CN205620552U - Rotational scanning laser radar - Google Patents
Rotational scanning laser radar Download PDFInfo
- Publication number
- CN205620552U CN205620552U CN201620283674.1U CN201620283674U CN205620552U CN 205620552 U CN205620552 U CN 205620552U CN 201620283674 U CN201620283674 U CN 201620283674U CN 205620552 U CN205620552 U CN 205620552U
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- Prior art keywords
- rotation sweep
- laser radar
- laser
- sensor
- assembly
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Abstract
The utility model relates to a rotational scanning laser radar, including rotational scanning subassembly, base subassembly and communication transceiver, the rotational scanning subassembly include laser rangefinder sensor and angle sensor, the base subassembly include base treater and driving motor, driving motor drive the rotational scanning subassembly rotatory, laser rangefinder sensor and angle sensor and the base treater carry out the communication, the base treater with the communication transceiver be connected. Adopting the rotational scanning laser radar of this kind of structure, not having complicated optical system, the rotating machinery structure that does not receive of sensor installation restricts, and it is more convenient, with low costs that the manufacturing is maintained, center pin direct drive rotational scanning part can be regarded as to the motor hollow shaft, reduces the trueness error that mechanical structure arouses, mechanical wear is few, and is longe -lived, has more extensive range of application.
Description
Technical field
This utility model relates to laser radar technique field, particularly relates to laser range sensor technical field, specifically
Refer to a kind of rotation sweep laser radar.
Background technology
In conventional laser radar apparatus, a kind of mode is that from one face, the light of modulation is transmitted to table to be imaged
The rotating multisurface polygon prism in face.Modulation difference between transmission and the light of reception is subsequently used for calculating this surface away from scanning system
Distance.This mode optics and mechanical scanner are complicated, thus expensive.
The second implementation, such as: public in vehicle-mounted four wire laser radar systems of CN201120430175.8 and circuit thereof
Opening, laser scans circuit system carries out, by slip ring terminals and drive circuit, electrical connection of sliding, due to its peace of slip ring
Dress is fixing is a problem the most difficult, can affect the service life of slip ring with the axiality of rotary shaft and then make device whole
The lifetime of body.
The third mode such as CN201510631006.3 range laser radar and method of supplying power to thereof and
Disclosed in 360 degree of range laser radars of the low cost of CN201520245655.5 non-contact power, by noncontact wireless power
Rotating part is powered by module, measures communication modes also wireless electromagnetic communication, due to wireless power transmission the most simultaneously
Being the electromagnetic induction of the electromagnetic wave higher through power, therefore measurement sensing data may be interfered and cause data distortion.
Utility model content
The purpose of this utility model is the shortcoming overcoming above-mentioned prior art, it is provided that one is capable of overall structure
Simply, it is difficult to be disturbed by electromagnetic signal, have the rotation sweep laser radar of broader applications scope.
To achieve these goals, rotation sweep laser radar of the present utility model has a following composition:
This rotation sweep laser radar, it is mainly characterized by, described radar include rotation sweep assembly, base assembly and
Communications transceiver, described rotation sweep assembly includes laser range sensor and angular transducer, described base assembly bag
Including pedestal processor and drive motor, the described rotation sweep assembly described in motor driving that drives rotates, described Laser Measuring
Carrying out communication away from sensor and angular transducer with described pedestal processor, described pedestal processor is received with described communication
Send out device to be connected.
It is preferred that described angular transducer is absolute value encoder.
It is preferred that the detection data of described laser range sensor and angular transducer are sent to described by optical communication
Pedestal processor.
It is preferred that the described quill shaft driving motor is connected with described rotation sweep assembly and rotation described in driving
Turn scan components to rotate.
It is preferred that described laser range sensor is the transceiving integrated laser sensor of Lidar lite.
It is preferred that described rotation sweep assembly also includes rotation sweep component processor, described laser ranging sensing
Detection data are transmitted to the most described rotation sweep component processor by device and angular transducer by I2C or SPI communication modes.
It is preferred that described radar also includes charging circuit, described rotation sweep assembly also includes accumulator, described
Accumulator is charged by described charging circuit.
Have employed the rotation sweep laser radar in this utility model, have the advantages that
(1) rotating part has less volume, and rotary inertia is little, and vibration environment stability inferior is good；
(2) there is no the optical system of complexity, sensor install not by rotating machinery structural constraint, manufacture safeguard more square
Just, low cost；
(3) motor-hollow axle can directly drive rotation sweep part as central shaft, reduces the essence that frame for movement causes
Degree error, mechanical wear is few, and the life-span is long；
(4) the laser measurement data of rotation sweep part and pedestal are reliable and stable by optical communication, are difficult to by electromagnetic signal
Interference；
(5) energy storage battery can ensure that the stable power-supplying of rotary laser measurement part；
(6) charging modes uses conductor contact, and charging mechanism can stretch overlap joint conducting ring, preferably when non-rotating state
Charging, weares and teares little, and low cost, has wider application scope.
Accompanying drawing explanation
Fig. 1 is the structural representation of rotation sweep laser radar of the present utility model.
Fig. 2 is motor quill shaft of the present utility model and the structural representation of live part.
Reference:
1 rotation sweep assembly
11 laser range sensors
12 encoders
13 accumulator
2 pedestals
21 motor quill shafts
22 motors
3 communications transceiver
4 charging circuits
5 quill shafts
6 conducting rings
7 contacts
8 electric magnet
9 armature
Detailed description of the invention
In order to more clearly describe technology contents of the present utility model, carry out into one below in conjunction with specific embodiment
The description of step.
As it is shown in figure 1, this utility model provides a kind of Novel rotary scanning laser radar, rotated one-dimensional sharp by motor
Ligh-ranging sensor 11, forms two dimension or three-dimensional radar in conjunction with angular transducer 12 information.Rotation angle information passes through absolute value
Encoder provides.
Rotation sweep assembly 1 electrically connects with communication and the confession of pedestal 2, is electrically connected when no longer being operated by slip ring.
There is no mechanical wear, reduce processing and the requirement installed.Motor quill shaft 5 can directly drive rotation sweep group as central shaft
Part 1, reduces the trueness error that frame for movement causes.
The information that rotation sweep assembly 1 is measured, is transferred to pedestal 2 through optical communication.
Rotation sweep assembly 1 is provided the steady of electric energy, guarantee sensor and other circuit of rotation sweep assembly 1 by accumulator 13
Fixed power supply.The charging circuit of rotation sweep assembly is connected to axle outer conductive ring 6 by motor quill shaft 5.
Charging mechanism in pedestal 2 can stretch and overlap conducting ring 6, preferably charges when non-rotating state.
Figure one embodiment:
In rotation sweep assembly 1, laser range sensor 11 can use the transceiving integrated laser of Lidar lite
Sensor, sensor raw measurement data is transferred in processor by I2C or SPI communication modes.
Angular transducer 12 uses magnetic coder scheme, and absolute position angle information is passed by encoder by SPI communication
Being passed in processor, the range finding raw information received is done algorithm process by processor, in conjunction with absolute position angle information, is formed
Two-dimensional radar cloud data.Two dimension cloud data is entered with the light data reception module 3 in pedestal 2 by light data transmission blocks 3
Row data are transmitted.
Data transfer mode can use infrared ray transceiving mechanics of communication.
In pedestal 2, it is preferable that described motor drive module 22 is DC brushless motor.Rotating speed about 300～3000rpm.
Rate of scanning is 5～50Hz.
Processor in pedestal 2 controls operation and Communication processing and the Charge Management of motor.
Rotation sweep assembly 1 is provided the steady of electric energy, guarantee sensor and rotation sweep other circuit of part by accumulator 13
Fixed power supply, uses lithium battery power supply in the present embodiment, the charging of rotation sweep assembly 1 receives circuit 4 and proposes the charging of lithium battery
For transformation and defencive function.
As in figure 2 it is shown, be the schematic diagram of charging structure, the way of contact of similar relay.Charging module contact is wired
The mode connected is charged, it is provided that bigger charging current, and wherein said battery charging circuit is connected to by motor quill shaft 5
Outer conductive ring, the charging mechanism in pedestal 2 can stretch overlap joint slip ring, preferably charges when non-rotating state.
The method using the carrying out of laser radar of the present utility model to find range comprises the following steps:
Radar self-inspection flow process:
1. laser radar powers on；
2. pedestal circuit state self-inspection；
3. Guan Bi charging mechanism contact conducting ring；
4. detection rotation sweep part energy storage battery voltage.
Radar operating flow process:
5. radar brings into operation；
6. start motor；
7. turn off charging mechanism and disconnect conducting ring；
8. encoder detects and starts to rotate；
9. open laser range sensor；
10. laser distance measuring；
Angle measured by 11. encoders；
12. merge metrical information；
13. set up infrared communication connects；
14. metrical informations are transferred to pedestal MCU processor by infrared communication；
15. pedestal MCU processors are to forwarding after data prediction and exporting.
Radar shuts down flow process:
16. stop motor；
17. encoders are measured to rotate and are stopped；
18. close laser range sensor；
19. close infrared communication to connect；
20. pedestal MCU processors are to forwarding radar communication output after data prediction；
21. radars stop.
Have employed the rotation sweep laser radar in this utility model, have the advantages that
(1) rotating part has less volume, and rotary inertia is little, and vibration environment stability inferior is good；
(2) there is no the optical system of complexity, sensor install not by rotating machinery structural constraint, manufacture safeguard more square
Just, low cost；
(3) motor-hollow axle can directly drive rotation sweep part as central shaft, reduces the essence that frame for movement causes
Degree error, mechanical wear is few, and the life-span is long；
(4) the laser measurement data of rotation sweep part and pedestal are reliable and stable by optical communication, are difficult to by electromagnetic signal
Interference；
(5) energy storage battery can ensure that the stable power-supplying of rotary laser measurement part；
(6) charging modes uses conductor contact, and charging mechanism can stretch overlap joint conducting ring, preferably when non-rotating state
Charging, weares and teares little, and low cost, has wider application scope.
In this description, this utility model is described with reference to its specific embodiment.But it is clear that it is the most permissible
Various modification can be adapted and conversion is without departing from spirit and scope of the present utility model.Therefore, specification and drawings is considered as
Illustrative and not restrictive.
Claims (7)
1. a rotation sweep laser radar, it is characterised in that described radar includes rotation sweep assembly, base assembly and leads to
News transceiver, described rotation sweep assembly includes that laser range sensor and angular transducer, described base assembly include
Pedestal processor and driving motor, the described rotation sweep assembly described in motor driving that drives rotates, described laser ranging
Sensor and angular transducer carry out communication, described pedestal processor and described communication receiving/transmission with described pedestal processor
Device is connected.
Rotation sweep laser radar the most according to claim 1, it is characterised in that described angular transducer is absolute value
Encoder.
Rotation sweep laser radar the most according to claim 1, it is characterised in that described laser range sensor and angle
The detection data of degree sensor are sent to described pedestal processor by optical communication.
Rotation sweep laser radar the most according to claim 1, it is characterised in that the described quill shaft driving motor with
Described rotation sweep assembly is connected and rotation sweep assembly described in driving rotates.
Rotation sweep laser radar the most according to claim 1, it is characterised in that described laser range sensor is for receiving
Send out integrated laser sensor.
Rotation sweep laser radar the most according to claim 1, it is characterised in that described rotation sweep assembly also includes
Rotation sweep component processor, described laser range sensor and angular transducer will detections by I2C or SPI communication modes
Data transmission is to described rotation sweep component processor.
Rotation sweep laser radar the most according to claim 1, it is characterised in that described radar also includes charged electrical
Road, described rotation sweep assembly also includes that accumulator, described accumulator are charged by described charging circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620283674.1U CN205620552U (en) | 2016-04-07 | 2016-04-07 | Rotational scanning laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620283674.1U CN205620552U (en) | 2016-04-07 | 2016-04-07 | Rotational scanning laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205620552U true CN205620552U (en) | 2016-10-05 |
Family
ID=57029753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620283674.1U Expired - Fee Related CN205620552U (en) | 2016-04-07 | 2016-04-07 | Rotational scanning laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205620552U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541614A (en) * | 2017-09-21 | 2019-03-29 | 光宝科技股份有限公司 | Light reaches device |
| CN111948660A (en) * | 2020-08-19 | 2020-11-17 | 四川道通达工程技术有限公司 | Target body automatic identification method based on laser scanning |
-
2016
- 2016-04-07 CN CN201620283674.1U patent/CN205620552U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109541614A (en) * | 2017-09-21 | 2019-03-29 | 光宝科技股份有限公司 | Light reaches device |
| CN109541614B (en) * | 2017-09-21 | 2023-08-15 | 光宝科技股份有限公司 | Light reaching device |
| CN111948660A (en) * | 2020-08-19 | 2020-11-17 | 四川道通达工程技术有限公司 | Target body automatic identification method based on laser scanning |
| CN111948660B (en) * | 2020-08-19 | 2023-12-01 | 成都清正公路工程试验检测有限公司 | Automatic target identification method based on laser scanning |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20180407 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |