CN109884656A - For realizing the laser radar and distance measuring method of scanning field of view subregion - Google Patents
For realizing the laser radar and distance measuring method of scanning field of view subregion Download PDFInfo
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Abstract
The present invention provides a kind of laser radars and distance measuring method for realizing scanning field of view subregion, the laser radar includes: emission system, reception system and control and signal processing unit, emission system includes first laser light source and second laser light source, first laser light source is for issuing first laser light beam, and second laser light source is for issuing second laser light beam；The first laser light beam is used to scan the first area in space to be measured, and the second laser light beam is used to scan the second area in space to be measured；Reception system includes the first detector and the second detector, and the first detector is used to receive the first echo signal of first laser light beam return, and the second detector is used to receive the second echo signal of second laser light beam return.The present invention can be realized detection of the same laser radar to different zones.
Description
Technical field
The present invention relates to laser radar technique fields, and in particular to a kind of laser radar for realizing scanning field of view subregion
And distance measuring method.
Background technique
Laser radar passes through actively to field emission laser beam to be measured, and detects the echo letter that space reflection to be measured is returned
Number, and then can know the three-dimensional spatial information in region to be measured.Since the range accuracy of laser radar is high, fast response time, energy
It is enough to obtain three-dimensional spatial information abundant enough, therefore in machine vision, auxiliary drives, each side such as indoor scene scan rebuilding
To being all widely used.
However, existing laser radar product, can only detect some region, when needing to multiple regions simultaneously
When being detected, multiple laser radars are generally required with the use of being just able to satisfy application demand.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of laser radar for realizing scanning field of view subregion and survey
Away from method, the detection while present invention realizes same laser radar to different zones.
To achieve the above object, the present invention the following technical schemes are provided:
In a first aspect, the present invention provides a kind of laser radars for realizing scanning field of view subregion, comprising: transmitting system
System receives system and control and signal processing unit, the control and signal processing unit respectively with the emission system and
The connection of reception system；
The emission system includes first laser light source and second laser light source, and the first laser light source is for issuing the
One laser beam, the second laser light source is for issuing second laser light beam；Wherein, the first laser light beam is for scanning
The first area in space to be measured, the second laser light beam are used to scan the second area in space to be measured；
The reception system includes the first detector and the second detector, and first detector is for receiving described first
The first echo signal that laser beam returns, second detector are used to receive second time that the second laser light beam returns
Wave signal；
The control and signal processing unit carry out Laser emission for controlling the emission system, and to the reception
The echo-signal of system acquisition is handled, to obtain the space distribution information in space to be measured.
Further, the space to be measured is laser radar front space, and the first area is in front of laser radar
Remote region, the second area are the proximal end road surface region in front of laser radar.
Further, if height of the laser radar apart from ground is H, the maximum distance in front of first laser light beam detection is
The angle of D, first laser light beam upper edge light and laser radar trunnion axis is α1, first laser light beam lower edge light and swash
The angle of optical radar trunnion axis is α2, then the scanning field of view angle of first laser light beam is α1+α2, first laser light beam upper edge light
The scanning height of line is H1=H+D × tan α1, the scanning height of first laser light beam lower edge light is H2=H-D × tan α2,
Remote region in front of the laser radar of first laser light beam detection is to be swashed by first laser light beam upper edge light and first
The range that light light beam lower edge light determines, maximum breadth of the investigative range in plane perpendicular to the ground are D × (tan
α1+tanα2)。
Further, if height of the laser radar apart from ground is H, second laser light beam upper edge light and laser radar
The angle of trunnion axis is β1, second laser light beam lower edge light and the angle of laser radar trunnion axis are β2, then second laser light
The scanning field of view angle of beam is β2-β1, distance of the intersection point A on second laser light beam upper edge light and ground apart from laser radar be
D1=H/tan β1, distance of the intersection points B on second laser light beam lower edge light and ground apart from laser radar is D2=H/tan
β2, the proximal end road surface region in front of the laser radar of second laser light beam detection is by second laser light beam upper edge light and the
The range that dual-laser light beam lower edge light determines, maximum breadth of the investigative range in plane parallel to the ground are H/
tanβ1-H/tanβ2。
Further, the scan line that the number of scanning lines and the second laser light beam that the first laser light beam includes include
Number and scanning angular resolution are different.
Further, the emission system further include: collimation microscope group；
The laser that the first laser light source issues forms first laser light beam after the collimation microscope group, and described second
The laser that laser light source issues forms second laser light beam after the collimation microscope group.
Further, the reception system further include: receive microscope group；
The first echo signal that the first laser light beam returns is after the reception microscope group by first detector
It receives；
The second echo signal that the second laser light beam returns is after the reception microscope group by second detector
It receives.
Further, the laser radar further include: motor and motor drive module；
The motor and motor drive module realize 360 ° of scannings for driving the laser radar to be rotated.
Second aspect, the present invention also provides it is a kind of based on described in any of the above item for realizing scanning field of view subregion
The distance measuring method of laser radar, comprising:
The first area in space to be measured is scanned using the first laser light beam that the first laser light source emits；
The second area in space to be measured is scanned using the second laser light beam that the second laser light source emits；
The space distribution information in space to be measured is obtained according to the processing result of the control and signal processing unit.
Further, the space to be measured is laser radar front space, and the first area is in front of laser radar
Remote region, the second area are the proximal end road surface region in front of laser radar.
As seen from the above description, the present invention at least have it is following the utility model has the advantages that
1, laser radar provided by the invention separately detects space to be measured using first laser light source and second laser light source
Different zones, thus detection while realizing same laser radar to different zones, and then laser thunder can be effectively reduced
Up to quantity, equipment cost is reduced.
2, laser radar provided by the invention carries out subregion detection to space to be measured, can either be to region immediately ahead of equipment
Long-range detection is carried out, and the detection to short distance road surface and road obstacle can be taken into account.
3, laser radar provided by the invention can reduce proximity detection blind area by adjusting equipment relevant parameter.Example
The angle for such as increasing second laser light beam lower edge light and laser radar trunnion axis is β2Proximity detection blind area can be reduced.
4, laser radar provided by the invention can be improved by the way that different search coverages are carried out with the reasonable distribution of light
The effective rate of utilization of measurement pointcloud data.Such as focus detecting area domain scanning field of view, number of scanning lines and scanning resolution are improved, drop
Scanning field of view, number of scanning lines and the scanning resolution in low non-focus detecting area domain.
Certainly, implement either present invention method or product is not necessarily required to reach all the above advantage simultaneously.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic diagram for the laser radar for realizing scanning field of view subregion that one embodiment of the invention provides；
Fig. 2 is the detection viewing field schematic diagram of laser radar provided in an embodiment of the present invention；
Fig. 3 is the long-range scanning schematic diagram of laser radar provided in an embodiment of the present invention；
Fig. 4 is the short range scanning schematic diagram of laser radar provided in an embodiment of the present invention；
Fig. 5 be another embodiment of the present invention provides laser radar range method flow chart.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
One embodiment of the invention provides a kind of laser radar for realizing scanning field of view subregion, referring to Fig. 1, the laser
Radar 100 includes: emission system 110, reception system 120 and control and signal processing unit 130, the control and signal processing
Unit 130 is connect with the emission system 110 and reception system 120 respectively.
The emission system 110 includes first laser light source 111, second laser light source 112 and collimates microscope group 113, described
First laser light source 111 issue laser forms first laser light beam 116 after the collimation microscope group 113, be used for scanning to
The first area for surveying space detects the spatial information of first area, described in the laser process that the second laser light source 112 issues
Second laser light beam 117, which is formed, after collimation microscope group 113 detects the sky of second area for scanning the second area in space to be measured
Between information；It is understood that the first area can be the upper area in space to be measured or the far region in space to be measured
Domain.The second area can be space lower zone to be measured or the nearby region in space to be measured.
The reception system 120 is including the first detector 121, the second detector 122 and receives microscope group 123, and described first
Laser beam 116 converges in the first detection after being radiated at the received microscope group 123 of first echo signal 126 reflected to form on object
On device 121, the second laser light beam 117 is radiated at the received microscope group 123 of second echo signal 127 reflected to form on object
After converge on the second detector 122.The center line of 115 expression emission systems in Fig. 1,125 indicate the center line of reception systems.
The control and signal processing unit 130 carry out Laser emission for controlling the emission system 110, and to institute
The echo-signal for stating the acquisition of reception system 120 is handled, to obtain the space distribution information in space to be measured.
