CN205809299U - A kind of laser radar based on structure light - Google Patents
A kind of laser radar based on structure light Download PDFInfo
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- CN205809299U CN205809299U CN201620347087.4U CN201620347087U CN205809299U CN 205809299 U CN205809299 U CN 205809299U CN 201620347087 U CN201620347087 U CN 201620347087U CN 205809299 U CN205809299 U CN 205809299U
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- laser radar
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- imageing sensor
- light
- structure light
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Abstract
This utility model is applicable to laser radar range field, it is provided that a kind of laser radar based on structure light, including a controller；By controller control, structured light generators that the structure light with certain angle of coverage can be produced；And gather the positional information of testee in described structure light coverage and described positional information is uploaded to the imageing sensor of described controller, controller receives this positional information and process obtains the distance value of testee；By utilizing structure light to have bigger range of exposures, make this device just can be measured the distance of testee interior in a big way by rotation sweep, avoid because the abrasion of rotating mechanism is on certainty of measurement and the impact in service life, angular resolution is high simultaneously, can detect more tiny object under equidistant.
Description
Technical field
This utility model belongs to laser ranging field, particularly relates to a kind of laser radar based on structure light.
Background technology
Laser ranging is to find range using laser instrument as light source.Mode according to laser work be divided into continuous wave laser and
Pulse laser.Laser range finder, due to the feature such as good, the high directivity of monochromaticity of laser, adds electronic circuit semiconductor transformation collection
Cheng Hua, is possible not only to day and night operation and can improve range accuracy, substantially reduce weight and power consumption；Accuracy of laser distance measuring instrument can
Reach 1 millimeter of error, be suitable for various high-acruracy survey purposes.
Prior art uses single-point laser scanning, and angular resolution is relatively low, when needing to carry out the range finding in polarizers of big angle scope
During work, then the support of machinery rotating member must be relied on to rotate and scan.Owing to machinery rotational structure is running one section
Inevitably produce abrasion after time, therefore there is the biggest restriction the service life of product, and owing to machinery rotates
The existence of structure, may produce various error in installation process, and the range accuracy of the most existing laser radar is with reliable
Property is the most unstable.
To sum up, the rotating mechanism of existing Laser Distance Measuring Equipment is prone to wear out, and both have impact on range accuracy, has shortened again and set
Standby service life.
Utility model content
This utility model embodiment provides a kind of laser radar based on structure light, it is intended to solves existing laser ranging and sets
Standby rotating mechanism is prone to wear out, and both have impact on range accuracy, the problem shortening again the service life of equipment.
This utility model embodiment is achieved in that a kind of laser radar based on structure light, including:
Control the controller that each unit coordinates works and carries out range finding computing；
Can produce the structured light generators of structure light, described structure light is irradiated in testee with default angle of coverage；
And
Gather the positional information of the testee in the range of described structure light irradiates and described positional information is uploaded to institute
State the imageing sensor of controller；
Described controller receives described positional information and processes the distance value obtaining described testee.
Preferably, described structured light generators includes: laser source device, laser collimation device and be located at laser emitting side
Laser beam expander upwards.
Preferably, described laser beam expander is a wave mirror.
Preferably, described angle of coverage is 0 ° to 180 ° interior unspecified angle.
Preferably, described angle of coverage is 110 °.
Preferably, it is additionally provided with a camera lens before described imageing sensor.
Preferably, it is additionally provided with a filtering apparatus before described imageing sensor.
Preferably, the normal of the sensitive film of the Laser emission direction of described structured light generators and described imageing sensor it
Between angle be 11 degree；Described structured light generators is 60mm with the fixed range of described image acquisition device.
Preferably, described laser radar also includes that a housing, described structured light generators are located at going out above described housing
At unthreaded hole, described imageing sensor is located at the collection hole below described housing.
Preferably, the quantity of described imageing sensor is 2 or more than 2.
This utility model provides a kind of laser radar based on structure light, by having of being produced by structured light generators
The structure light of certain angle of coverage is projeced on testee as range finding light, and will be by testee by imageing sensor
The catoptric arrangement light returned is converted into positional information, and positional information is transferred to controller, by controller according to range of triangle
Principle calculates the range information of testee；Utilize structure light to have bigger range of exposures, make this device to lead to
Cross rotation sweep and just can measure the distance of testee in a big way, it is to avoid because the abrasion of rotating mechanism is to measuring essence
Degree and the impact in service life.
