CN109709566A - The device of curved surface terrain obstacle monitoring - Google Patents
The device of curved surface terrain obstacle monitoring Download PDFInfo
- Publication number
- CN109709566A CN109709566A CN201811598517.XA CN201811598517A CN109709566A CN 109709566 A CN109709566 A CN 109709566A CN 201811598517 A CN201811598517 A CN 201811598517A CN 109709566 A CN109709566 A CN 109709566A
- Authority
- CN
- China
- Prior art keywords
- curved surface
- range finder
- laser range
- laser
- obstacle monitoring
- 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.)
- Pending
Links
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Present disclose provides a kind of devices of curved surface terrain obstacle monitoring, comprising: laser range finder (1) for emitting laser signal by predetermined angle range above curved surface landform, and receives the laser signal of return；Turntable (2), for controlling laser range finder (1) rotation；Lifting device (3), for controlling the height of laser range finder (1), so that the scanning track of the laser signal of laser range finder (1) transmitting is curve.
Description
Technical field
This disclosure relates to laser measuring technique field, and in particular, to a kind of device of curved surface terrain obstacle monitoring.
Background technique
With the continuous development of China's transport development, the range of road construction is also increasingly wider.For by mountain area and tunnel
The road at road hole is likely to cause road damage due to the harm of falling rocks, mud-rock flow etc., causes to traffic safety great
It influences, therefore, it is necessary to the barrier that road safety threatens is monitored and is removed to what is be likely to occur at any time on road.
Laser radar can monitor road obstacle, prevent falling rocks or landslide etc. from endangering road, avoid road hazard.
Traditional two-dimensional radar is only capable of scanned straight lines and plane, and useful effect can not be played if meeting complicated landform landforms, and needing will be wait supervise
Geodetic shape presses plane cutting, arranges that multiple radars are monitored, expends more costs.
Summary of the invention
(1) technical problems to be solved
Present disclose provides a kind of devices of curved surface terrain obstacle monitoring, extend the applicable model of conventional two-dimensional radar
It encloses, allows to be suitable for complex landform, reduce the usage quantity of two-dimensional radar on complex landform, at least solve the above technology and ask
Topic.
(2) technical solution
Present disclose provides a kind of devices of curved surface terrain obstacle monitoring, comprising: laser range finder, for along the song
Emit laser signal by predetermined angle range above the landform of face, and receives the laser signal of return；Turntable, for controlling
State laser range finder rotation；Lifting device, for controlling the height of the laser range finder, so that the laser range finder emits
The laser signal scanning track be curve.
Optionally, the device of the curved surface terrain obstacle monitoring further include: spring, for protecting the laser range finder
Maintain an equal level weighing apparatus；Ranging machine support is used to support the laser range finder.
Optionally, the lifting device controls the height of the laser range finder further include: is according to the curved surface landform
A preset rules are arranged in the lifting device；The lifting device controls the height of the laser range finder according to the preset rules
Degree.
Optionally, at a distance of a preset height between the scanning track of the laser signal and the curved surface landform.
Optionally, when the laser range finder receives the laser signal, the laser range finder is to the obstacle
Region locating for object carries out multiple scanning, if when multiple scanning n times, the laser range finder still receives the laser signal, then
There is abnormal barrier, otherwise, the curved surface landform barrier without exception in the curved surface landform.
Optionally, the device of the curved surface terrain obstacle monitoring further includes alarm, monitors the curved surface for working as
When landform has abnormal barrier, alarm signal is issued.
Optionally, the predetermined angle is 0-360 °.
Optionally, the laser range finder, lifting device, spring and ranging machine support are mounted on the turntable.
Optionally, the lifting device is fixed on the turntable.
Optionally, the turntable is with the rotation of laser range finder described in preset angle speed control, and controls the laser ranging
The angle of the laser signal of machine transmitting.
(3) beneficial effect
The device for the curved surface terrain obstacle monitoring that the disclosure provides, has the advantages that
(1) height that laser signal is controlled by lifting device, so that laser signal can be along curved surface landform, mountain road
Equal complex landforms are scanned, and monitor complex landform road conditions, are solved the problems, such as that conventional two-dimensional radar is only capable of monitoring plane, are saved
Cost；
(2) it by making between the scanning track of laser signal and curved surface landform at a distance of a preset height, and is monitoring
Height carries out multiple scanning when being more than the barrier of preset height, to tell the barrier for not influencing road safety (as set
Leaf, small stone etc.) and mobile object (such as vehicular traffic, pedestrian), avoid above-mentioned object from causing the wrong report of device；
(3) be conducive to handle in time different so that the disclosure device real-time monitoring and can alarm by setting alarm
Normal barrier.
Detailed description of the invention
Fig. 1 diagrammatically illustrates the structural representation of the device of the curved surface terrain obstacle monitoring of embodiment of the present disclosure offer
Figure.
Fig. 2 diagrammatically illustrates the work signal of the device of the curved surface terrain obstacle monitoring of embodiment of the present disclosure offer
Figure.
Description of symbols:
1- laser range finder；2- turntable；3- lifting device；4- spring；5- ranging machine support；6- curved surface landform；7- laser
The scanning track of signal.
Specific embodiment
Present disclose provides a kind of devices of curved surface terrain obstacle monitoring, control to adjust laser ranging by lifting device
The height of machine, so that the scanning track of the laser signal of laser range finder transmitting is curve, and the scanning track and to be monitored
The distance between curved surface landform remains constant, using the principle of laser ranging, to realize to curved surface landform exception obstacle
The accurate measurements of object, and warning information is issued in time, abnormal barrier is handled in time convenient for artificial.
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
Disclosure some embodiments will be done referring to appended attached drawing in rear and more comprehensively describe to property, some of but not complete
The embodiment in portion will be shown.In fact, the various embodiments of the disclosure can there are many different forms to realize, without that should be solved
It is interpreted as being limited to embodiments set forth herein；Relatively, these embodiments are provided so that the disclosure meets applicable legal requirement.
Fig. 1 diagrammatically illustrates the structural representation of the device of the curved surface terrain obstacle monitoring of embodiment of the present disclosure offer
Figure.Fig. 2 diagrammatically illustrates the operation schematic diagram of the device of the curved surface terrain obstacle monitoring of embodiment of the present disclosure offer.In conjunction with
Fig. 2, the structure described in Fig. 1 are described in detail.
From figure 1 it appears that the device of curved surface terrain obstacle monitoring includes: laser range finder 1, turntable 2, lifting
Device 3, spring 4 and ranging machine support 5.Laser range finder 1, lifting device 3, spring 4 and ranging machine support 5 are installed in turntable
On 2, and lifting device 3 is fixed on turntable 2.
Laser range finder 1 for emitting laser signal by predetermined angle range above curved surface landform, and receives return
Laser signal.For predetermined angle between 0-360 °, laser range finder 1 emits the purpose of laser signal within the scope of predetermined angle
The comprehensive scanning realized to curved surface landform, for example, be in line extension for one and for the rugged road in road surface, when pre-
If angle is 180 °, laser signal can be scanned from road side to the road other side, i.e., be ok above entire road
It is scanned.Laser range finder 1 using the near-infrared laser of eye-safe as light source, and in a manner of continuous laser or pulse swash
Light mode emits laser, will not damage to vehicle operation or maintenance personnel on road.
Turntable 2 is rotated for controlling laser range finder 1.When turntable 2 is with default angular speed rotation, turntable 2 passes through ranging
Machine support 5 drives laser range finder 1 with default angular speed rotation, to control the angle of the laser signal of the transmitting of laser range finder 1
Degree realizes that laser range finder 1 emits laser signal within the scope of predetermined angle, for example, when predetermined angle is 180 °, turntable 2
Rotational angle be also 180 °.The default angular speed of turntable, such as set angularly step-type angular speed for turntable and carry out
Rotation, can be improved the resolution ratio for the laser signal that laser range finder 1 receives, to improve disclosure curved surface terrain obstacle
The precision of the device of monitoring.
Lifting device 3, for controlling the height of laser range finder 1, so that the laser signal that laser range finder 1 emits is swept
Retouching track is curve.It is that a preset rules are arranged in lifting device 3 according to curved surface landform, lifting device 3 is according to the preset rules control
The height of laser range finder 1 processed, so that phase between the scanning track and the curved surface landform of the laser signal that laser range finder 1 emits
Away from a preset height, which is the minimum altitude of abnormal barrier.
Abnormal barrier refers to the barrier that will affect vehicular traffic safety in curved surface landform, such as falling rocks, mud-rock flow, failure
Vehicle etc..The minimum altitude of abnormal barrier refers to the height that the minimum barrier of vehicular traffic safety is influenced in curved surface landform
Degree.Preset rules are the sides that the lifting device 3 determined after reconnoitring curved surface landform road conditions controls the height of laser range finder 1
Formula.For example, setting the minimum altitude of certain curved surface landform exception barrier as 10cm, then lifting device 3 controls laser range finder 1,
Laser range finder 1 moves back and forth in its axial direction so that the scanning track for the laser signal that laser range finder 1 is launched with
Always at a distance of 10cm between the curved surface landform；When the height of barrier in curved surface landform is not less than 10cm, barrier is by laser
The laser signal that range finder 1 emits reflexes to laser range finder 1, when laser range finder 1 receives laser signal, laser range finder
Region locating for 1 pair of barrier carries out multiple scanning, if multiple scanning N (such as N=100) is secondary, laser range finder 1 still receives laser
Signal, then the device of curved surface terrain obstacle monitoring can judge there is abnormal barrier at this, conversely, if sweeping in n-th
Before retouching, laser range finder 1 does not receive laser signal, then the device of curved surface terrain obstacle monitoring confirms that there is no different at this
Normal barrier.
Spring 4, for making laser range finder 1 keep balance.When the back and forth movement in its axial direction of laser range finder 1
When, spring 4 stretches with the back and forth movement of laser range finder 1, so that laser range finder 1 is kept in the radial direction thereof
Balance.
Ranging machine support 5 is used to support laser range finder 1, and drives laser range finder 1 that turntable 2 is followed to rotate.
In addition, the device of curved surface terrain obstacle monitoring further includes alarm, monitor that curved surface landform exists for working as
When abnormal barrier, alarm signal is issued.
The operation that is monitored of device of curved surface terrain obstacle monitoring includes:
S1 chooses the installation position for the device that a fixed point is monitored as curved surface terrain obstacle on the outside of curved surface landform roadbed
It sets；Determine the predetermined angle of laser range finder 1；The default rule of 1 height change of laser range finder are formulated according to curved surface landform road conditions
Then；Determine the minimum altitude of exception barrier.
S2, turntable 2 drive laser range finder 1 to rotate to set angular speed within the scope of predetermined angle, and lifting device 3 is with pre-
If rule changes the height of laser range finder 1.
S3, laser range finder 1 emit laser signal, and the distance between the scanning track of the laser signal and curved surface landform are solid
It is fixed constant, the minimum altitude of as abnormal barrier.
S4, when laser range finder 1 receives laser signal, region that laser range finder 1 monitors the laser signal into
Row multiple scanning, if the continuous n times of laser range finder 1 receive laser signal, alarm issues alarm signal, notice maintenance
Personnel make corresponding processing to abnormal barrier, otherwise, alarm attonity.
So far, attached drawing is had been combined the embodiment of the present disclosure is described in detail.It should be noted that in attached drawing or saying
In bright book text, the implementation for not being painted or describing is form known to a person of ordinary skill in the art in technical field, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or be replaced to it.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction with reference to attached drawing, not is used to limit the protection scope of the disclosure.Through attached drawing, identical element by
Same or similar appended drawing reference indicates.When may cause understanding of this disclosure and cause to obscure, conventional structure will be omitted
Or construction.
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of device of curved surface terrain obstacle monitoring, comprising:
Laser range finder (1) for emitting laser signal by predetermined angle range above the curved surface landform, and receives return
The laser signal；
Turntable (2), for controlling the laser range finder (1) rotation；
Lifting device (3), for controlling the height of the laser range finder (1), so that the institute of the laser range finder (1) transmitting
The scanning track for stating laser signal is curve.
2. the device of curved surface terrain obstacle monitoring according to claim 1, wherein the curved surface terrain obstacle monitoring
Device further include:
Spring (4), for making the laser range finder (1) to keep balance；
Ranging machine support (5) is used to support the laser range finder (1).
3. the device of curved surface terrain obstacle monitoring according to claim 1, wherein the lifting device (3) controls institute
State the height of laser range finder (1) further include:
It is that a preset rules are arranged in the lifting device (3) according to the curved surface landform；
The lifting device (3) controls the height of the laser range finder (1) according to the preset rules.
4. the device of curved surface terrain obstacle monitoring according to claim 1, wherein the scanning track of the laser signal
At a distance of a preset height between the curved surface landform.
5. the device of curved surface terrain obstacle monitoring according to claim 1, in which:
When the laser range finder (1) receives the laser signal, the laser range finder (1) is to locating for the barrier
Region carries out multiple scanning, if when multiple scanning n times, the laser range finder (1) still receives the laser signal, then the song
There is abnormal barrier, otherwise, the curved surface landform barrier without exception in face landform.
6. the device of curved surface terrain obstacle monitoring according to claim 5, wherein the curved surface terrain obstacle monitoring
Device further include alarm, for issuing alarm signal when monitoring that the curved surface landform has abnormal barrier.
7. the device of curved surface terrain obstacle monitoring according to claim 1, wherein the predetermined angle is 0-360 °.
8. the device of curved surface terrain obstacle monitoring according to claim 2, wherein the laser range finder (1), lifting
Device (3), spring (4) and ranging machine support (5) are mounted on the turntable (2).
9. the device of curved surface terrain obstacle monitoring according to claim 2, wherein the lifting device (3) is fixed on
On the turntable (2).
10. the device of curved surface terrain obstacle monitoring according to claim 1, wherein the turntable (2) is with preset angle speed
Degree controls laser range finder (1) rotation, and controls the angle of the laser signal of the laser range finder (1) transmitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598517.XA CN109709566A (en) | 2018-12-25 | 2018-12-25 | The device of curved surface terrain obstacle monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811598517.XA CN109709566A (en) | 2018-12-25 | 2018-12-25 | The device of curved surface terrain obstacle monitoring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109709566A true CN109709566A (en) | 2019-05-03 |
Family
ID=66258299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811598517.XA Pending CN109709566A (en) | 2018-12-25 | 2018-12-25 | The device of curved surface terrain obstacle monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109709566A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1667357A (en) * | 2005-04-07 | 2005-09-14 | 上海交通大学 | Pneumatic caisson oriented laser three-dimensional landform real-time display system |
| CN101332478A (en) * | 2007-06-28 | 2008-12-31 | 上海船舶工艺研究所 | Numerical controlled plate thermal stress surface shaping machine |
| CN101929125A (en) * | 2009-08-21 | 2010-12-29 | 中公高科（北京）养护科技有限公司 | Road rut detection method |
| US20110196561A1 (en) * | 2009-03-20 | 2011-08-11 | Arne Roy Jorgensen | Patent for a personal transportation network-ptn |
| CN105329457A (en) * | 2014-08-01 | 2016-02-17 | 深圳中集天达空港设备有限公司 | Airplane docking guide system and method based on laser scan |
| CN105783778A (en) * | 2016-04-27 | 2016-07-20 | 中国科学院云南天文台 | Noncontact optical mirror surface detecting system based on laser scanning method and detecting method thereof |
| CN205580399U (en) * | 2016-04-27 | 2016-09-14 | 中国科学院云南天文台 | Non -contact optical lens face detecting system based on laser scanning method |
| CN106774300A (en) * | 2016-11-18 | 2017-05-31 | 广西大学 | A kind of AGV anti-collision device for trolley |
| CN206348458U (en) * | 2016-11-22 | 2017-07-21 | 中国航空工业集团公司上海航空测控技术研究所 | A kind of runway Surface condition detecting system |
| CN107064952A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors the device of identification automatically |
| CN107966133A (en) * | 2018-01-15 | 2018-04-27 | 季志博 | Railway manually track lifting elevation laser control apparatus and its elevation control method |
-
2018
- 2018-12-25 CN CN201811598517.XA patent/CN109709566A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1667357A (en) * | 2005-04-07 | 2005-09-14 | 上海交通大学 | Pneumatic caisson oriented laser three-dimensional landform real-time display system |
| CN101332478A (en) * | 2007-06-28 | 2008-12-31 | 上海船舶工艺研究所 | Numerical controlled plate thermal stress surface shaping machine |
| US20110196561A1 (en) * | 2009-03-20 | 2011-08-11 | Arne Roy Jorgensen | Patent for a personal transportation network-ptn |
| CN101929125A (en) * | 2009-08-21 | 2010-12-29 | 中公高科（北京）养护科技有限公司 | Road rut detection method |
| CN105329457A (en) * | 2014-08-01 | 2016-02-17 | 深圳中集天达空港设备有限公司 | Airplane docking guide system and method based on laser scan |
| CN105783778A (en) * | 2016-04-27 | 2016-07-20 | 中国科学院云南天文台 | Noncontact optical mirror surface detecting system based on laser scanning method and detecting method thereof |
| CN205580399U (en) * | 2016-04-27 | 2016-09-14 | 中国科学院云南天文台 | Non -contact optical lens face detecting system based on laser scanning method |
| CN106774300A (en) * | 2016-11-18 | 2017-05-31 | 广西大学 | A kind of AGV anti-collision device for trolley |
| CN206348458U (en) * | 2016-11-22 | 2017-07-21 | 中国航空工业集团公司上海航空测控技术研究所 | A kind of runway Surface condition detecting system |
| CN107064952A (en) * | 2017-04-21 | 2017-08-18 | 中国科学院半导体研究所 | Railway track barrier monitors the device of identification automatically |
| CN107966133A (en) * | 2018-01-15 | 2018-04-27 | 季志博 | Railway manually track lifting elevation laser control apparatus and its elevation control method |
Non-Patent Citations (1)
| Title |
|---|
| 范少勇: "《雷达操作与模拟器和ARPA》", 31 August 2009, 广东人民出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11015308B2 (en) | Roadway marker control system | |
| US9784843B2 (en) | Enhanced roadway mark locator, inspection apparatus, and marker | |
| US7552539B2 (en) | Method and apparatus for machine element control | |
| EP1842077B1 (en) | Method for determining a positional information of at least one object | |
| IL274925B1 (en) | Systems and methods for lidars with adjustable resolution and failsafe operation | |
| US6119353A (en) | Method and apparatus for non-contact measuring of the deflection of roads or rails | |
| CN101685005B (en) | Machine for measuring outline dimension of vehicle | |
| EP3479062B1 (en) | Method for comparing a laser beam hitting a laser recipient with a rotating laser beam | |
| CN104567713B (en) | A kind of multiple spot snow depth measuring method and device | |
| CN104838072A (en) | Reclaimer 3D volume rate controller | |
| WO2016121688A1 (en) | Obstacle detection device for transport vehicle | |
| CN102998677A (en) | Vehicle-borne scanning semiconductor laser early-warning radar and method for detecting obstacles thereby | |
| DE102019002516A1 (en) | Measuring arrangement and method for optical or quasi-optical position determination | |
| CN109709566A (en) | The device of curved surface terrain obstacle monitoring | |
| CN110068807A (en) | The modulation of airborne laser radar pulse rate | |
| CN109709567A (en) | Rail and the device of side slope barrier monitoring | |
| CN105607075A (en) | Road safety monitoring method and apparatus thereof | |
| JP2023181369A (en) | Obstacle detection device of construction machine | |
| CN104567688A (en) | Method for automatically measuring width and height of object through laser | |
| JP5669315B2 (en) | Surveying method and surveying device for uneven plane | |
| KR101216528B1 (en) | Surveying system for road register | |
| CN108335528A (en) | Bridge warning method and system based on coordinate system positioning and tracking | |
| CN105004271B (en) | System and method for monitoring displacement by utilizing light rays forming angles with each other | |
| CN210946942U (en) | Single GPS land leveler knife height control device | |
| CN107966985A (en) | A kind of power transmission line crusing robot freedom positioning system and its method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190503 |