Preferably, the laser radar further include: motor and motor drive module 140, the motor and motor driven mould
Block 140 realizes 360 ° of scannings for driving the laser radar to be rotated.
In addition, in practical application, the laser radar can also include power supply module 150 and communication module 160.Its
In, the power supply module 150, for receiving system 120, control and signal processing unit 130, electricity to the emission system 110
The modules such as machine and motor drive module 140 are powered.The communication module 160, for being responsible for the control and signal processing
The data of unit 130 and other equipment are transmitted.
It is understood that the light beam that the first laser light source 111 and second laser light source 112 emit is array laser
Light beam.First laser light source 111 may include multiple laser light sources, and second laser light source 112 may include multiple laser light sources.
It is understood that number of scanning lines that the first laser light beam that the first laser light source 111 issues includes and institute
Stating the number of scanning lines that the second laser light beam that second laser light source 112 issues includes may be the same or different.Described first
The scan angle for the second laser light beam that the first laser light beam and the second laser light source 112 that laser light source 111 issues issue
Resolution ratio may be the same or different.In practical application, first laser light source can be adjusted according to specific application scenarios
111 and second laser light source 112 scanning field of view, number of scanning lines and scanning resolution.
It is described above it is found that laser radar provided in an embodiment of the present invention, utilizes first laser light source and second laser
Light source separately detects the different zones in space to be measured, thus detection while realizing same laser radar to different zones, into
And laser radar quantity can be effectively reduced, reduce equipment cost.
Fig. 2 is the detection viewing field schematic diagram of laser radar provided in an embodiment of the present invention.Referring to fig. 2, in a kind of optional reality
It applies in mode, when the space to be measured is laser radar front space, the first area is the long distance in front of laser radar
From region, scanning overhead range 220 can be referred to as in Fig. 2, the second area is the proximal end road surface in front of laser radar
Region can be referred to as lower scan range 230 in Fig. 2.
Referring to fig. 2, it is assumed that height of the laser radar 100 apart from ground 400 is H, in front of first laser light beam detection most
It is at a distance D, first laser light beam upper edge light and the angle of laser radar trunnion axis 210 are α1, under first laser light beam
The angle of edge light and laser radar trunnion axis 210 is α2, then the scanning field of view angle of first laser light beam is α1+α2, first swashs
The scanning height of light light beam upper edge light is H1=H+D × tan α1, the scanning height of first laser light beam lower edge light is
H2=H-D × tan α2, the remote region in front of the laser radar of first laser light beam detection is by first laser light beam top
The range determined along light and first laser light beam lower edge light, maximum of the investigative range in plane perpendicular to the ground
Breadth is D × (tan α1+tanα2)。
When BURN-THROUGH RANGE D meets condition 50m < D < 100m, the upper edge light of scanning overhead range 220 scans high
It spends H1 and is greater than laser radar whole height, for detecting whether front has barrier to be higher than equipment.When BURN-THROUGH RANGE D meets
When condition D > 100m, the lower edge light scanning height H2 of scanning overhead range 220 is above the ground level 400, scanning overhead range
It is remote immediately ahead of 220 emphasis scanning laser radars that whether there are obstacles.
Referring to fig. 2, it is assumed that height of the laser radar apart from ground is H, second laser light beam upper edge light and laser thunder
Angle up to trunnion axis is β1, second laser light beam lower edge light and the angle of laser radar trunnion axis are β2, then second laser
The scanning field of view angle of light beam is β2-β1, distance of the intersection point A on second laser light beam upper edge light and ground apart from laser radar
For D1=H/tan β1, distance of the intersection points B on second laser light beam lower edge light and ground apart from laser radar is D2=H/
tanβ2, the proximal end road surface region in front of the laser radar of second laser light beam detection is by second laser light beam upper edge light
The range determined with second laser light beam lower edge light, maximum breadth of the investigative range in plane parallel to the ground are
H/tanβ1-H/tanβ2.From Figure 2 it can be seen that in front of the emphasis scanning laser radar of lower scan range 230 closer range and
Road surface ahead 400.
Fig. 3 is the long-range scanning schematic diagram of laser radar provided in this embodiment.The upper edge of scanning overhead range 220
Ray position meets H1=H+D × tan α1, can be detected when obstacle height is lower than H1.Scanning overhead range 220
Lower edge light is just scanned onto road surface 400, measurement distance D3=H/tan α at this time2, when Obstacle Position is greater than D3,
Barrier in the case where meeting detectivity on any road surface can be detected.It is high when Obstacle Position is less than D3
Degree is greater than H-D × tan α2Barrier can detect.
Fig. 4 is the short range scanning schematic diagram of laser radar provided in this embodiment.The upper edge of lower scan range 230
Light is apart from laser radar D1, and the lower edge light of lower scan range 230 is apart from laser radar D2.Obstacle Position D0It is greater than
When D1, highly it is greater than H-D0×tanα2Barrier can detect.When the position of barrier is greater than D2 and is less than D1,
Meeting the barrier in the case where detectivity on any road surface can be detected.As Obstacle Position D0It is high when less than D2
Degree is greater than H-D0×tanβ2Barrier can detect.
By Fig. 2~Fig. 4 it is found that laser scanning is divided into two parts by laser radar provided in this embodiment 100, top is swept
Retouch remote region in front of 220 emphasis detecting laser radar of range, 230 emphasis detecting laser radar front of lower scan range
The information on proximal end road surface.The entire scan angular range of laser radar 100 is α1+β2.Laser radar 100 detects the nearest of road surface
Distance is D2, and there are the near field blind areas that near-field scan blind area 250, the smaller laser radar 100 of D2 are scanned in front of laser radar 100
250 is smaller.The maximum distance that laser radar 100 detects road surface is D1.Laser radar 100 identifies the minimum constructive height of remote object
For H2, laser radar 100 identifies that the maximum height of remote object is H1.Scanning range 220 and lower scan range above
There are scanning gap 240 between 230, clearance angle range is β1–α2, since light scan data is worth in the regional scope
It is relatively low, therefore there is no setting light.Laser radar 100 increases β on the basis of the degree that do not change that the device is complicated2Angle
Degree reduces near-field scan blind area, the angle of scanning gap 240 is rationally arranged, improves the validity of laser scanning data.As it can be seen that
Laser scanning is divided into two parts up and down by laser radar provided in this embodiment, and two parts scanning is mutually indepedent, in order to adapt to not
The scanning field of view of same scanning scene, upper and lower two parts search coverage is different, while number of scanning lines and scanning resolution can also
To be arranged to be all different.
By specific embodiment above it is found that laser radar provided in an embodiment of the present invention, divides space to be measured
Area's detection can either carry out long-range detection to region immediately ahead of equipment, and can take into account to short distance road surface and road surface barrier
Hinder the detection of object.As it can be seen that laser radar provided in an embodiment of the present invention, can apply in machine vision, auxiliary drives, indoor field
The application scenarios such as scape scan rebuilding.In addition, the present embodiment can reduce proximity detection blind area by adjusting equipment relevant parameter.
Such as increasing second laser light beam lower edge light and the angle of laser radar trunnion axis is β2It is blind proximity detection can be reduced
Area.Further, the present embodiment can be improved measurement pointcloud data by the reasonable distribution to different search coverages progress light
Effective rate of utilization.Such as focus detecting area domain scanning field of view, number of scanning lines and scanning resolution are improved, reduce non-emphasis detection
Scanning field of view, number of scanning lines and the scanning resolution in region etc..
Based on identical inventive concept, another embodiment of the present invention additionally provides a kind of based on use described in above example
In the distance measuring method for the laser radar for realizing scanning field of view subregion, referring to Fig. 5, this method comprises:
Step S1: the first area in space to be measured is scanned using the first laser light beam that the first laser light source emits.
Step S2: the second area in space to be measured is scanned using the second laser light beam that the second laser light source emits.
Step S3: believed according to the spatial distribution that the processing result of the control and signal processing unit obtains space to be measured
Breath.
Preferably, the space to be measured is laser radar front space, and the first area is remote in front of laser radar
Distance areas, the second area are the proximal end road surface region in front of laser radar.
It is understood that the method operating procedure order that is shown of the present embodiment be only illustrate the technology of the present invention principle and
Setting, and the sequencing in non-limiting practical operation.It is understood that above-mentioned steps S1 and S2 are same in actual operation
The process of Shi Jinhang.
Laser radar range method provided in this embodiment, as being regarded using described in above example for realizing scanning
The laser radar of field subregion is realized, therefore its principle is similar with technical effect, and details are not described herein again.
