CN202267743U - Swing apparatus of which laser radar shows three-dimensional scanning - Google Patents
Swing apparatus of which laser radar shows three-dimensional scanning Download PDFInfo
- Publication number
- CN202267743U CN202267743U CN 201120307686 CN201120307686U CN202267743U CN 202267743 U CN202267743 U CN 202267743U CN 201120307686 CN201120307686 CN 201120307686 CN 201120307686 U CN201120307686 U CN 201120307686U CN 202267743 U CN202267743 U CN 202267743U
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- swing
- radar
- oscillating deck
- laser radar
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Abstract
The utility model relates to a swing apparatus of which a laser radar shows a three-dimensional scanning, characterized by comprising a radar swing bracket and a vertical direction swing mechanism. The overall framework of the radar swing bracket is composed of a mounting supporting surface, a swing plate and swing brackets at the two sides of the mounting supporting surface and the swing plate, the swing plate is equipped with connection ears, one ends of the swing brackets are fixedly connected with the side wall of the mounting supporting surface, and the other ends are in shaft connections with the swing plate via the connecting ears and a supporting shaft; a reset spring is hooked between the swing plate and the mounting supporting surface, and the inner side surface of the mounting supporting surface is fixedly connected with the vertical direction swing mechanism. The beneficial effects of the utility model are that by adding the radar swing bracket on an original radar mounting surface, arranging a radar on the swing surface of the radar swing bracket, and using a cam to drive to do vertical direction swing, the nodding type vertical swing of a SICK radar is realized, and a two-dimensional laser radar is transformed into a three-dimensional scanning laser radar.
Description
Technical field
The utility model belongs to the laser radar stadimeter, relates in particular to the pendulous device that a kind of laser radar is 3-D scanning.
Background technology
Laser radar through the rotation minute surface with pulse laser all directions emission and receive reflection ray in the plane by LMS, through timer calculate reflection and receive between time difference measurements go out the distance of barrier to radar.As shown in Figure 3, the LMS291 type laser radar of German SICK company can be realized 180 ° of flat scannings of two dimension, surveys the barrier of 80m farthest.This type radar application is used for barrier or other vehicle in detection vehicle the place ahead in intelligent vehicle, thereby the realization intelligent vehicle is evaded barrier or other vehicle, kept safe space between motorcars etc.The SICK-LMS291 radar is pressed the certain frequency emission of lasering beam on the plane in 180 °, folded light beam when running into barrier, and receive by LMS, thus obtain the information of one or more points of the barrier in the plane of scanning motion.Utilize this information can obtain the distance (degree of depth) and the width information of barrier, but do not know elevation information; In addition, if barrier not in the plane of scanning motion, then can't detect barrier.This radar application on intelligent vehicle, can only be obtained the distance (degree of depth) and the width information of the barrier on the plane of scanning motion, and can't obtain any information on short transverse, accurately the cognitive disorders thing.Demand urgently in the industry developing and a kind ofly can change SICK radar application limit on intelligent vehicle, the two-dimensional laser radar is changed into the laser radar of 3-D scanning.
The utility model content
The utility model is in order to overcome deficiency of the prior art, and the pendulous device that provides a kind of laser radar to be 3-D scanning can change SICK radar application limit on intelligent vehicle, the two-dimensional laser radar is changed into the laser radar of 3-D scanning; In distance that obtains the barrier on the plane of scanning motion on the intelligent vehicle (degree of depth) and width information, the information on the short transverse of getting back simultaneously.
The utility model is for realizing above-mentioned purpose; Realize that through following technical scheme a kind of laser radar is the pendulous device of 3-D scanning, it is characterized in that: comprise radar swinging mounting and vertical direction tilting mechanism; Said radar swinging mounting constitutes general frame by the swinging mounting of mounting support face, oscillating deck and mounting support face and oscillating deck both sides; Said oscillating deck is provided with engaging lug, and said swinging mounting one end and mounting support face sidewall are affixed, and the swinging mounting other end is coupling through engaging lug and bolster and oscillating deck; Be mounted with back-moving spring between said oscillating deck and the mounting support face, said mounting support face medial surface is connected with the vertical direction tilting mechanism.
Said vertical direction tilting mechanism comprises direct current generator, cam and fixed mount; The affixed fixed mount of said mounting support face medial surface; Affixed direct current generator on the said fixed mount; The output shaft keyed jointing cam of said direct current generator, said cam circle side face touches with the boss plate that is fixed on the oscillating deck medial surface.
The axis of said bolster is positioned on the physical centre plane of radar laser beam emission.
The pendulum angle of said oscillating deck is 25 °; Tilt angle is 10 °; The nutation angle is 15 °, swung for equal speed by the swing of 15 ° of positions of nutation to the 10 ° of positions of facing upward, the 15 ° of positions of 10 ° of position to nutations of facing upward, and process time is t=120 °/360 ° * T (T is the cam rotation cycle); Be t in 15 ° of positions of nutation idle hours with 10 ° of positions swing of facing upward
s=60 °/360 ° * T.
Said oscillating deck is provided with angular transducer.
Beneficial effect: on former radar installed surface, increase a radar swinging mounting; Radar is installed on the plane of oscillation; Plane of oscillation is done the vertical direction swing around its bolster under the cam that is driven by direct current generator drives; Thereby realize the some hair style vertical oscillation of SICK radar, can change SICK radar application limit on intelligent vehicle, the two-dimensional laser radar is changed into the laser radar of 3-D scanning; In distance that obtains the barrier on the plane of scanning motion on the intelligent vehicle (degree of depth) and width information, the information on the short transverse of getting back simultaneously.
Description of drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the rear view of Fig. 1;
Fig. 3 bolster axis is positioned at the synoptic diagram of laser beam transmit physical central plane;
Fig. 4, Fig. 5 are radar vertical oscillation position views.
Among the figure: 1, mounting support face 2, oscillating deck 3, swinging mounting 4, engaging lug 5, bolster 6, back-moving spring 7, direct current generator 8, cam 9, fixed mount 10, boss plate 11, angular transducer 12, radar.
Embodiment
Below in conjunction with preferred embodiment; Details are as follows to the embodiment that provides according to the utility model: see accompanying drawing for details; A kind of laser radar is the pendulous device of 3-D scanning; Comprise radar swinging mounting and vertical direction tilting mechanism, said radar swinging mounting constitutes general frame by the swinging mounting 3 of mounting support face 1, oscillating deck 2 and mounting support face and oscillating deck both sides, and said oscillating deck is provided with engaging lug 4; Said swinging mounting one end and mounting support face sidewall are affixed; The swinging mounting other end is coupling with oscillating deck through engaging lug and bolster 5, is mounted with back-moving spring 6 between said oscillating deck and the mounting support face, and said mounting support face medial surface is connected with the vertical direction tilting mechanism.Said vertical direction tilting mechanism comprises direct current generator 7, cam 8 and fixed mount 9; The affixed fixed mount of said mounting support face medial surface; Affixed direct current generator on the said fixed mount; The output shaft keyed jointing cam of said direct current generator, said cam circle side face touches with the boss plate 10 that is fixed on the oscillating deck medial surface.The axis of said bolster is positioned on the physical centre plane of radar laser beam emission, and it is consistent to have guaranteed that mechanical pendulum angle and laser beam swing up and down angle, minimizing three-dimensional imaging complexity of calculation.The pendulum angle of said oscillating deck is 25 °; Tilt angle is 10 °; The nutation angle is 15 °; The nutation angle is 15 °, swung for equal speed by the swing of 15 ° of positions of nutation to the 10 ° of positions of facing upward, the 15 ° of positions of 10 ° of position to nutations of facing upward, and process time is t=120 °/360 ° * T (T is the cam rotation cycle); Be t in 15 ° of positions of nutation idle hours with 10 ° of positions swing of facing upward
s=60 °/360 ° * T.Said oscillating deck is provided with angular transducer 11.Through design to cam outline curve, guarantee plane of oscillation at the uniform velocity swing in 25 ° of scopes, utilize angular transducer can accurately obtain the pendulum angle in a certain moment.
Principle of work: radar arrangement is not done any change, just make the mounting plane of radar do corresponding oscillating motion.SICK radar 12 is installed on the oscillating deck; Plane of oscillation is done the vertical direction swing around its bolster under the cam that is driven by direct current generator drives; Make radar integral body do the swing of nodding up and down of certain angle in vertical direction, the change two-dimensional radar is three-dimensional radar, realizes stereoscanning; Obtain the steric information of barrier, thus accurate cognitive disorders thing.
The above only is the preferred embodiment of the utility model, is not the structure of the utility model is done any pro forma restriction.Every technical spirit according to the utility model is to any simple modification, equivalent variations and modification that above embodiment did, all still belongs in the scope of technical scheme of the utility model.
Claims (5)
1. a laser radar is the pendulous device of 3-D scanning; It is characterized in that: comprise radar swinging mounting and vertical direction tilting mechanism; Said radar swinging mounting constitutes general frame by the swinging mounting of mounting support face, oscillating deck and mounting support face and oscillating deck both sides; Said oscillating deck is provided with engaging lug, and said swinging mounting one end and mounting support face sidewall are affixed, and the swinging mounting other end is coupling through engaging lug and bolster and oscillating deck; Be mounted with back-moving spring between said oscillating deck and the mounting support face, said mounting support face medial surface is connected with the vertical direction tilting mechanism.
2. laser radar according to claim 1 is the pendulous device of 3-D scanning; It is characterized in that: said vertical direction tilting mechanism comprises direct current generator, cam and fixed mount; The affixed fixed mount of said mounting support face medial surface; Affixed direct current generator on the said fixed mount, the output shaft keyed jointing cam of said direct current generator, said cam circle side face touches with the boss plate that is fixed on the oscillating deck medial surface.
3. laser radar according to claim 1 and 2 is the pendulous device of 3-D scanning, it is characterized in that: the axis of said bolster is positioned on the physical centre plane of radar laser beam emission.
4. laser radar according to claim 1 and 2 is the pendulous device of 3-D scanning; It is characterized in that: the pendulum angle of said oscillating deck is 25 °; Tilt angle is 10 °; The nutation angle is 15 °, swung for equal speed by the swing of 15 ° of positions of nutation to the 10 ° of positions of facing upward, the 15 ° of positions of 10 ° of position to nutations of facing upward, and process time is t=120 °/360 ° * T; Be t in 15 ° of positions of nutation idle hours with 10 ° of positions swing of facing upward
s=60 °/360 ° * T.
5. laser radar according to claim 1 is the pendulous device of 3-D scanning, it is characterized in that: said oscillating deck is provided with angular transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120307686 CN202267743U (en) | 2011-08-23 | 2011-08-23 | Swing apparatus of which laser radar shows three-dimensional scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120307686 CN202267743U (en) | 2011-08-23 | 2011-08-23 | Swing apparatus of which laser radar shows three-dimensional scanning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202267743U true CN202267743U (en) | 2012-06-06 |
Family
ID=46158532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120307686 Withdrawn - After Issue CN202267743U (en) | 2011-08-23 | 2011-08-23 | Swing apparatus of which laser radar shows three-dimensional scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202267743U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393516A (en) * | 2011-08-23 | 2012-03-28 | 中国人民解放军军事交通学院 | Swinging device with three-dimensional scanning laser radar |
| CN106054377A (en) * | 2016-08-05 | 2016-10-26 | 北京国承万通信息科技有限公司 | Light beam scanning mechanism, light beam scanning device and positioning system |
| CN108776344A (en) * | 2018-05-03 | 2018-11-09 | 南京理工大学 | A kind of low cost can slant laser radar |
| CN116772729A (en) * | 2023-08-22 | 2023-09-19 | 中铁二十三局集团第一工程有限公司 | Method for detecting appearance size of bridge prefabricated part based on laser radar |
-
2011
- 2011-08-23 CN CN 201120307686 patent/CN202267743U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102393516A (en) * | 2011-08-23 | 2012-03-28 | 中国人民解放军军事交通学院 | Swinging device with three-dimensional scanning laser radar |
| CN102393516B (en) * | 2011-08-23 | 2013-05-29 | 中国人民解放军军事交通学院 | Swinging device with three-dimensional scanning laser radar |
| CN106054377A (en) * | 2016-08-05 | 2016-10-26 | 北京国承万通信息科技有限公司 | Light beam scanning mechanism, light beam scanning device and positioning system |
| CN106054377B (en) * | 2016-08-05 | 2020-02-21 | 北京国承万通信息科技有限公司 | Light beam scanning mechanism, light beam scanning device and positioning system |
| CN108776344A (en) * | 2018-05-03 | 2018-11-09 | 南京理工大学 | A kind of low cost can slant laser radar |
| CN116772729A (en) * | 2023-08-22 | 2023-09-19 | 中铁二十三局集团第一工程有限公司 | Method for detecting appearance size of bridge prefabricated part based on laser radar |
| CN116772729B (en) * | 2023-08-22 | 2024-01-09 | 中铁二十三局集团第一工程有限公司 | Method for detecting appearance size of bridge prefabricated part based on laser radar |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120606 Effective date of abandoning: 20130529 |
|
| RGAV | Abandon patent right to avoid regrant |