CN112162258B - Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof - Google Patents
Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof Download PDFInfo
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- CN112162258B CN112162258B CN202011046561.7A CN202011046561A CN112162258B CN 112162258 B CN112162258 B CN 112162258B CN 202011046561 A CN202011046561 A CN 202011046561A CN 112162258 B CN112162258 B CN 112162258B
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 230000003321 amplification Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a portable multi-elevation angle detection radar optical device and a self-adaptive scanning method thereof, wherein the optical scanning device comprises: the device comprises a fixed base, a laser light source, a laser receiver, two reflectors, a telescopic driving device for controlling the angle of the first reflector and a feedback element. The angle of the first transmitting mirror is controlled to automatically change through the telescopic driving device, so that the angle of the reflected light is changed, and multi-elevation angle detection is performed; and the telescopic driving device is controlled according to a certain logic judgment relation by the related information of the target fed back by the internal feedback element, so that the scanning rate of the laser is adaptively adjusted. Therefore, the portable radar optical device can conveniently realize the self-adaptive scanning of the target with multiple elevation angles.
Description
Technical Field
The invention relates to the technical field of laser radar optical detection.
Background
The laser radar is a device for sensing surrounding objects by utilizing laser beams, reflects the positions and the morphologies of the surrounding objects in the form of point cloud data, has the characteristics of high measurement resolution, high speed and the like, and has been widely applied to various fields such as mapping, navigation and the like.
At present, the laser radar is mostly realized by adopting a light control array technology and a servo device in combination for scanning a target with multiple elevation angles. The light control array technology is mostly applied to large-scale equipment, is not high in cost performance when applied to small-scale equipment, and is not easy to realize; however, if the optical array and the servo device are not provided, the inside of the optical device is constructed through compact optical lens arrangement, so that the angles among the reflecting mirrors are relatively locked, once the elevation angle of a target object changes, the position and the angle of the optical lens or the emitting direction of the light source need to be manually changed to adapt to the change of the target position, and automatic multi-elevation scanning is difficult to carry out. In addition, the distribution of laser scanning resources of most laser radars is relatively average at present, namely, the laser scanning resources are detected under the same scanning conditions when targets exist or not, and the scanning rate cannot be adjusted in a self-adaptive mode, but the problems of resource waste and incapability of detecting targets in a targeted mode exist if the same scanning conditions are maintained due to different distribution and size types of the targets in the complex environment at present.
Disclosure of Invention
The invention provides a portable multi-elevation detection radar optical device and an adaptive scanning method thereof, aiming at solving the problems that a fixed laser detection radar in the prior art is difficult to realize scanning of a multi-elevation target without the support of a light control array technology and a servo device, laser resources are unreasonably distributed, and the scanning rate cannot be adaptively adjusted to detect the target in a targeted manner.
In order to achieve the above purpose, the invention has the following implementation technical scheme:
the portable multi-elevation angle detection radar optical device comprises a main fixed base, a laser receiver, a second reflecting mirror, a second mirror base, a positioning plate, a laser light source, a collimation optical mirror, a first fixed ring, a second fixed ring, an arc-shaped guiding device, a first reflecting mirror, a vertical support, a telescopic driving device for controlling the angle of the first reflecting mirror and a feedback element embedded in the fixed base; the optical device uses a fixed base as a reference, laser receivers and vertical supports are respectively arranged on two sides of the upper surface of the fixed base, the vertical supports are used for fixing a laser source and a collimation optical mirror through a first fixed ring and a second fixed ring, the second mirror is fixedly connected with a positioning plate through a second mirror base, the first mirror is connected with the second mirror through a pin shaft, and the lower end of the first mirror is connected with a telescopic driving device for driving the angle of the telescopic driving device.
The telescopic driving device for driving the first reflecting mirror is controlled by a control button to switch, the detection of the multi-elevation target is realized by changing the angle of the first reflecting mirror, and the telescopic driving device adaptively adjusts the scanning rate of laser by receiving the logical judgment relation of the comparison of the target information fed back by the feedback element and the corresponding threshold, so that the detection time when the target exists is increased, namely the point cloud data quantity when the target is detected is accumulated, and finally the adaptive scanning of the multi-elevation target is realized.
Further, the device still includes fixing base and firm support, and the fixing base inlays between vertical support and second mirror seat through inside screw, and the lower surface of fixing base welds mutually with firm oblique frame, and the lower extreme of firm oblique frame is fixed mutually with the lower extreme of vertical support, makes the device more stable.
Further, the telescopic driving device is controlled by a switch, the arc-shaped guiding device is connected with the vertical support through a positioning bolt, and the arc-shaped guiding device can be detached and replaced according to application scenes.
The invention also provides a method for carrying out self-adaptive scanning by utilizing the portable multi-elevation detection radar optical device, which comprises the following steps:
step one, a laser transmitter transmits multi-point laser to a first reflecting mirror;
step two, the first reflecting mirror reflects the laser to the target;
step three, reflecting laser to a second reflecting mirror by the target object;
and step four, the laser receiver receives the reflected laser of the second reflecting mirror and performs photoelectric signal conversion and amplification processing.
Step five, the internal feedback element receives the related target information of the laser receiver, compares the signal amplitude of the target with a threshold 1, judges that the laser scanning rate is reduced if the signal amplitude is larger than the threshold 1, and judges that the original laser scanning rate is maintained if the signal amplitude is not larger than the threshold 1; and after the laser scanning rate is reduced, comparing the laser scanning rate with the threshold 2 again at intervals, if the laser scanning rate is smaller than the threshold 2, judging that the initial scanning rate is recovered, otherwise judging that the reduced scanning rate is maintained, and finally feeding back the judging result to the telescopic driving device to carry out self-adaptive adjustment of the laser scanning rate. Wherein the values of threshold 1 and threshold 2 may be set to different values depending on the surrounding environment of the target.
Compared with the prior art, the invention has the beneficial effects that:
1. the first reflecting mirror contained in the design of the invention can drive the first reflecting mirror to move through the telescopic device, so that the angle of the first reflecting mirror can be adjusted, when the angle of the first reflecting mirror is adjustable, the angle of reflected light can also be changed, namely, when the elevation angle of a target object is changed, the portable radar optical device can also conveniently detect, thereby realizing multi-elevation angle detection without a light control array technology and a servo device;
2. according to the invention, the discrimination result of the target information and the threshold is fed back to the telescopic driving device through the internal feedback element. When the target signal is judged, the feedback element reduces the laser scanning speed by controlling the telescopic device, and the scanning detection time of the laser is increased, so that the point cloud data volume of target detection is accumulated; when no target exists, the original scanning speed is restored, so that the laser resource is utilized more reasonably and accurately, and the purpose of self-adaptive scanning is achieved.
Drawings
FIG. 1 is a general block diagram of the present optical device;
FIG. 2 is a logic determination flow chart of the internal feedback control element.
In the figure: 1. a fixed base; 2. a laser receiver; 3. a target; 4. a second mirror; 41. a second lens base; 42. a positioning plate; 5. a laser emitter; 51. a first fixing ring; 6. an emission collimation optics group; 61. a second fixing ring; 7. an arc-shaped guide device; 8. positioning bolts; 9. a first mirror; 10. a vertical support; 11. a telescopic driving device; 12. a control button; 13. a fixing seat; 131. stabilizing the inclined frame; 14. a feedback element.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1, in the embodiment of the present invention, a portable multi-elevation detection radar optical device and an adaptive scanning method thereof mainly include a fixed base 1, a laser transmitter 5 disposed at the uppermost part of the device for transmitting multi-point laser light, a transmitting collimating optical lens set 6 disposed below the laser transmitter 5 for collimating laser light, a first reflecting mirror 9 disposed below the transmitting collimating optical lens set 6 and capable of invoking a first reflecting laser light in angle, a telescopic driving device 11 for adjusting the angle of the first reflecting mirror, a switch 12 for controlling the telescopic driving device, a feedback element 14 embedded in the fixed base, an arc-shaped guiding device 7 capable of controlling the angle variation range of the first reflecting mirror according to the actual detection scene, a second reflecting mirror 4 disposed below the first reflecting mirror 9 and vertically arranged for reflecting the laser light from a target, a laser receiver 2 disposed at the opposite side of the second reflecting mirror 4 and for receiving the laser light, and a fixed component for making each part of the device more stable: the second reflector seat 41, the locating plate 42, the first fixing ring 51, the second fixing ring 61, the fixing seat 13 and the fixing inclined frame 131.
As shown in fig. 2, in the embodiment of the present invention, the internal feedback element receives the target related information processed by the laser receiver, compares the signal amplitude with the threshold 1, and if the signal amplitude is greater than the threshold 1, determines that the driving speed of the driving device is reduced, so as to reduce the laser scanning speed, and if the signal amplitude is not greater than the threshold 1, determines that the initial driving speed is maintained, namely, the original laser scanning speed is maintained; and after the driving rate is reduced, comparing the driving rate with the threshold 2 again at intervals, if the driving rate is smaller than the threshold 2, judging that the initial driving rate is restored, namely, scanning is performed at the original laser scanning rate, otherwise, judging that the reduced scanning rate is maintained, and finally, feeding back a judging result to the telescopic driving device by the internal feedback element, so as to perform self-adaptive adjustment of the laser scanning rate. Wherein the values of threshold 1 and threshold 2 may be set to different values depending on the surrounding environment of the target. According to the method, when the target exists, the comparison and judgment result of the target information and the threshold value fed back by the feedback element is used for controlling the driving speed of the driving device so as to adjust the scanning speed of the laser, so that the scanning detection time when the target is detected is increased, namely, the point cloud data volume when the target detection is accumulated, the laser resource is reasonably and accurately distributed, and the purpose of self-adaptive scanning is achieved.
With reference to fig. 1 and 2, the principles of the present invention are as follows:
the laser transmitter emits multi-point laser, the light path is corrected by the emission collimation optical lens group, the light reaches the target object after being reflected by the first reflecting mirror, reaches the second reflecting mirror after being reflected by the target object, is received by the laser receiver after being reflected by the second reflecting mirror, converts the optical signal into an electric signal through the photoelectric conversion module, amplifies the signal through the signal amplification module, and then processes the subsequent related signal and data. When the target is detected, the angle of the first reflecting mirror can be changed by driving the telescopic device, so that the scanning angle of laser is changed when the target is detected, and the scanning of the target with multiple elevation angles is realized, wherein the angle driving range of the first reflecting mirror can be controlled by the arc-shaped guiding device, the telescopic driving device receives the logic judgment relation between the target fed back by the internal feedback element and the threshold, and the speed of laser scanning is adaptively adjusted, so that the scanning detection time of the target when the target exists is increased, namely the point cloud data volume when the target is detected is accumulated, and finally the adaptive scanning of the target with multiple elevation angles is realized.
Claims (4)
1. A portable multi-elevation detection radar optical device, characterized by: the device comprises a fixed base (1), a laser receiver (2), a second reflecting mirror (4), a second mirror seat (41), a positioning plate (42), a laser light source (5), a collimating optical mirror (6), a first fixed ring (51), a second fixed ring (61), an arc-shaped guiding device (7), a first reflecting mirror (9), a vertical support (10), a telescopic driving device (11) for controlling the angle of the first reflecting mirror and a feedback element (14) embedded in the fixed base (1); the optical device uses unable adjustment base (1) as the benchmark, the upper surface both sides of unable adjustment base (1) are provided with laser receiver (2) and vertical support (10) respectively, vertical support (10) are through fixed laser source (5) and collimation optical mirror (6) of first solid fixed ring (51) and second solid fixed ring (61), through second mirror seat (41) and locating plate (42) fixed connection second speculum (4), connect through the round pin hub between first speculum (9) and second speculum (4), telescopic drive arrangement (11) are connected to first speculum (9) lower extreme is used for driving its angle, realize many elevation angle scanning, wherein the angular drive scope of first speculum (9) is controlled through arc guider, feedback element (14) are with target information respectively with adjustable threshold 1 and threshold 2 comparison after distinguishing, feedback to telescopic drive arrangement (11) with the result, the self-adaptation adjusts laser scanning rate.
2. A portable multi-elevation detection radar optical device according to claim 1, wherein: the device further comprises a fixing base (13) and a stabilizing inclined frame (131), wherein the fixing base (13) is embedded between the vertical support (10) and the second mirror base (41) through an internal screw, the stabilizing inclined frame (131) is welded on the lower surface of the fixing base (13), and the lower end of the stabilizing inclined frame (131) is fixed with the lower end of the vertical support (10).
3. A portable multi-elevation detection radar optical device according to claim 1, wherein: the telescopic driving device (11) is controlled by a switch (12), the arc-shaped guiding device (7) is connected with the vertical support (10) through the positioning bolt (8), and the arc-shaped guiding device (7) can be detached and replaced according to application scenes.
4. A method of adaptive scanning using the portable multi-elevation detection radar optical device of claim 1, characterized by:
step one, a laser light source (5) emits multi-point laser to a first reflecting mirror (9);
step two, the first reflecting mirror (9) reflects laser to the target object (3);
step three, the target object (3) reflects laser to the second reflecting mirror (4);
step four, the laser receiver (2) receives the reflected laser of the second reflecting mirror (4) and performs photoelectric signal conversion and amplification treatment;
and fifthly, an internal feedback element (14) receives related target information of the laser receiver (2), compares and judges the signal amplitude of the target with the threshold 1 and the threshold 2 in sequence, and feeds back the judging result to the telescopic driving device (11) to enable the telescopic driving device (11) to adaptively adjust the laser scanning rate, wherein the values of the threshold 1 and the threshold 2 can be set to different values according to different surrounding environments of the target.
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| CN202011046561.7A CN112162258B (en) | 2020-09-29 | 2020-09-29 | Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof |
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| CN202011046561.7A CN112162258B (en) | 2020-09-29 | 2020-09-29 | Portable multi-elevation detection radar optical device and self-adaptive scanning method thereof |
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| CN113534100A (en) * | 2021-07-19 | 2021-10-22 | 宁波傲视智绘光电科技有限公司 | Scanning mirror assembly and laser radar |
| CN113900109B (en) * | 2021-12-09 | 2022-04-29 | 深圳市骏思凯奇科技发展有限公司 | Laser radar device with adjustable laser beam reflection angle |
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