Accompanying drawing explanation
Fig. 1 is the structure chart of a kind of based on structure light the laser radar that this utility model embodiment provides；
Fig. 2 is the module map of the structured light generators that this utility model embodiment provides；
Fig. 3 is the angle of coverage schematic diagram of the structure light that this utility model embodiment provides；
Fig. 4 is the range of triangle schematic diagram of the wherein Ray Of Light of the structure light that this utility model embodiment provides；
Fig. 5 is that the reflection light of the structure light that this utility model embodiment provides is formed on the sensitive film of imageing sensor
Hot spot is videoed；
Fig. 6 is the schematic diagram of a kind of based on structure light the laser radar that this utility model preferred embodiment provides；
Fig. 7 is the schematic diagram of multiple side-by-side imageing sensors that this utility model embodiment provides.
Detailed description of the invention
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.Should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
This utility model provides a kind of laser radar based on structure light, by having of being produced by structured light generators
The structure light of certain angle of coverage is projeced on testee as range finding light, and will be by testee by imageing sensor
The catoptric arrangement light returned is converted into positional information, and positional information is transferred to controller, by controller according to range of triangle
Principle calculates the range information of testee；Utilize structure light to have bigger range of exposures, make this device to lead to
Cross rotation sweep and just can measure the distance of testee in a big way, it is to avoid because the abrasion of rotating mechanism is to measuring essence
Degree and the impact in service life.
As it is shown in figure 1, in an embodiment of the present utility model, a kind of laser radar based on structure light, including: control
Device 1 processed and controller 1 communication connection structured light generators 2 and imageing sensor 3.Wherein, controller 1 can be microcontroller
Unit MCU/DSP, it is also possible to be single-chip microcomputer, ARM or CPU etc., is used for controlling to coordinate between each parts, and can carry out range finding fortune
Calculate.
In this utility model embodiment, structured light generators 2 is controlled by controller 1, and can produce have preset covering
The structure light of angle, wherein the angle of coverage of structure light is according to the distance between actual object under test and laser radar and to be measured
The size of object sets；Imageing sensor 3 is corresponding with structured light generators 2, and it is used for gathering in structure light coverage
The positional information of testee, and this positional information be uploaded to controller 1 be further processed, controller 1 basis
This positional information, is calculated the range information of testee in the range of structure light irradiates in conjunction with range of triangle principle.
It is provided with a camera lens 7 before imageing sensor 3, is used for receiving structure luminous reflectance to the light of imageing sensor 3.
In an embodiment of the present utility model, before imageing sensor 3, it is additionally provided with a filtering apparatus 4, filtering apparatus 4
For optical lightscreening module, in the light beam that can will receive, the veiling glare of non-structural optical band filters off, the reflection light of remaining structure light
It is projeced on imageing sensor 3 formation reflection, improves range accuracy.
In an embodiment of the present utility model, laser radar also includes a housing 5, and structured light generators 2 is located at shell
At light hole 51 above body 5, imageing sensor 3 is located at the collection hole 52 below housing 5.Wherein, filtering apparatus 4 is located at and is adopted
Between collection hole 52 and the sensitive film of imageing sensor 3.The lower section of housing 5 is installed the part of imageing sensor 3 and is had certain slope
Degree, makes the sensitive film of imageing sensor 3 with certain angle towards the Laser emission direction of structured light generators 2, so as to
Receive the reflection light that structure light returns from testee.
As shown in Figure 2 and Figure 3, in an embodiment of the present utility model, structured light generators 2 includes: laser source device
21, laser collimation device 22 and the laser beam expander 23 be located on laser emitting direction；Laser source device 21 can be sharp
The LASER Light Source of optical diode etc, laser source device 21 can use continuously-running duty or pulse modulated discontinuous
Pattern；Its laser produced, after laser collimation device 22 collimates, is radiated at shape being aligned on laser beam expander 23
Shape laser, the light beam of this linear laser, with eye point as summit, forms the sector of a two dimension with certain angle, and this angle is i.e.
Angle of coverage α for this structure light；Wherein expanding device 23 can be wave lens device, and simple in construction can conveniently realize again expansion
Beam function.By using structure light as scanning light, rotation can be carried out and just scanning light can be projected certain angle
In the range of testee, it also avoid because of the angular error that causes of rotation simultaneously, there is higher angular resolution, with equidistant
From detecting more tiny object.
The structure light that structured light generators 2 is launched is radiated on testee, and the reflection through this testee is made
With forming reflected light projects on imageing sensor 3.Imageing sensor 3 is cmos image sensor or ccd image sensor, when
When structure luminous reflectance light is irradiated on the pel array of imageing sensor 3, it may occur that photoelectric effect, in pixel cell, produce phase
The electric charge answered, logical block according to these electric charges formed the signal of telecommunication, by signal bus be transferred to analogy signal processing unit with
And A/D converter, it is converted into data image signal and exports to controller 1.
Fig. 4 shows the index path of certain Ray Of Light in structure light, and f is the focal length of imageing sensor 3, and x is measured object
Body 6 be irradiated with a laser after imaging HONGGUANG point value on the sensitive film 31 of imageing sensor 3；S is imageing sensor 3 and structure light
Fixed range AB, β between generator 2 is the angle between ray and the AB that structured light generators 2 sends；Q is testee 6
To the distance of AB, then d is the distance of object on laser instrument correspondence directional bearing；According to triangle similarity principle, q=
F s/x, then d=q/sin (β), in formula, x is variable the most to be measured, i.e. asks distance d to be converted to ask testee 6 to be swashed
Imaging HONGGUANG point value x on the sensitive film 31 of imageing sensor 3 after light irradiation, and this value is measured time institute by imageing sensor 3
The location of pixels of shooting obtains, and is uploaded to controller 1, and controller 1 obtains according to computing formula d=f s/ (x sin (β))
The distance value of testee 6.
As it is shown in figure 5, in this utility model embodiment, irradiate light as range finding, therefore owing to using structure light
Finally can obtain a series of hot spot on the sensitive film 31 of imageing sensor 3, the white hot spot in Fig. 3 is exactly structure light quilt
The reflection formed it is incident upon on the sensitive film 31 of imageing sensor 3, according to these hot spots at image sensing after testee 6 reflection
The position of the pixel that device 3 is captured when measuring obtains the value of some row x, obtains the distance of some row further according to computing formula
Value, it is achieved that do not irradiate the distance value of the testee being just obtained in that in a big way by rotation sweep.
As shown in Figure 6, in an embodiment of the present utility model, the Laser emission direction M of structured light generators 2 and figure
As the angle 11 ° between the normal N of the sensitive film of sensor 3, this angle and β angle are remaining mutually, therefore can obtain β=79 °；Structure light is sent out
Fixed range s between raw device 2 and imageing sensor 3 is 60mm.This group parameter enables a device to detect 0.15 meter to 6 meters model
Enclose interior barrier, meet the major part range finding requirement in commercial production, and make the effective of pixel on imageing sensor 3
Utilization rate maximizes.
In conjunction with shown in Fig. 1 to Fig. 6, in an embodiment of the present utility model, angle of coverage α of structure light be 0 ° extremely
180 ° of interior unspecified angles.Can regulate or change laser beam expander 23 according to actual measurement requirement, make covering of structure light
Lid angle [alpha] meets the requirements.
As an embodiment of the present utility model, angle of coverage α could be arranged to less than 180 degree arbitrarily angled, but
Be the selection of angle by conflict containing, angle lens i.e. angle of coverage α of structure light is the least, then pattern distortion is more
Little, algorithm is easily processed, and measuring accuracy is the highest；If scanning angle is the least, then investigative range is the least.Otherwise, camera lens angle
Degree is big, and pattern distortion is the biggest, and algorithm is the most complicated, and measuring accuracy is the lowest, but the scope of detection becomes big.Answer according to specific
Empirical value, along with the difference of concrete application, angle can be customized.In the present embodiment, preferred angle of coverage α is 110 °, not only
Coverage is relatively big, meets the demand of major part finding range, and the distribution of this angular range inner structure light simultaneously is more uniformly, surely
Fixed, it is ensured that the degree of accuracy of range finding.Simultaneously as without carrying out rotation sweep, structure light is continuous print linear light, be radiated at by
Surveying on object 6, reflection light can form a series of complete linear beam spot reflection on imageing sensor 3, as it is shown in figure 5, adjacent
Hot spot between almost continuously without gaps and omissions, therefore, the distance value calculated also be almost testee 6 true the most instead
Reflecting, therefore the angular resolution of this laser radar is higher, can detect more tiny object with equidistant.
In this utility model embodiment, the quantity of imageing sensor 3 can be one, but its quantity can also be carried out
Expand.