The above examples are only used to illustrate the technical scheme of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these are modified or replace
It changes, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of laser radar for realizing scanning field of view subregion characterized by comprising emission system, receive system and
Control and signal processing unit, the control and signal processing unit are connect with the emission system and reception system respectively；
The emission system includes first laser light source and second laser light source, and the first laser light source swashs for issuing first
Light light beam, the second laser light source is for issuing second laser light beam；Wherein, the first laser light beam is to be measured for scanning
The first area in space, the second laser light beam are used to scan the second area in space to be measured；
The reception system includes the first detector and the second detector, and first detector is for receiving the first laser
The first echo signal that light beam returns, second detector are used to receive the second echo letter that the second laser light beam returns
Number；
The control and signal processing unit carry out Laser emission for controlling the emission system, and to the reception system
The echo-signal of acquisition is handled, to obtain the space distribution information in space to be measured.
2. laser radar according to claim 1, which is characterized in that the space to be measured is laser radar front space,
The first area is the remote region in front of laser radar, and the second area is the proximal end road surface area in front of laser radar
Domain.
3. laser radar according to claim 2, which is characterized in that if height of the laser radar apart from ground be H, first
The maximum distance in laser beam detection front is D, and first laser light beam upper edge light and the angle of laser radar trunnion axis are
α1, first laser light beam lower edge light and the angle of laser radar trunnion axis are α2, then the scanning field of view angle of first laser light beam
For α1+α2, the scanning height of first laser light beam upper edge light is H1=H+D × tan α1, first laser light beam lower edge light
The scanning height of line is H2=H-D × tan α2, the remote region in front of the laser radar of first laser light beam detection is by the
The range that one laser beam upper edge light and first laser light beam lower edge light determine, the investigative range is perpendicular to the ground
Plane in maximum breadth be D × (tan α1+tanα2)。
4. laser radar according to claim 2, which is characterized in that if height of the laser radar apart from ground be H, second
The angle of laser beam upper edge light and laser radar trunnion axis is β1, second laser light beam lower edge light and laser radar
The angle of trunnion axis is β2, then the scanning field of view angle of second laser light beam is β2-β1, second laser light beam upper edge light and ground
Distance of the intersection point A in face apart from laser radar is D1=H/tan β1, the intersection points B of second laser light beam lower edge light and ground
Distance apart from laser radar is D2=H/tan β2, proximal end road surface region in front of the laser radar of second laser light beam detection
For the range determined by second laser light beam upper edge light and second laser light beam lower edge light, the investigative range with ground
Maximum breadth in the parallel plane in face is H/tan β1-H/tanβ2。
5. laser radar according to any one of claims 1 to 4, which is characterized in that the first laser light beam includes
The number of scanning lines and scanning angular resolution that number of scanning lines and the second laser light beam include are different.
6. laser radar according to any one of claims 1 to 4, which is characterized in that the emission system further include: collimation
Microscope group；
The laser that the first laser light source issues forms first laser light beam, the second laser after the collimation microscope group
The laser that light source issues forms second laser light beam after the collimation microscope group.
7. laser radar according to any one of claims 1 to 4, which is characterized in that the reception system further include: receive
Microscope group；
The first echo signal that the first laser light beam returns is received after the reception microscope group by first detector；
The second echo signal that the second laser light beam returns is received after the reception microscope group by second detector.
8. laser radar according to any one of claims 1 to 4, which is characterized in that the laser radar further include: motor
And motor drive module；
The motor and motor drive module realize 360 ° of scannings for driving the laser radar to be rotated.
9. a kind of laser based on the laser radar as described in any one of claims 1 to 8 for realizing scanning field of view subregion
Radar range finding method characterized by comprising
The first area in space to be measured is scanned using the first laser light beam that the first laser light source emits；
The second area in space to be measured is scanned using the second laser light beam that the second laser light source emits；
The space distribution information in space to be measured is obtained according to the processing result of the control and signal processing unit.
10. according to the method described in claim 9, it is characterized in that, the space to be measured be laser radar front space, it is described
First area is the remote region in front of laser radar, and the second area is the proximal end road surface region in front of laser radar.
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Effective date of registration: 20231206 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Wuhan Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: 100085 No. 5, building 1, East Road, Haidian District, Beijing, 601 Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |