CN205091463U - Laser radar scans detecting device - Google Patents

Abstract

The utility model is suitable for a laser radar field provides a laser radar scans detecting device, and the device includes: signal processing unit, motor rotary platform, laser instrument and image sensing unit, laser instrument and image sensing unit are fixed in on the motor rotary platform to being in the coplanar and keeping fixed distance, the transmit direction and the plane of laser instrument have fixed contained angle, and the image sensing unit includes a horizon sensor photosensitive sheets, signal processing unit passes through triangle distance measuring principle according to the focus of imaging position, fixed distance, fixed contained angle and image sensing unit and calculates to correspond and survey the distance of being surveyed the object in the position to the azimuth information of being surveyed the distance of object and corresponding according to generating at rotatory in -process generates laser radar scanning communication chart. The utility model discloses can satisfy that all -round scanning is surveyed and detection precision in the short distance can reach the millimeter level based on the laser radar of triangle range finding, and power requirement is lower to the laser instrument, and the system is small, and the cost is lower.

Description

A kind of Laser Radar Scanning sniffer

Technical field

The utility model belongs to laser radar field, particularly relates to a kind of Laser Radar Scanning sniffer.

Background technology

Laser radar due to its can the distance and bearing information of measurement target position accurately, be more and more applied to the every aspect of national defense industry and Intelligent life.

The detection method that laser radar is commonly used at present has pulse detection and phase detection, wherein pulse detection method after target reflection, carries out Signal reception by launching beam of laser by APD, the distance of target is calculated according to the mistiming between transmitting and receiving, the method is generally applied in operating distance target far away, and the power requirement for laser instrument is higher and need the APD detection array of high cost.Method based on phase detection is mated by signal madulation, the range information of measured target is calculated according to phase delay, the method detection accuracy is higher, but be faced with complicated system debug and cost is higher, be suitable for the measurement to exact instrument, the requirement to target data high speed acquisition cannot be met simultaneously.

Utility model content

The object of the utility model embodiment is to provide a kind of Laser Radar Scanning sniffer, is intended to solve the power requirement of existing Laser Radar Scanning to laser instrument high, and the problem that picking rate is slow, cost is high.

The utility model embodiment is achieved in that a kind of Laser Radar Scanning sniffer, and described device comprises:

Record the signal processing unit of azimuth information corresponding to each Emission Lasers bundle scanning probe;

Under described signal processing unit controls from initial orientation the horizontal uniform rotation motor rotation platform of a week;

The laser instrument of laser beam flying detection objects in front is launched under described signal processing unit controls;

Receive the laser beam being detected reflections off objects, and determine the image sensing cell of the image space of laser beam on sensor photosensitive sheet (X) reflected;

Described laser instrument and described image sensing cell are fixed on described motor rotation platform, described laser instrument and described image sensing cell are in same plane and keep fixed range (s), the transmit direction of described laser instrument and described plane have fixed angle (β), described image sensing cell comprises described sensor photosensitive sheet, described sensor photosensitive sheet horizontal positioned, described laser instrument, described image sensing cell, described motor rotation platform all have electrical connection with described signal processing unit;

Described signal processing unit extracts described image space (X), and calculated according to the focal length (f) of described image space (X), fixed range (s), fixed angle (β) and described image sensing cell the distance (d) corresponding directional bearing being detected object by range of triangle principle, and according to one or more distance (d) and the corresponding azimuth information generation Laser Radar Scanning hum patterns being detected object generated in rotary course.

Further, described laser instrument is the red laser of red-emitting laser beam, and described image sensing cell is high speed linear array cmos image sensor;

Described image sensing cell also comprises:

When reception is detected the laser beam of reflections off objects, the ruddiness narrow band pass filter of the interference of filtering external light source and natural light;

The filtering circuit of the noise signal that further filtering sensor photosensitive sheet receives.

Further, described image sensing cell also comprises one by perception laser beam reflection to the pixel on described sensor photosensitive sheet, and the image space determination module of the image space (X) of object on described sensor photosensitive sheet is determined to be detected in the position that the voltage signal corresponding according to described pixel accounts for whole clock input signal.

Further, described range of triangle principle calculates distance (d) formula corresponding directional bearing being detected object and is:

$d=\frac{f\·s}{x\·sin\left(\mathrm{\β}\right)};$

Wherein, d is detected the distance between object and described laser instrument, f is the focal length of described image sensing cell, s is the fixed range between described laser instrument and described image sensing cell, X is detected the image space of object on described sensor photosensitive sheet, and β is that the transmit direction of described laser instrument and described plane have fixed angle.

Further, described initial orientation is arranged an optoelectronic switch, described signal processing unit is by described optoelectronic switch record initial orientation information and each Emission Lasers bundle scanning probe is corresponding afterwards azimuth information.

The utility model embodiment can meet 360 degree of azimuth scans detections based on the laser radar of range of triangle and detection accuracy in short distance can reach grade, meet the intensive detection of target data high speed under high sweep frequency simultaneously, utilize principle of triangulation and linear array cmos sensor acknowledge(ment) signal, require lower to laser power, and system bulk is little, cost is lower.

Accompanying drawing explanation

The external structure of the Laser Radar Scanning sniffer that Fig. 1 a provides for the utility model embodiment;

The cut-away view of the Laser Radar Scanning sniffer that Fig. 1 b provides for the utility model embodiment;

Fig. 2 provides the signal timing diagram of image sensing cell for the utility model embodiment;

The range of triangle principle schematic of the Laser Radar Scanning detection method that Fig. 3 provides for the utility model embodiment;

The structural drawing of image sensing cell in the Laser Radar Scanning sniffer that Fig. 4 provides for the utility model embodiment.

Embodiment

In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the 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.

The utility model embodiment can meet 360 degree of azimuth scans detections based on the laser radar of range of triangle and detection accuracy in short distance can reach grade, meet the intensive detection of target data high speed under high sweep frequency simultaneously, utilize principle of triangulation and linear array cmos sensor acknowledge(ment) signal, require lower to laser power, and system bulk is little, cost is lower.

Fig. 1 a and Fig. 1 b respectively illustrates external structure and the inner structure of the Laser Radar Scanning sniffer that the utility model embodiment provides, and for convenience of explanation, illustrate only the part relevant to the utility model embodiment.

In the instant location that this Laser Radar Scanning sniffer may be used for intelligent robot and map structuring system, comprising:

Laser instrument 1, for launching laser beam flying detection objects in front under the control of signal processing unit 4;

Image sensing cell 2, comprises a sensor photosensitive sheet 21, for receiving the laser beam being detected reflections off objects, and determines the image space of laser beam on sensor photosensitive sheet 21 (X) of reflection;

Motor rotation platform 3, for horizontal uniform rotation one week from initial orientation under the control of signal processing unit 4;

Laser instrument 1 and image sensing cell 2 are fixed on motor rotation platform 3, laser instrument 1 and image sensing cell 2 are in same plane and keep fixed range (s), the transmit direction of laser instrument 1 and above-mentioned plane have fixed angle (β), sensor photosensitive sheet 21 horizontal positioned;

Signal processing unit 4, for recording azimuth information corresponding to each Emission Lasers bundle scanning probe, be extracted into image position (X), and calculated according to the focal length (f) of image space (X), fixed range (s), fixed angle (β) and image sensing cell the distance (d) corresponding directional bearing being detected object by range of triangle principle, and according to one or more distance (d) and the corresponding azimuth information generation Laser Radar Scanning hum patterns being detected object generated in rotary course;

Laser instrument 1, image sensing cell 2, motor rotation platform 3 all have electrical connection with signal processing unit 4.

As the utility model one embodiment, laser instrument 1 can adopt red laser red-emitting laser beam, and image sensing cell 2 can adopt high speed linear array CCD imageing sensor to realize.

As the utility model one embodiment, see Fig. 4, image sensing cell 2 comprises:

Sensor photosensitive sheet 21, for receiving the laser beam being detected reflections off objects;

Ruddiness narrow band pass filter 22, for when reception is detected the laser beam of reflections off objects, the interference of filtering external light source and natural light, ruddiness narrow band pass filter 22 is positioned at the front of sensor photosensitive sheet 21.

Filtering circuit 23, the noise signal received on further filtering sensor photosensitive sheet;

Image space determination module 24, for passing through perception laser beam reflection to the pixel on sensor photosensitive sheet, and the position that the voltage signal corresponding according to pixel accounts for whole clock input signal is determined to be detected the image space of object on sensor photosensitive sheet (X);

Sensor photosensitive sheet 21, ruddiness narrow band pass filter 22, filtering circuit 23 all have electrical connection with image space determination module 24.

As the another embodiment of the utility model, can an optoelectronic switch be set in initial orientation, makes signal processing unit by optoelectronic switch record initial orientation information and each Emission Lasers bundle scanning probe is corresponding afterwards azimuth information.

This azimuth information refers in rotary course, when often sending a detecting light beam, records the orientation that now laser instrument is corresponding.What send first detecting light beam corresponding record is initial orientation, send second detecting light beam corresponding record, second orientation, system rotates Uniform Scanning, rotates a circle and probably have 400 sensing points, so needs to record azimuth information corresponding to n sensing point.

In the utility model embodiment, laser instrument 1 and image sensing cell 2 are fixed on motor rotation platform, and sensor photosensitive sheet 21 is adjusted to horizontal level, system electrification starts, and signal processing unit 4 controls motor rotation platform 3 and starts smooth rotation, and motor rotation platform 3 is from the initial orientation arranging optoelectronic switch, signal processing unit 4 records the position of this initial orientation θ=0, meanwhile, red laser 1 red-emitting laser beam, detects this orientation objects in front.

Red laser Shu Jing is detected after reflections off objects is returned and is captured by sensitive high speed linear array CCD imageing sensor 2, high speed linear array CCD imageing sensor 2 perception laser beam reflection is to the pixel on sensor photosensitive sheet, and the position that the voltage signal corresponding according to pixel accounts for whole clock input signal is determined to be detected the image space of object on sensor photosensitive sheet (X), as shown in Figure 2, and this image space (X) is passed to signal processing unit 4.

In the utility model embodiment, this high speed linear array CCD imageing sensor and signal processing unit 4 are with the use of realizing entire system rotation sweep demand, its sweep frequency can reach 10Hz, and run-down can gather 500 pixels, namely per second carry out 5000 times measure.

Then, the distance corresponding directional bearing being detected object is calculated by range of triangle principle, in conjunction with its principle schematic 3, wherein, d is detected the distance between object c and laser instrument 1, and f is the focal length of image sensing cell 2, and s is the fixed range between laser instrument 1 and image sensing cell 2, X is detected the image space of object c on sensor photosensitive sheet, and β is that the transmit direction of laser instrument 1 and above-mentioned plane have fixed angle;

So, triangle abc and triangle egb is similar triangles, according to similar triangles corresponding sides or high proportional principle, q=fs/X, d=q/sin (β), therefore, range of triangle principle calculates distance (d) derivation of equation corresponding directional bearing being detected object and is:

$d=\frac{f\·s}{x\·sin\left(\mathrm{\β}\right)};$

And X is change uniquely to be measured in above-mentioned formula, namely the imaging ruddiness point value X after asking distance d to be converted to ask testee to be irradiated with a laser on sensor photosensitive sheet, and this value can be drawn by high speed linear array CCD imageing sensor captured pixel position calculation when scanning probe.

In system work process, motor rotation platform can with the frequency even running rotating 360 degrees of the highest 10Hz, and, the optoelectronic switch that initial orientation is arranged allows to the initial orientation recording rotation sweep, signal processing unit can scan by optoelectronic switch record the azimuth information be detected residing for object at every turn, in conjunction with counting out of a circle scanning, then in scanning process, can record each through the azimuth information residing for analyzing spot accurately, namely realize the detection scanning whole detected space positional information of a week.

Signal processing unit 4 passes to PC end system according to the distance (d) of testee and azimuth information θ=0 of correspondence that detect the interior all surroundings that rotate a circle again, generated by PC end system and draw Laser Radar Scanning hum pattern, or generate Laser Radar Scanning information by signal processing unit 4, then send to display device to demonstrate Laser Radar Scanning hum pattern.

The utility model embodiment can meet 360 degree of azimuth scans detections based on the laser radar of range of triangle and detection accuracy in short distance can reach grade, meet the intensive detection of target data high speed under high sweep frequency simultaneously, utilize principle of triangulation and linear array cmos sensor acknowledge(ment) signal, require lower to laser power, and system bulk is little, cost is lower.

These are only preferred embodiment of the present utility model, not in order to limit the utility model, all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.

Claims (5)

1. a Laser Radar Scanning sniffer, is characterized in that, described device comprises:

Record the signal processing unit of azimuth information corresponding to each Emission Lasers bundle scanning probe;

Under described signal processing unit controls from initial orientation the horizontal uniform rotation motor rotation platform of a week;

The laser instrument of laser beam flying detection objects in front is launched under described signal processing unit controls;

Receive the laser beam being detected reflections off objects, and determine the image sensing cell of the image space of laser beam on sensor photosensitive sheet (X) reflected;

Described laser instrument and described image sensing cell are fixed on described motor rotation platform, described laser instrument and described image sensing cell are in same plane and keep fixed range (s), the transmit direction of described laser instrument and described plane have fixed angle (β), described image sensing cell comprises described sensor photosensitive sheet, described sensor photosensitive sheet horizontal positioned, described laser instrument, described image sensing cell, described motor rotation platform all have electrical connection with described signal processing unit;

Described signal processing unit extracts described image space (X), and calculated according to the focal length (f) of described image space (X), fixed range (s), fixed angle (β) and described image sensing cell the distance (d) corresponding directional bearing being detected object by range of triangle principle, and according to one or more distance (d) and the corresponding azimuth information generation Laser Radar Scanning hum patterns being detected object generated in rotary course.

2. device as claimed in claim 1, it is characterized in that, described laser instrument is the red laser of red-emitting laser beam, and described image sensing cell is high speed linear array cmos image sensor;

Described image sensing cell also comprises:

When reception is detected the laser beam of reflections off objects, the ruddiness narrow band pass filter of the interference of filtering external light source and natural light;

The filtering circuit of the noise signal that further filtering sensor photosensitive sheet receives.

3. device as claimed in claim 1, it is characterized in that, described image sensing cell also comprises one by perception laser beam reflection to the pixel on described sensor photosensitive sheet, and the image space determination module of the image space (X) of object on described sensor photosensitive sheet is determined to be detected in the position that the voltage signal corresponding according to described pixel accounts for whole clock input signal.

4. device as claimed in claim 1, it is characterized in that, described range of triangle principle calculates distance (d) formula corresponding directional bearing being detected object and is:

Wherein, d is detected the distance between object and described laser instrument, f is the focal length of described image sensing cell, s is the fixed range between described laser instrument and described image sensing cell, X is detected the image space of object on described sensor photosensitive sheet, and β is that the transmit direction of described laser instrument and described plane have fixed angle.

5. device as claimed in claim 1, is characterized in that, described initial orientation is arranged an optoelectronic switch, and described signal processing unit is by described optoelectronic switch record initial orientation information and Emission Lasers bundle scanning probe is corresponding afterwards azimuth information at every turn.