CN204679638U - A kind of laser range sensor of variable sweep resolution - Google Patents
A kind of laser range sensor of variable sweep resolution Download PDFInfo
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- CN204679638U CN204679638U CN201520435731.9U CN201520435731U CN204679638U CN 204679638 U CN204679638 U CN 204679638U CN 201520435731 U CN201520435731 U CN 201520435731U CN 204679638 U CN204679638 U CN 204679638U
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Abstract
The utility model patent discloses a kind of laser range sensor of variable sweep resolution.This laser range sensor is transmitter module and scan control module crucially.Wherein, scan control module is made up of 45 ° of minute surfaces, photoelectric encoder and drive motor.This laser range sensor drives 45 ° of minute surfaces to rotate formation scanning plane by the rotation of drive motor.By photoelectric encoder to transmitter module feedback present scanning position angle information, the glow frequency that transmitter module presets according to corresponding angle region is luminous.By adopting different glow frequency luminous in different angles region, variable resolution scanning within the scope of feasible region, to solve road surface borderline region when vehicle cab recognition and length, width and height are measured or the very few problem of special area number of scan points, thus improve vehicle cab recognition and length, width and height measuring accuracy.
Description
Technical field
The utility model relates to intelligent transportation field.Be specifically related to a kind of laser range sensor of variable sweep resolution, can be used for vehicle cab recognition and length, width and height measurement.
Background technology
Generally speaking, scanning type laser distance measuring sensor all realizes range finding based on TOF (flight time) theory.Because its sweep frequency is fast, measuring accuracy is high, and the feature such as inside even from weather is little, scanning type laser distance measuring sensor is just being widely used in transportation industry traffic flow investigation, vehicle cab recognition and length, width and height and is detecting early warning.
At present, conventional laser range finder based on synchronized scanner (the visible application number of Typical Representative: the patent file of 201280055639.9, matured product has German sick scanned laser) all adopts region-wide interior same resolution angularly to scan.Sometimes need to be deployed in width of roadway in actual applications comparatively under large scene, as shown in Figure 2, it is very few that same resolution angularly scans counting that track, edge, road one or both sides vehicle body just can be caused to be scanned, when causing data analysis, local detailed information is very few, thus the precision that extreme influence vehicle cab recognition and length, width and height are measured.
Therefore, need a kind of laser range sensor of variable sweep resolution badly, solve the problem that in track, edge or special area, vehicle body analyzing spot is very few.
Utility model content
The purpose of this utility model is to provide a kind of laser range sensor of variable sweep resolution, the scanning of arbitrarily angled variable resolution can be realized, for solving the problem that in wide-angle lower limb track or special area, vehicle body number of scan points is very few, realize laser range sensor interior change scanning resolution at the regional level, increase vehicle body number of scan points.
In order to achieve the above object, the utility model provides following technical scheme: a kind of laser range sensor of variable sweep resolution comprises laser emitting module, scan control module, receiver module, timing module and data processing module.
Preferably, described scan control module, transmitter module and receiver module three coaxially install, and are receiver module, transmitter module and scan control module successively.
Described scan control module, is characterized in that, comprises 45 ° of minute surfaces, drive motor and photoelectric encoders, and 45 ° of minute surfaces are connected with drive motor front end, drive motor tail end and photoelectric encoder direct-connected, three coaxially installs.
Described scan control module, it is characterized in that, drive motor rotates with constant speed, drives 45 ° of minute surfaces to rotate formation plane of scanning motion around coaxial cable.
Described scan control module, is characterized in that, what photoelectric encoder was real-time feeds back present scanning position angle information to transmitter module.
Described transmitter module, is characterized in that, according to the scanning position angle θ of photoelectric encoder feedback, adopts different glow frequencies luminous in different scanning interval.
Preferably, transmitter module is 1-5 times of 0-150 ° of scanning area glow frequency at 150-180 ° of scanning area glow frequency.
Particularly, the drive motor in scan control module rotates, and drive 45 ° of minute surfaces to be in θ Angle Position, present scanning position angle θ is fed back to transmitter module by the photoelectric encoder in scan control module.Transmitter module is according to current angular θ, and select the glow frequency Emission Lasers pulse in pre-set correspondence interval, timing module record is x time time t1 now.Laser pulse is got on testee through 45 ° of mirror-reflections, echoed signal after testee surface reflection enters receiver module through 45 ° of mirror-reflections again, now timing module records time time of reception t2, then under data processing module calculates Current Scan angle the range finding distance L of θ.
Data processing module is with time theory of flight for according to calculating range finding distance L, and for when not having echoed signal (10), do to play flying spot process, distance of finding range is 0, then have:
Described scanning resolution computing method are, assuming that drive motor rotating speed is 50 hertz, scanning angle scope is 0-180 degree, transmitter module glow frequency is 36K hertz, then motor often rotates a circle and scans 360 points, and every 1 ° scans 2 points, realizes 0.5 ° of resolution scan.
In examples of implementation, drive motor rotating speed is 50 hertz, and scanning angle scope 0-150 degree transmitter module glow frequency is 36K hertz, realizes 0.5 ° of resolution scan.Scanning angle scope 150-180 degree transmitter module glow frequency is 72K hertz, realizes 0.25 ° of resolution scan.
The utility model beneficial effect is as follows:
Conventional region-wide same resolution scan is different from owing to adopting, under wide-angle can being applicable to flexibly, different scanning angular range adopts different resolution scanning, gets special area or the abundant vehicle body dot information of borderline region, improves length, width and height and measures and vehicle cab recognition precision.
It is very few that the utility model well solves vehicle body number of scan points in wide-angle lower limb track or special area, causes vehicle cab recognition precision and the low problem of length, width and height measuring accuracy.Need for application-specific scene and measurement, the scanning resolution of arbitrarily angled scope can be changed flexibly
improve measuring accuracy.
Accompanying drawing explanation
Fig. 1 becomes scanning resolution laser range sensor composition schematic diagram
Fig. 2 routine angularly scans application schematic diagram
Fig. 3 becomes scanning resolution laser instrument for width measure schematic diagram
Fig. 4 becomes scanning resolution laser instrument for linear measure longimetry schematic diagram
Embodiment
By reference to the accompanying drawings the utility model is described in further detail below by embodiment.It should be noted that at this, the explanation for these embodiments understands the utility model for helping, but does not form restriction of the present utility model.In addition, if below in described each embodiment of the utility model involved technical characteristic do not form conflict each other and just can mutually combine.
Example 1
As shown in Figure 3, the change scanning resolution laser range sensor provided by the utility model is installed on the left of the high portal frame of 7400mm, vertical vehicle heading scanning.Drive motor rotating speed is 50 hertz, and scanning angle scope is 0-180 degree.Pre-set angular range [0120] degree in transmitter module glow frequency be 36K hertz, angular range (120150] spend in transmitter module glow frequency be 72K hertz.Now (120150] spend interval with resolution
scanning, often degree can scan 2 points, (120150] spend interval with resolution
scanning, often degree can scan 4 points.
When vehicle near laser instrument angular range (60120] degree in drive through time, use resolution
scanning can capture the abundant analyzing spot of vehicle body.Meanwhile, away from laser instrument angular range (120150] degree in drive through time, use resolution
scanning also can capture the abundant analyzing spot of vehicle body, provides more detailed vehicle body information, well solves track, edge or the very few problem of special area vehicle body number of scan points, greatly improves width measure precision.
Example 2
As shown in Figure 4, the change scanning resolution laser range sensor provided by the utility model is installed on the high L-type frame of high 6500mm, scans along vehicle heading.Drive motor rotating speed is 50 hertz, and scanning angle scope is 0-180 degree.Pre-set angular range [0120] degree in transmitter module glow frequency be 36K hertz, angular range (120150] spend in transmitter module glow frequency be 100K hertz.Now (120150] spend interval with resolution
scanning, (120150] spend interval with resolution
scanning.
When vehicle from the laser instrument that the utility model provides by time, be in resolution near the tail of the body of laser instrument
scanning area, can capture abundant point.Vehicle body head away from laser instrument is in resolution
scanning area, can capture abundant point equally, provides surface sweeping vehicle body information abundant from headstock to parking stall, well solves headstock or the very few problem of parking stall number of scan points, substantially increases vehicle commander's measuring accuracy.
Claims (5)
1. a laser range sensor for variable sweep resolution, comprises transmitter module, receiver module, timing module, scan control module and data processing module, it is characterized in that:
Described transmitter module, the angle information according to the present scanning position of scan control module feedback adopts the pulse of respective frequencies Emission Lasers in respective angles;
Described scan control module, is made up of 45 ° of minute surfaces, drive motor and photoelectric encoders, for feeding back the angle information of present scanning position.
2. the laser range sensor of a kind of variable sweep resolution as claimed in claim 1, is characterized in that, described 45 ° of minute surfaces are connected with drive motor front end, drive motor tail end and photoelectric encoder direct-connected, three coaxially installs.
3. the laser range sensor of a kind of variable sweep resolution as claimed in claim 1, it is characterized in that, described drive motor rotates with constant speed, drives 45 ° of minute surfaces to be rotated in space around coaxial cable and forms a scanning plane.
4. the laser range sensor of a kind of variable sweep resolution as claimed in claim 1, is characterized in that, described photoelectric encoder is to the angle information of transmitter module feedback present scanning position.
5. the laser range sensor of a kind of variable sweep resolution as claimed in claim 1, is characterized in that, described transmitter module, according to the scanning position angle information of photoelectric encoder feedback, adopts different glow frequencies luminous in different scanning interval.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520435731.9U CN204679638U (en) | 2015-06-24 | 2015-06-24 | A kind of laser range sensor of variable sweep resolution |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520435731.9U CN204679638U (en) | 2015-06-24 | 2015-06-24 | A kind of laser range sensor of variable sweep resolution |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575133A (en) * | 2015-12-24 | 2016-05-11 | 北京万集科技股份有限公司 | Driving vehicle detection method, apparatus, and system |
| CN107016353A (en) * | 2017-03-13 | 2017-08-04 | 北京理工大学 | A kind of method and system of variable resolution target detection and identification integration |
| CN107300370A (en) * | 2016-04-15 | 2017-10-27 | 科沃斯机器人股份有限公司 | The measurement method of adjustment of ranging scan sensor |
| WO2018218538A1 (en) * | 2017-05-31 | 2018-12-06 | 深圳市大疆创新科技有限公司 | Laser radar scanning control method, apparatus and device |
| CN109444855A (en) * | 2018-12-29 | 2019-03-08 | 森思泰克河北科技有限公司 | Laser radar and its scan method |
| CN109959939A (en) * | 2017-12-22 | 2019-07-02 | 北京万集科技股份有限公司 | Method for tracing object and device based on laser scanning |
| CN110140064A (en) * | 2016-11-30 | 2019-08-16 | 布莱克莫尔传感器和分析公司 | The method and system of automatic real-time adaptive scanning is carried out using optical ranging system |
| CN111257898A (en) * | 2018-11-30 | 2020-06-09 | 株式会社小糸制作所 | Distance measuring sensor, vehicle lamp and distance measuring method |
| CN111566510A (en) * | 2018-12-05 | 2020-08-21 | 深圳市大疆创新科技有限公司 | Distance measuring device, balancing method of scanning view field of distance measuring device and mobile platform |
| CN112567202A (en) * | 2018-08-02 | 2021-03-26 | 蛛巢株式会社 | Three-dimensional laser scanning device |
| CN112616318A (en) * | 2020-01-03 | 2021-04-06 | 深圳市速腾聚创科技有限公司 | Laser radar and autopilot device |
| CN113551590A (en) * | 2021-06-02 | 2021-10-26 | 广州南方卫星导航仪器有限公司 | Motor rotation angle measuring device and method, storage medium and motor |
-
2015
- 2015-06-24 CN CN201520435731.9U patent/CN204679638U/en active Active
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105575133B (en) * | 2015-12-24 | 2018-07-31 | 北京万集科技股份有限公司 | A kind of moving vehicle detection method, apparatus and system |
| CN105575133A (en) * | 2015-12-24 | 2016-05-11 | 北京万集科技股份有限公司 | Driving vehicle detection method, apparatus, and system |
| CN107300370A (en) * | 2016-04-15 | 2017-10-27 | 科沃斯机器人股份有限公司 | The measurement method of adjustment of ranging scan sensor |
| CN107300370B (en) * | 2016-04-15 | 2020-06-26 | 科沃斯机器人股份有限公司 | Measuring and adjusting method of distance measuring scanning sensor |
| CN110140064B (en) * | 2016-11-30 | 2023-07-18 | 布莱克莫尔传感器和分析有限责任公司 | Method and system for automatic real-time adaptive scanning by utilizing optical ranging system |
| CN110140064A (en) * | 2016-11-30 | 2019-08-16 | 布莱克莫尔传感器和分析公司 | The method and system of automatic real-time adaptive scanning is carried out using optical ranging system |
| CN107016353B (en) * | 2017-03-13 | 2019-08-23 | 北京理工大学 | A kind of integrated method and system of variable resolution target detection and identification |
| CN107016353A (en) * | 2017-03-13 | 2017-08-04 | 北京理工大学 | A kind of method and system of variable resolution target detection and identification integration |
| WO2018218538A1 (en) * | 2017-05-31 | 2018-12-06 | 深圳市大疆创新科技有限公司 | Laser radar scanning control method, apparatus and device |
| CN109959939A (en) * | 2017-12-22 | 2019-07-02 | 北京万集科技股份有限公司 | Method for tracing object and device based on laser scanning |
| CN109959939B (en) * | 2017-12-22 | 2021-04-06 | 北京万集科技股份有限公司 | Object tracking method and device based on laser scanning |
| CN112567202A (en) * | 2018-08-02 | 2021-03-26 | 蛛巢株式会社 | Three-dimensional laser scanning device |
| CN111257898A (en) * | 2018-11-30 | 2020-06-09 | 株式会社小糸制作所 | Distance measuring sensor, vehicle lamp and distance measuring method |
| CN111566510A (en) * | 2018-12-05 | 2020-08-21 | 深圳市大疆创新科技有限公司 | Distance measuring device, balancing method of scanning view field of distance measuring device and mobile platform |
| CN109444855A (en) * | 2018-12-29 | 2019-03-08 | 森思泰克河北科技有限公司 | Laser radar and its scan method |
| CN112616318A (en) * | 2020-01-03 | 2021-04-06 | 深圳市速腾聚创科技有限公司 | Laser radar and autopilot device |
| CN113551590A (en) * | 2021-06-02 | 2021-10-26 | 广州南方卫星导航仪器有限公司 | Motor rotation angle measuring device and method, storage medium and motor |
| CN113551590B (en) * | 2021-06-02 | 2024-04-09 | 广州南方卫星导航仪器有限公司 | Motor rotation angle measuring device and method, storage medium and motor |
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