As it is shown in fig. 7, in an embodiment of the present utility model, in imageing sensor 3 quantity of sensitive film be 2 or
More than 2, and arrange in side-by-side fashion, can be left and right side by side, or mode as required is arranged；Image sensing
After device 3 is located at the camera lens 7 gathered at hole abreast, increase the scope of image sensing, it is to avoid angle of coverage α of structure light
Time bigger, it is impossible to the problem that all of reflection light is included in and gathered.
The laser radar that above-mentioned utility model embodiment provides, including a controller；By controller control, can produce and have
The structured light generators of the structure light of certain angle of coverage；And the position letter of the testee in collection structure light coverage
Cease and be uploaded to by positional information the imageing sensor of controller；Controller obtains structure light according to positional information calculation and covers
In the range of the range information of testee；By utilizing structure light to have bigger range of exposures, make this device can
The distance of testee in a big way just can be measured, it is to avoid because the abrasion of rotating mechanism is to measurement by rotation sweep
Precision and the impact in service life, angular resolution is high simultaneously, can detect more tiny object under equidistant.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (10)
1. a laser radar based on structure light, it is characterised in that including:
Control to coordinate between each parts work, the controller of the computing that can carry out finding range；
Can produce the structured light generators of structure light, described structure light is irradiated in testee with default angle of coverage；And
Gather the positional information of the testee in the range of described structure light irradiates and described positional information is uploaded to described control
The imageing sensor of device processed；
Described controller receives described positional information and processes the distance value obtaining described testee.
2. laser radar as claimed in claim 1, it is characterised in that described structured light generators includes: laser source device, swash
Light collimating device and be located at the laser beam expander on laser emitting direction.
3. laser radar as claimed in claim 2, it is characterised in that described laser beam expander is a wave mirror.
4. laser radar as claimed in claim 1, it is characterised in that described angle of coverage is arbitrary in 0 ° to 180 ° scope
Angle.
5. laser radar as claimed in claim 4, it is characterised in that described angle of coverage is 110 °.
6. laser radar as claimed in claim 1, it is characterised in that be additionally provided with a camera lens before described imageing sensor.
7. laser radar as claimed in claim 1, it is characterised in that be additionally provided with an optical filtering dress before described imageing sensor
Put.
8. laser radar as claimed in claim 1, it is characterised in that the Laser emission direction of described structured light generators and institute
Angle between the normal of the sensitive film stating imageing sensor is 11 degree；Described structured light generators and described image acquisition device
Fixed range is 60mm.
9. laser radar as claimed in claim 1, it is characterised in that described laser radar also includes a housing, described structure
Optical generator is located at the light hole above described housing, and described imageing sensor is located at the collection hole below described housing.
10. laser radar as claimed in claim 1, it is characterised in that the quantity of described imageing sensor be 2 or 2 with
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201620347087.4U CN205809299U (en) | 2016-04-22 | 2016-04-22 | A kind of laser radar based on structure light |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620347087.4U CN205809299U (en) | 2016-04-22 | 2016-04-22 | A kind of laser radar based on structure light |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989736A (en) * | 2017-02-28 | 2017-07-28 | 苏州迪美格智能科技有限公司 | A kind of space mapping system and method based on structure optical arrays |
| CN108594205A (en) * | 2018-06-21 | 2018-09-28 | 深圳市镭神智能系统有限公司 | A kind of laser radar based on line laser |
| CN111474552A (en) * | 2019-01-23 | 2020-07-31 | 科沃斯机器人股份有限公司 | Laser ranging method and device and self-moving equipment |
-
2016
- 2016-04-22 CN CN201620347087.4U patent/CN205809299U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106989736A (en) * | 2017-02-28 | 2017-07-28 | 苏州迪美格智能科技有限公司 | A kind of space mapping system and method based on structure optical arrays |
| CN108594205A (en) * | 2018-06-21 | 2018-09-28 | 深圳市镭神智能系统有限公司 | A kind of laser radar based on line laser |
| CN111474552A (en) * | 2019-01-23 | 2020-07-31 | 科沃斯机器人股份有限公司 | Laser ranging method and device and self-moving equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Laser radar based on structured light Effective date of registration: 20170905 Granted publication date: 20161214 Pledgee: Silicon Valley Bank Co., Ltd. Pledgor: LEISHEN INTELLIGENT SYSTEM CO., LTD. Registration number: 2017310000049 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210603 Granted publication date: 20161214 Pledgee: Silicon Valley Bank Co.,Ltd. Pledgor: LEISHEN INTELLIGENT SYSTEM Co.,Ltd. Registration number: 2017310000049 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |