CN109283545A - A kind of New Two Dimensional solid state LED laser radar and its distance measuring method - Google Patents
A kind of New Two Dimensional solid state LED laser radar and its distance measuring method Download PDFInfo
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- CN109283545A CN109283545A CN201811183452.2A CN201811183452A CN109283545A CN 109283545 A CN109283545 A CN 109283545A CN 201811183452 A CN201811183452 A CN 201811183452A CN 109283545 A CN109283545 A CN 109283545A
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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
-
- 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
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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 New Two Dimensional solid state LED laser radars, comprising: optical transmitting set, for issuing horizontal point light source；Optical receiver is encountered the reflected light of barrier for receiving point light source；Beam condensing unit, for assembling the received light of optical receiver；Reflective optical system, the light for assembling beam condensing unit, which reflects, to be issued；Projection plane forms a coordinate position for receiving the reflection light after reflective optical system reflects, and in the projection plane；Coordinate acquiring device, for obtaining the coordinate information of reflection light；Graphics processor is used to that optical transmitting set to be calculated at a distance from barrier according to coordinate position and optical transmitting set, optical receiver, optical transmitting set, projection plane relative position and dimensional parameters.The invention also discloses a kind of distance measuring methods of New Two Dimensional solid state LED laser radar.Present invention eliminates the original rotation motors of radar, save cost, improve life and reliability.
Description
Technical field
Figure is built in the interior that this patent relates to the use of radar progress, positions, and avoidance technology belongs to detection field, specially one
Kind New Two Dimensional solid state LED laser radar.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Current laser radar is widely applied on intelligent robot, is mainly used for building figure during the motion, positioning,
Avoidance, one of which are that a pair of of laser emitter is mounted on a level with receiver and is put down using triangle measurement method principle
On face, laser emitter issues a light, and light, which encounters barrier, light reflected back towards receiver to be installed behind receiver
There is a ccd linear sensor, reception angular is measured by it, barrier is then measured from laser by triangulation
The distance of transmitter；But such laser can only go out the distance of one-dimensional square to pipe, if to measure entire horizontal plane (two dimension
Plane) distance of all barriers in plane, it is necessary to this laser is mounted on a horizontal plane rotation motor pipe, benefit
The scanning of Laser emission receiver 360 degree rotation is driven with motor, ranging is carried out in each angle respectively, then utilizes computer
Data processing is carried out, obtains the flat obstacle distance map of entire horizontal two-dimension.Due in entire scanning process, it is necessary to use one
Ge Ping rotation motor mechanism leads to one side high expensive in this way, and conversion speed also wants slack-off, and the time has grown motor life
Also impacted, noise is also bigger when rotation, and when motor vibration also has an impact to precision.
If removing rotation motor, be made into solid radar, then need 360 degree at least installed along annular horizontal direction it is tens of
A laser emitter and laser pickoff also need to install dozens of laser and CCD linear transducer to pipe, work it out in this way
Solid-state radar it is sufficiently bulky, and laser and CCD linear transducer price is very high, and it is very high to do so cost.
Summary of the invention
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of New Two Dimensional solid state LED laser thunders
It reaches and its distance measuring method, laser radar cost can be reduced, improve the response time, increase reliability, the invention discloses as follows
Technical solution:
A kind of New Two Dimensional solid state LED laser radar, comprising:
Optical transmitting set, for issuing horizontal point light source, the optical transmitting set is arranged on the pcb board of an annular, on pcb board uniformly
It is placed with n point light source, the point light source circumferentially annular distribution, and point light source axial line is directed to the center of circle, the hair of point light source
Penetrate direction horizontally outward；
Optical receiver is arranged right above optical transmitting set, is encountered the reflected light of barrier W1 for receiving point light source；
Beam condensing unit is arranged after optical receiver, for assembling the received light of optical receiver；
Reflective optical system is arranged the light in optical receiver center, for assembling beam condensing unit and reflects sending, and light reflects
Device is placed on optical receiver center；
Projection plane is arranged right above optical receiver, for receiving the reflection light after reflective optical system reflects, and in the projection
Plane projection forms a coordinate position；
Coordinate acquiring device, setting is square on a projection plane, for obtaining the coordinate information of reflection light；
Graphics processor, for according to coordinate position and optical transmitting set, optical receiver, optical transmitting set, projection plane relative position
And dimensional parameters, optical transmitting set is calculated at a distance from barrier.
Specifically, the optical receiver be a circular ring type device, circular ring type device from annular outboard face to medial surface along
Horizontal direction is uniformly provided with n through-hole, and the axial line of through-hole is directed to the center of circle, the angle in adjacent two through-holes to the centers of circle be P=
360/n degree is provided with a collector lens after each through-hole.
Specifically, the reflective optical system is the cylindrical body reflector equipped with n cylinder, and equal perpendicular to the center line of cylinder
It is directed toward the center of circle, the angle in adjacent two cylinder center lines to the centers of circle is also P=360/n degree, and the diameter of cylinder is less than optical receiver
Annular diameters.
Specifically, the rounded horizontal projection plane is the plane of a translucent circle, using circle center as reference point,
It is divided into n fan-shaped view field, the center line of each sector is directed to the center of circle, adjacent two fan-shaped projection zone centerlines to the center of circle
Angle be P=360/n degree.
Specifically, the beam condensing unit is condenser.
Specifically, the coordinate acquiring device is high-definition camera.
A kind of three-dimensional solid-state face battle array laser radar range method of the invention, comprising the following steps:
Step 1, optical transmitting set emits beam from n point light source；
Step 2, optical receiver receives the reflected light after the light issued through point light source meets barrier W1, and reflected light is connect by light
It receives after device receives and passes through beam condensing unit optically focused again；
Step 3, the light after optically focused projects after reflective optical system reflects to projection plane；
Step 4, coordinate acquiring device obtains the coordinate information of the projection plane glazed thread projected position；
Step 5, graphics processor is according to coordinate position and optical transmitting set, optical receiver, optical transmitting set, projection plane relative position
And dimensional parameters, optical transmitting set is calculated at a distance from barrier, completes ranging.
The principle of the present invention assumes that first point light source of optical transmitting set first issues a horizontal light, after encountering barrier
Light can reflect, and it (is direct in the past that reflected light projects on the cylinder of cylinder reflective optical system by the optical receiver being mounted above
Project on ccd linear sensor), then be reflected up on projection plane, it is passed by a camera or a plane CCD
Sensor carries out its coordinate position of image-capture, and graphics processor passes through processing coordinate position and optical transmitting set, optical receiver, light hair
Emitter, projection plane relative position and dimensional parameters, be calculated first point light source to barrier distance；Successively light N
A point light source, successively carries out processing of taking pictures to image, thus obtains the corresponding barrier of all point light sources of 360 ° of horizontal extents
Hinder the distance of object.
Compared with the prior art, the present invention has the following advantages and beneficial effects:
1, New Solid LED radar of the invention, eliminates rotation motor, it is only necessary to uniformly pacify in 360 ° of horizontal plane circumferential directions
An annular LED transmitter (containing n point light source in inside) is filled, an annular optical receiver is installed above it and (contains n in inside
A small circular through hole and condenser), installing one in annular optical receiver inside center has n cylinder cylinder light reflection mirror, then
One horizontal projection plane is installed above cylinder light reflection mirror, on projection plane the downward common camera of one camera lens of installation and
Image processor can complete a solid-state radar, complete the function of radar.
2, compared with existing production solid-state laser radar, the present invention integrates optical transmitting set and optical receiver, then up and down
It is installed separately placement, so that space is saved, by the mirror-reflection of polycylinder cylindrical body, all light into optical receiver
Line is reflected up to projection plane, only needs processing of taking pictures by a camera in this way, does not need to install multiple CCD and linearly passes
Sensor significantly reduces cost；Due to using common camera, optical transmitting set can also use common LED light, into
One step saves cost.
3, compared with original production machinery laser radar, present invention eliminates mechanical radars, reduce entire cost, because
With electron scanning instead of mechanical scanning, the response time is improved, increases reliability, and substantially increases the longevity of radar
Life.
Detailed description of the invention
Fig. 1 is New Two Dimensional solid state LED laser radar structural schematic diagram of the invention；
Fig. 2 is solid-state radar schematic illustration.
In figure, 1, optical transmitting set；1a, pcb board；1b, LED lamp bead；2, optical receiver；2a, round tube hole；3, reflective optical system；
4, projection plane；5, camera and graphics processor.
Specific embodiment
As shown in Figure 1, 2, a kind of New Two Dimensional solid state LED laser radar, comprising: 360 degree of horizontal annular light emittings
Device 1,360 degree of horizontal annular optical receivers 2, a beam condensing unit, a polycylinder cylindrical type specular optical reflector 3, one
A rounded horizontal projection plane 4, a coordinate acquiring device 5 and graphics processor, wherein a beam condensing unit of the present embodiment
For condenser, coordinate acquiring device is high-definition camera.
Optical transmitting set 1 is a luminescent device, by a circle pcb board 1a and n point light source 1b and power-supply controller of electric 1c
Composition, n are the natural number greater than 1, and pcb board diameter is unlimited, and present case is 40mm or so, and point light source 1b is exactly the lamp of an optically focused
Pearl, color is unlimited, and light emitting angle is the smaller the better, and lamp bead is horizontal positioned to be welded on pcb board 1a, and axial line is directed to justify
The heart, horizontally outward, angle is P=360/n degree to the direction of the launch of light between adjacent two point light sources, and power-supply controller of electric is mentioned to lamp bead
It power supply source and controls lamp bead and successively shines, set n point light source number respectively A1, A2, A3 ... An.
Optical receiver 2 is a circular ring type device, and there is no limit also there is no limit present case annulus for annulus size for material
Outer diameter is 40mm, internal diameter 36mm, height 10mm.N are uniformly provided with greatly along horizontal direction from annular outboard face to medial surface
Small the same small circular through hole 2a, through-hole diameter is unlimited, and present case is diameter 2mm or so, and the height of through-hole is unlimited, and axial line refers both to
To the center of circle, the angle in adjacent two through-holes to the centers of circle is P=360/n degree, and it is saturating that an optically focused can also be equipped with after each through-hole
Mirror, through-hole are overlapped with the axle center of collector lens, and for the light optically focused to through-hole, the number for setting through-hole is respectively B1, B2,
B3……Bn。
Reflective optical system 3 is the cylindrical body of n cylinder, and making material is unlimited, but each cylinder must be plated to mirror surface, cylinder
Height be slightly higher than optical receiver, the vertical center line of each cylinder is directed to the center of circle, adjacent two cylinder center lines to circle
The angle of the heart is also P=360/n degree, and the annular diameters present case that the diameter of cylinder is less than optical receiver is 20mm or so, setting
The number of n cylinder is respectively C1, C2, C3 ... Cn.
Rounded horizontal projection plane 4 is the plane of a translucent circle, present case be with the injection molding of translucent acrylic and
At with a thickness of 0.5mm or so, diameter is 50mm or so, using circle center as reference point, is divided into n fan-shaped view field, each
Fan-shaped center line is directed to the center of circle, and the angle in adjacent two fan-shaped projection zone centerline to the centers of circle is also P=360/n degree, setting
The number of each sector projected area is respectively D1, D2, D3 ... Dn.
It should be noted that the present embodiment is horizontally arranged firstly the need of optical transmitting set 1, it is then horizontal right above it
Optical receiver 2 is placed, because optical receiver 2 is ring-shaped hollow device, annular diameters are greater than the diameter of reflective optical system 3,
Reflective optical system 3 is placed on 2 center of optical receiver, then is horizontally arranged circular projection plane 4 right above optical receiver 2,
One camera 5,5 alignment lens projection plane 4 of camera, this five device central axises are finally installed above projection plane 4
All being overlapped is straight line, and optical transmitting set 1, optical receiver 2, reflective optical system 3 and projection plane 4 have equally and have n face, is installed
When each face will align, for example A1, B1, C1, D1 will be aligned, and be not staggered.
As Fig. 2 encounters barrier W1 light meeting its working principles are as follows: optical transmitting set A1 issues a horizontal direction light
It reflects, reflected light is received by the hole optical receiver B1, and by condenser optically focused, projects the face reflecting mirror C1, reflecting mirror
C1 face handle light is vertically reflected into the area projection plane D1 upwards, forms a subpoint F1, and camera takes pictures to subpoint F1
And its coordinate position is calculated by image processor processing, optical transmitting set and barrier are then calculated by formula 1,2,3,4
Hinder the distance L1 of object.
Same optical transmitting set A2, A3 ... An successively emits beam, and encounters barrier W2, and W3 ... Wn can reflect, reflection
Light is successively received by optical receiver B2, B3 ... Bn, then is successively reflected into projection plane D2 by C2, C3 ... Cn,
On D3 ... Dn, F2, F3 ... Fn subpoint are formed in projection plane, camera respectively takes pictures to subpoint and passes through figure
As processor calculates separately out subpoint coordinate, can be calculated by formula in each optical transmitting set front obstacle
Distance L2, L3 ... Ln thus knows the radar in all two-dimensional level faces at a distance from barrier.
Radar optical transmitting set is as follows apart from barrier calculating process:
It sets first:
1: the vertical range of 1 lamp bead of optical transmitting set to 2 center of circular hole of optical receiver is a；
2: reflective optical system radius is e；
3: the horizontal distance of 2 lateral surface of optical receiver to 3 lateral surface of reflective optical system is b；
4: the vertical range of optical transmitting set 1 to projection plane 4 is d；
5: the projected length of projection plane is g；
6: barrier W1 to lamp bead A1 horizontal distance is L1,
According to light mirror surface principle of reflection: reflection light and incident ray and normal are in the same plane;Reflection light and
Incident ray is lived apart in the two sides of normal;Angle of reflection is equal to incidence angle, it is concluded that three triangle △ W1A1B1, △ out
B1G1C1, △ F1E1C1 are similar, can be released according to triangle similar principles:
L1/a=b/c=f/h ... formula 1
It can be released again from formula 1:
L1=a*b/c ... formula 2
C=b*h/f ... formula 3
It can be learnt from Fig. 2: h=d- (a+c)
Therefore it can be released from formula 3: c=b*h/f=b* [d- (a+c)]/f
It is released from formula above: c=b (d-a)/(f+b)=b (d-a)/(g-e+b)
(f=g-e as can be seen from Figure 2, wherein g is after taking pictures processing by camera it is known that e is also known parameters)
Therefore available L1 length
L1=a*b/c=a*b* (g-e+b)/b* (d-a) ... formula 4
(a, b, d, e be it is known, g be taken pictures by camera processing after can learn).
Lamp bead lighting mode is successively to light in turn above, survey calculation, so that it may learn the optical transmitting set of each angle
With barrier distance L2, L3 ... Ln, radar range finding is achieved the effect that.
Lamp bead is successively to light in turn above, mainly avoids interfering with each other for adjacent ray in this way, can also not influenced
Adjacent light interacts down, is spaced several lamp beads lighting mode together, accelerates scan frequency, such as first A1, A4, A8 ...
First lighting, second A2, A5, A9 ... are lighted, and so on.
If certain lamp bead, the N value of through-hole, reflector, projection plane is bigger, and test obstacle object point is more, differentiates
Rate is higher, and certain cost is also higher.
The invention principle can also be applied on present mechanical laser radar, and the scanning of mechanical radar can be greatly increased
Speed, this application, which is also considered as, does not depart from patent category of the invention.
Its light source of product of the invention can be LED light, be also possible to laser, and multi-panel cylinder reflector is also possible to more
Face conical reflector, projection plane can be a planar photo sensor, these changes are all to belong to those of ordinary skill
The appropriate changes or modifications done to it all should be regarded as not departing from patent category of the invention.
Claims (7)
1. a kind of New Two Dimensional solid state LED laser radar characterized by comprising
Optical transmitting set, for issuing horizontal point light source, the optical transmitting set is arranged on the pcb board of an annular, on pcb board uniformly
It is placed with n point light source, the point light source circumferentially annular distribution, and point light source axial line is directed to the center of circle, the hair of point light source
Penetrate direction horizontally outward；
Optical receiver is arranged right above optical transmitting set, is encountered the reflected light of barrier W1 for receiving point light source；
Beam condensing unit is arranged after optical receiver, for assembling the received light of optical receiver；
Reflective optical system is arranged the light in optical receiver center, for assembling beam condensing unit and reflects sending, and light reflects
Device is placed on optical receiver center；
Projection plane is arranged right above optical receiver, for receiving the reflection light after reflective optical system reflects, and in the projection
Plane projection forms a coordinate position；
Coordinate acquiring device, setting is square on a projection plane, for obtaining the coordinate information of reflection light；
Graphics processor, for according to coordinate position and optical transmitting set, optical receiver, optical transmitting set, projection plane relative position
And dimensional parameters, optical transmitting set is calculated at a distance from barrier.
2. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the optical receiver is one
Circular ring type device, circular ring type device are uniformly provided with n through-hole, the axis of through-hole from annular outboard face to medial surface along horizontal direction
Heart line is directed to the center of circle, and the angle in adjacent two through-holes to the centers of circle is P=360/n degree, and it is saturating that an optically focused is provided with after each through-hole
Mirror.
3. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the reflective optical system is to set
There is the cylindrical body reflector of n cylinder, and is directed to the center of circle, adjacent two cylinder center lines to circle perpendicular to the center line of cylinder
The angle of the heart is also P=360/n degree, and the diameter of cylinder is less than the annular diameters of optical receiver.
4. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the rounded horizontal projection
Plane is the plane of a translucent circle, using circle center as reference point, is divided into n fan-shaped view field, each sector
Center line is directed to the center of circle, and the angle in adjacent two fan-shaped projection zone centerline to the centers of circle is P=360/n degree.
5. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the beam condensing unit is poly-
Light microscopic.
6. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the coordinate acquiring device
For high-definition camera.
7. a kind of two-dimensional solid-state LED laser radar range finding method, which is characterized in that using as described in claim any one of 1-6
A kind of New Two Dimensional solid state LED laser radar carry out ranging, comprising the following steps:
Step 1, optical transmitting set emits beam from n point light source；
Step 2, optical receiver receives the reflected light after the light issued through point light source meets barrier W1, and reflected light is connect by light
It receives after device receives and passes through beam condensing unit optically focused again；
Step 3, the light after optically focused projects after reflective optical system reflects to projection plane；
Step 4, coordinate acquiring device obtains the coordinate information of the projection plane glazed thread projected position；
Step 5, graphics processor is according to coordinate position and optical transmitting set, optical receiver, optical transmitting set, projection plane relative position
And dimensional parameters, optical transmitting set is calculated at a distance from barrier, completes ranging.
Priority Applications (2)
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| CN201811183452.2A CN109283545A (en) | 2018-10-11 | 2018-10-11 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
| PCT/CN2019/098960 WO2020073724A1 (en) | 2018-10-11 | 2019-08-02 | Novel two-dimensional solid led laser radar and distance measurement method therefor |
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| CN201811183452.2A CN109283545A (en) | 2018-10-11 | 2018-10-11 | A kind of New Two Dimensional solid state LED laser radar and its distance measuring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112099031A (en) * | 2020-11-09 | 2020-12-18 | 天津天瞳威势电子科技有限公司 | Vehicle distance measuring method and device |
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| WO2020073724A1 (en) | 2020-04-16 |
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