can not also there is no overlapping distance measurement information to same search coverage.
According to the needs specifically detected, by changing the modulating frequency of transmitting modulation of source signal, change the distance measurement scope of multi-thread rotation sweep detection device.
Detection method is used for multi-thread scanning probe of the intelligence machine mobile devices such as walking robot, sweeping robot, unmanned plane to surrounding environment.By obtained range information, to position and Graph Drawing Algorithm simultaneously, the map of surrounding environment is rebuild, it is determined that can only position of the mobile device in map, contexture by self mobile route and autonomous.
Claims (10)
1. a kind of multi-thread rotation sweep detection method, for measuring the distance between multi-thread rotation sweep detection device and testee, it is characterised in that this method includes following method and step：
Launch light source, infrared acquisition light is gone out by the modulate emission of modulated signal, infrared acquisition light is propagated in space, is run into testee and is reflected；Meanwhile record the directional bearing angle of multi-thread rotation sweep detection device；
Reception device, has photoelectric sensor, and the photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to electric signal；
Signal processing unit, the electric signal changed by sensor, the distance between multi-thread rotation sweep detection device and testee are calculated based on time-of-flight method；
Control the multi-thread rotation sweep detection device constantly to rotate, record each gyrobearing angle, and calculate the range information in rotary course corresponding to each orientation angles；
Wherein, the transmitting light source is LED light source, the photoelectric sensor is the array photoelectric for including multiple autonomous working sensors, the multi-thread rotation sweep detection device obtains 360 degree of horizontal view angles and in the range data of the multi-thread scanning of vertical direction according to orientation angles and its corresponding range information.
A kind of 2. multi-thread rotation sweep detection method according to claim 1, it is characterized in that, the number of the LED light source is one or more, it is simultaneously emitted by infrared acquisition light, transmitting light convergent lens is provided with the transmitting light path of each LED light source, launch light convergent lens to assemble the divergent rays directly sent by LED light source, the infrared acquisition light angle of divergence propagated in space is 1-20 degree.
3. a kind of multi-thread rotation sweep detection method according to claim 2, it is characterised in that the LED light source is evenly arranged around reception device；The infrared acquisition light angle of divergence propagated in space is by launching light convergent lens, the angle of divergence with 2 degree or 3 degree.
A kind of 4. multi-thread rotation sweep detection method according to claim 1, it is characterized in that, the photoelectric sensor is arranges the block array sensor that sensor formed by N rows M, in each detection angle that multi-thread rotation sweep detection device rotates to, distance measurement is carried out to the N number of diverse location of search coverage in the horizontal direction and M diverse location in vertical direction.
A kind of 5. multi-thread rotation sweep detection method according to claim 1, it is characterized in that, the photoelectric sensor is arranges the block array sensor that sensor formed by N rows M, the respective independently detection range of N rows M row sensor in each detection angle that multi-thread rotation sweep detection device rotates to, the photoelectric sensor.
6. a kind of multi-thread rotation sweep detection method according to claim 4 or 5, it is characterised in that in two adjacent detector angles that multi-thread rotation sweep detection device rotates to, there is overlapping distance measurement information to same search coverage.
7. a kind of multi-thread rotation sweep detection method according to claim 4 or 5, it is characterised in that in two adjacent detector angles that multi-thread rotation sweep detection device rotates to, do not have overlapping distance measurement information to same search coverage.
8. a kind of multi-thread rotation sweep detection method according to claim 1, it is characterised in that launch the modulating frequency of modulation of source signal by changing, change the distance measurement scope of multi-thread rotation sweep detection device.
9. a kind of multi-thread rotation sweep detection method according to claim 1, it is characterised in that the photoelectric sensor is ccd sensor or is cmos sensor.
10. a kind of multi-thread rotation sweep detection method according to claim 1, it is characterised in that the detection method is used for multi-thread scanning probe of the intelligence machine mobile devices such as walking robot, sweeping robot, unmanned plane to surrounding environment.
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Cited By (19)
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| CN107356929A (en) * | 2016-08-29 | 2017-11-17 | 北醒（北京）光子科技有限公司 | A kind of quick scanning detection method |
| CN108225384A (en) * | 2017-12-08 | 2018-06-29 | 江苏大学 | A kind of linear type infrared LED array sensor |
| CN108814452A (en) * | 2018-08-22 | 2018-11-16 | 上海炬佑智能科技有限公司 | Sweeping robot and its disorder detection method |
| CN108957465A (en) * | 2018-06-07 | 2018-12-07 | 北京理工大学 | A kind of received pulse laser detection device of polynary special-shaped photosurface |
| WO2018223821A1 (en) * | 2017-06-07 | 2018-12-13 | 上海禾赛光电科技有限公司 | Multi-line laser radar |
| CN109460024A (en) * | 2018-11-13 | 2019-03-12 | 深圳市杉川机器人有限公司 | A kind of sweeping robot |
| CN109917351A (en) * | 2019-04-19 | 2019-06-21 | 上海禾赛光电科技有限公司 | The emission system and its control method of laser radar, laser radar |
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| CN110346781A (en) * | 2018-04-02 | 2019-10-18 | 探维科技(北京)有限公司 | Radar emission reception device and laser radar system based on multi-laser beam |
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