CN110275176A - A kind of laser radar - Google Patents
A kind of laser radar Download PDFInfo
- Publication number
- CN110275176A CN110275176A CN201910729239.5A CN201910729239A CN110275176A CN 110275176 A CN110275176 A CN 110275176A CN 201910729239 A CN201910729239 A CN 201910729239A CN 110275176 A CN110275176 A CN 110275176A
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- laser
- camera lens
- imaging sensor
- optical axis
- distance
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- 238000003384 imaging method Methods 0.000 claims description 45
- 230000003287 optical effect Effects 0.000 claims description 35
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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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 present invention relates to Radar Technology fields.The invention discloses a kind of laser radars, including a laser and receive system, the laser is for emitting laser to object to be measured, reception system is for receiving the reflected laser of object to be measured, the reception system includes at least first and receives system and the second reception system, described first receives system and the setting of laser interval, described second receives system setting receives between system and laser first, the first reception system is used to receive the reflected laser of object to be measured within the scope of the first near point to the first far point, the second reception system is used to receive the reflected laser of object to be measured within the scope of the second near point to the second far point, second near point to laser distance less than the first near point to laser distance be less than or equal to the second far point to laser distance less than the first far point to laser distance.The present invention has extra small blind area even non-blind area, and can meet small form factor requirements again.
Description
Technical field
The invention belongs to Radar Technology fields, more particularly to a kind of laser radar.
Background technique
Laser radar is with structure is relatively easy, high monochromaticity, high directivity, coherence is good, measurement accuracy is higher, space
The advantages that high resolution, detection range are remote, cheap；It has been be widely used that, application range is greatly to atmosphere, ocean and land
Carry out the effective ways of high-precision remote sensing, as low as domestic intelligent sweeping robot navigation avoidance.
Mechanical one-line scanning laser radar mostly uses trigonometry to obtain range information at present.Principle of triangulation are as follows: swash
Light device emits a branch of collimation laser, and after being irradiated to object to be measured diffusing reflection occurs for light beam, and reflected light is received and is imaged on by camera lens
On imaging sensor, when the reflected light that light beam shines the object of different distance enters camera lens from different perspectives, in imaging sensor
On imaging facula position it is also different, according to the available respective distances information in the position of hot spot on imaging sensor.Such as Fig. 1 institute
Show, object to be measured distance lasers distance can be acquired by following formula:
Q=(fs)/x (1)
D=q/sin (β) (2)
(1) formula is converted into
X=(fs)/q (3)
(3) formula obtains q derivation again:
Dq/dx=-q2/(f·s) (4)
Wherein, q: the distance of system to object to be measured, s: the spacing of laser and camera lens optical center, d: laser to mesh to be measured
Target distance, f: lens focus, x: the displacement of hot spot on an imaging sensor, β: laser emitting direction and imaging sensor
The angle of receiving plane.
As can be seen that when object to be measured distance become far after, one unit of the every movement of the pixel obtained from video camera away from
From, the distance value found out, which must jump, substantially to be increased namely precision is lower, so, it is ensured that dq is controlled in a certain range, that
Require biggish fs value or smaller sensor resolution dx.And due to the demand of miniaturized structure and existing
The limitation of the resolution ratio of imaging sensor, lens focus f need to keep the larger value namely the field angle of camera lens limited, can not take very
Greatly, leading to the laser radar range of the existing single camera lens based on triangle measurement method, there are biggish blind areas, this will limit radar
Installation site and function use.
Summary of the invention
It is an object of the invention to provide one kind with extra small blind area even non-blind area in order to solve the above problem, and can expire
The laser radar of sufficient small form factor requirements.
For this purpose, the invention discloses a kind of laser radar, including a laser and reception system, the laser is for sending out
Laser is penetrated to object to be measured, for receiving the reflected laser of object to be measured, the reception system includes at least reception system
First receives system and the second reception system, and described first receives system and the setting of laser interval, and described second receives system
Setting receives between system and laser first, and described first receives system for receiving the first near point to the first far point range
The reflected laser of interior object to be measured, described second receives system for receiving within the scope of the second near point to the second far point
The reflected laser of object to be measured, the distance of the second near point to laser are less than etc. less than the distance of the first near point to laser
In the second far point to laser distance less than the first far point to laser distance.
Further, the first reception system includes the first camera lens and the first imaging sensor, and described second receives system
System includes the second camera lens and the second imaging sensor, and the optical axis of first camera lens is parallel with the optical axis of the second camera lens.
Further, first camera lens and the second camera lens are the camera lens of same size.
Further, the angle of the optical axis of the optical axis and laser of first camera lens is 12 °.
Further, the optical axis distance of the optical axis of first camera lens and the second camera lens is 14mm.
Further, the optical axis distance of the optical center distance lasers of first camera lens is 32mm.
Further, first imaging sensor and the second imaging sensor are linear array imaging sensor or face battle array imaging
Sensor.
Further, the optical axis of first camera lens is vertical with the photosurface of the first imaging sensor or out of plumb；It is described
The optical axis of second camera lens is vertical with the photosurface of the second imaging sensor or out of plumb.
Further, first imaging sensor and the second imaging sensor are arranged on same circuit board, and with master
Control module electrical connection.
It further, further include turntable and mounting bracket, the laser and reception system are mounted on by mounting bracket
On turntable, the turntable is around central shaft 360 degree rotation.
Advantageous effects of the invention:
The ranging range of multiple reception systems is combined, can both realize extra small by increasing reception system by the present invention
Blind area even non-blind area, and no need to increase the volume of laser radar, it can satisfy small form factor requirements, meet required precision, and easily
In realization.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is laser radar triangle telemetry schematic illustration；
Fig. 2 is the structural schematic diagram of the embodiment of the present invention one；
Fig. 3 is the light path schematic diagram of the embodiment of the present invention one.
Specific embodiment
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.In figure
Component be not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
Embodiment one
As shown in Figures 2 and 3, a kind of laser radar, including a laser 1 and reception system, the laser 1 is for emitting
Laser is to object to be measured, and for reception system for receiving the reflected laser of object to be measured, concrete principle can refer to background skill
Art, this is no longer described in detail.
The reception system includes the first reception system 2 and second receives system 3, and described first receives system 2 and laser
The setting of the interval of device 1, described second receives the setting of system 3 receives between system 2 and laser 1 first, and described first receives system
System 2 is for receiving the reflected laser of object to be measured within the scope of 6 to the first far point (not shown) of the first near point, and first
Far point can be taken as infinity, but in view of actual use situation, the general distance without detecting infinity, the present embodiment
In, 12 meters are taken as, but be not limited thereto.
The second reception system 2 is to be measured within the scope of 7 to the second far point (not shown) of the second near point for receiving
The reflected laser of target, the second near point 7 to laser 1 distance less than the first near point 6 arrive laser 1 distance, first
The distance of near point 6 to laser 1 is less than or equal to the second far point to the distance of laser 1, and the distance of the second far point to laser 1 is small
In the first far point to the distance of laser 1.
Spliced by the range information that measures to the first reception system 2 and the second reception system 3, then the laser radar
Ranging be second near point the 7 to the first far point range, and the ranging of existing single-lens laser radar is the first near point 6 to the
One far point range, that is, reduce range hole, and extra small blind area can be achieved very in the distance by adjusting the second near point 7 to laser 1
To non-blind area, and no need to increase first to receive the distance that system 2 arrives laser 1, not will increase the volume of laser radar, can be with
Meet small form factor requirements, and receive camera lens and imaging sensor that system uses existing laser radar to use, it is easy to accomplish,
And detection accuracy will not be reduced.
In this specific embodiment, described first, which receives system 2, includes the first camera lens 21 and the first imaging sensor 22, described
Second, which receives system 3, includes the second camera lens 31 and the second imaging sensor 32, the optical axis I2 and the second mirror of first camera lens 21
First 31 optical axis I3 is parallel, in this way, the first imaging sensor 22 and the second imaging sensor 32 can be made to be located at approximately the same plane,
So as to be arranged on the same circuit board and be electrically connected respectively with main control module, more compact structure, assembling is more convenient, drop
Low cost.Certainly, in other embodiments, the optical axis I3 of the optical axis I2 of the first camera lens 21 and the second camera lens 31 can also be according to reality
Border is needed without being arranged in parallel.
In this specific embodiment, first camera lens 21 and the second camera lens 31 are the camera lens of same size, so that spare and accessory parts
Type it is less, management and assemble easier, raising efficiency and reliability.Certainly, in other embodiments, the first camera lens 21 with
Second camera lens 31 is also possible to the camera lens of different size.
In this specific embodiment, the first imaging sensor 22, the second imaging sensor 32, the first camera lens 21 and the second camera lens
31 are all made of the camera lens and imaging sensor that existing laser radar uses, it is easy to accomplish.
In this specific embodiment, the angle of the optical axis I1 of the optical axis I2 and laser 1 of first camera lens 21 is preferably
12 °, under the angle conditions, the field angle of first camera lens 21 has been able to take into account closer distance, i.e. the first near point 6 can be with
Less than or equal to 10 centimetres, this distance can satisfy the blind area demand of existing general laser radar.Certainly, in other embodiments
In, the angle of the optical axis I1 of the optical axis I2 and laser 1 of the first camera lens 21 can be set according to the actual situation, this is ability
What field technique personnel can realize easily, no longer describe in detail.
In this specific embodiment, the optical axis I2 of first camera lens 21 and the optical axis I3 distance of the second camera lens 31 are preferably
14mm, so that overall structure is more compact, and is easily achieved, but it is not limited to this.
In this specific embodiment, the optical axis I1 distance of the optical center distance lasers 1 of first camera lens 21 is preferably 32mm,
Under the distance limits for existing structure, and it can satisfy the maximum spacing of accuracy requirement.Certainly, in other embodiments, first
The optical axis I1 distance of the optical center distance lasers 1 of camera lens 21 can according to actual needs the maximum distance of ranging and required precision into
Row adjustment.
In this specific embodiment, first imaging sensor 22 and the second imaging sensor 32 are preferably that linear array imaging passes
Sensor or face battle array imaging sensor, but it is not limited to this.
In this specific embodiment, first imaging sensor 22 and the second imaging sensor 32 can use CCD, CMOS
Or other photosensitive sensors are realized.
In this specific embodiment, the optical axis I2 of first camera lens 21 and the photosurface of the first imaging sensor 22 can hang down
Straight setting out of plumb can also be arranged according to actual needs；The optical axis I3 of second camera lens 31 and the second imaging sensor 32
Photosurface can be vertically arranged, can also according to actual needs out of plumb be arranged.
It further include turntable 5 and mounting bracket 4, the laser 1, the imaging of the first camera lens 21, first in this specific embodiment
Sensor 22, the second camera lens 31 and the second imaging sensor 32 are mounted on 5 upper surface of turntable, the turntable 5 by mounting bracket 4
Make 360 degree rotation around central shaft.
In this specific embodiment, 5 revolving speed of turntable is 10Hz, and each week ranging points are 380 points, then range frequency is
3800Hz, angular resolution are about 0.95 °.Certainly, in other embodiments, the revolving speed of turntable 5 be set as other speed can also
It realizes, each week ranging points are that other points that can arbitrarily meet the requirements also may be used.
Embodiment two
The difference of the present embodiment and embodiment one are as follows: the reception system includes the first reception system, the second reception system
System is received with third, described first receives system and the setting of laser interval, and the second reception system setting connects first
Between receipts system and laser, the third receives system setting and receives between system and laser second, and described first connects
Receipts system is used to receive the reflected laser of object to be measured within the scope of the first near point to the first far point, and described second receives system
System receives system and uses for receiving the reflected laser of object to be measured within the scope of the second near point to the second far point, the third
The reflected laser of object to be measured within the scope of reception third near point to third far point, the distance of third near point to laser
Less than the second near point to laser distance be less than or equal to third far point to laser distance less than the first near point to laser
Distance be less than or equal to the second far point to laser distance less than the first far point to laser distance.Relative to embodiment
One, the present embodiment can make blind area smaller, and the camera lens of larger focal length can be used, to improve resolution ratio.
Certainly, in other embodiments, receiving system can also include that the 4th reception system, the 5th reception system etc. are more
Reception system, set-up mode are extended by the set-up mode of embodiment two, this is that those skilled in the art can realize easily
, no longer describe in detail.
The present invention on the basis of laser radar of original triangle measurement method by increasing reception system, by multiple receptions system
The ranging range of system is combined, and can not only realize extra small blind area even non-blind area, but also no need to increase the volume of laser radar, can be with
Meet small form factor requirements, and is easily achieved.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (10)
1. a kind of laser radar, including a laser and reception system, the laser connect for emitting laser to object to be measured
Receipts system is for receiving the reflected laser of object to be measured, it is characterised in that: the reception system includes at least first and receives
System and second receives system, and described first, which receives system and laser interval, is arranged, and described second receives system setting the
One receives between system and laser, and the first reception system is to be measured within the scope of the first near point to the first far point for receiving
The reflected laser of target, the second reception system are used to receive the object to be measured within the scope of the second near point to the second far point
The distance of reflected laser, the second near point to laser is less than or equal to second far less than the distance of the first near point to laser
Point arrives distance of the distance less than the first far point to laser of laser.
2. laser radar according to claim 1, it is characterised in that: described first to receive system include the first camera lens and the
One imaging sensor, described second, which receives system, includes the second camera lens and the second imaging sensor, the optical axis of first camera lens
It is parallel with the optical axis of the second camera lens.
3. laser radar according to claim 2, it is characterised in that: first camera lens and the second camera lens are same size
Camera lens.
4. laser radar according to claim 2, it is characterised in that: the optical axis of first camera lens and the optical axis of laser
Angle be 12 °.
5. laser radar according to claim 2, it is characterised in that: the optical axis of first camera lens and the light of the second camera lens
Wheelbase is from for 14mm.
6. laser radar according to claim 2, it is characterised in that: the light of the optical center distance lasers of first camera lens
Wheelbase is from for 32mm.
7. laser radar according to claim 2, it is characterised in that: first imaging sensor and the second imaging sensing
Device is linear array imaging sensor or face battle array imaging sensor.
8. laser radar according to claim 2, it is characterised in that: the optical axis of first camera lens and the first imaging sense
The photosurface of device is vertical or out of plumb；The optical axis of second camera lens is vertical with the photosurface of the second imaging sensor or does not hang down
Directly.
9. laser radar according to claim 2, it is characterised in that: first imaging sensor and the second imaging sensing
Device setting is electrically connected on same circuit board, and with main control module.
10. laser radar according to claim 1, it is characterised in that: further include turntable and mounting bracket, the laser
It is mounted on turntable with reception system by mounting bracket, the turntable is around central shaft 360 degree rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910729239.5A CN110275176A (en) | 2019-08-08 | 2019-08-08 | A kind of laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910729239.5A CN110275176A (en) | 2019-08-08 | 2019-08-08 | A kind of laser radar |
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| CN110275176A true CN110275176A (en) | 2019-09-24 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045018A (en) * | 2019-12-27 | 2020-04-21 | 广东博智林机器人有限公司 | Optical device and positioning system of robot |
| CN111060917A (en) * | 2019-12-27 | 2020-04-24 | 广东博智林机器人有限公司 | Laser ranging device and construction robot |
| CN111521994A (en) * | 2020-05-13 | 2020-08-11 | 广东博智林机器人有限公司 | Method and testing device for measuring angular resolution and vertical field angle of laser radar |
| CN111879250A (en) * | 2020-08-04 | 2020-11-03 | 小狗电器互联网科技（北京）股份有限公司 | Wall surface detection method and device, sweeper and storage medium |
| CN113567958A (en) * | 2020-05-14 | 2021-10-29 | 北京一径科技有限公司 | Receiving device and adjusting method of laser radar and laser radar |
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