CN207457497U - A kind of scanning laser radar installations - Google Patents
A kind of scanning laser radar installations Download PDFInfo
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- CN207457497U CN207457497U CN201721582180.4U CN201721582180U CN207457497U CN 207457497 U CN207457497 U CN 207457497U CN 201721582180 U CN201721582180 U CN 201721582180U CN 207457497 U CN207457497 U CN 207457497U
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Abstract
The embodiment of the utility model discloses a kind of scanning laser radar installations, in the scanning laser radar installations, during rotary part rotates, position instruction structure is identified in position identification component, it determines the rotary speed of rotary part, the preset time period for carrying out laser detection is calculated with reference to angular resolution.Laser detection component carries out laser detection according to preset time period.Position identification component is followed motor to rotate by the scanning laser radar installations, and position instruction structure maintains static, the location of rotary speed and rotary part of rotary part and angle are directly acquired by position identification component, realize that angle is synchronous, one-way data transfer of the rotary part to on-rotatably moving part is only needed, simplifies hardware circuit design, has saved the device space, the design requirement and design difficulty to position identification component are reduced, reduces complete machine cost.
Description
Technical field
The utility model embodiment is related to technical field of laser detection, more particularly, to a kind of scanning laser radar installations.
Background technology
With the continuous development of laser technology, laser radar is more and more widely used in every field, to swashing
Optical radar development proposes increasingly higher demands.Wherein, with miniaturization, integrated, big visual field, low cost for main technology
It is required that.In the laser radar field of 360 ° of scanning field of view, since laser detection module needs integral-rotation, the confession to module
Electricity, communication and angle synchronously propose new challenge, and need to take into account simultaneously integrated and inexpensive.
To solve the above problems, during the utility model embodiment is realized, utility model people has found existing sweep
Laser radar is retouched due to needing by the way of code-disc and encoder, code-disc is installed together with rotary part, encoder with it is non-
Rotary part is installed together.In order to realize detection angles synchronously, it is necessary to which encoder information is passed to rotary part, pass through this
Kind two-way communication realizes that detection is synchronous with angle, and this scanning laser Radar Design that can realize that detection is synchronous with angle is answered
Miscellaneous, cost is higher, realizes that the detection process approach synchronous with angle is complex.
Utility model content
Technical problem to be solved in the utility model is how to solve existing realize to detect the scanning synchronous with angle
Laser radar design is complicated, and cost is higher, realizes and detects the problem of process approach synchronous with angle is complex.
For more than technical problem, the embodiment of the utility model provides a kind of scanning laser radar installations, including non-
Rotary part, rotary part, position identification component, laser detection component and at least one position instruction structure；
The position instruction structure setting is on the on-rotatably moving part；
The position identification component is arranged on the rotary part, and during the rotary part rotates, institute
Rheme puts identification component and the position instruction structure can be identified；
The laser detection component is arranged on the rotary part, is swashed during the rotary part rotates
Light detects；
Wherein, during the rotary part rotates, institute's rheme is recognized with any position identification component
The time point of instruction structure is put as starting point, the laser detection is carried out every preset time period.
Optionally, the on-rotatably moving part is located at below the rotary part, and the position identification component is with the rotation
Component rotates the track to be formed and forms drop shadow curve in the plane where the on-rotatably moving part；
The position instruction structure distribution is in the drop shadow curve.
Optionally, the rotation axis of the rotary part on the plane be projected as projected centre point；
The angle using the projected centre point as vertex that point where per two adjacent position instruction structures is formed is
Predetermined angle.
Optionally, the position instruction structure be boss, concave station or groove,
The position identification component is optoelectronic switch, penetration encoder or reflective encoder.
Optionally, motor is further included；
The motor is fixed on the on-rotatably moving part；
The motor drives the rotary part rotation.
Optionally, the first control circuit plate being arranged on the on-rotatably moving part is further included, is arranged on the rotating part
The second control circuit plate rotated at the top of part with the rotary part；
The first control circuit plate is used to provide electric energy for the motor, and the motor is controlled to drive the rotary part
It is rotated according to preset rotation speed；
The second control circuit plate is used to receive the knowledge that the position identification component recognizes the position instruction structure
Other information；
Wherein, the second control circuit plate is according to the time interval and the position for receiving the identification information every time
The quantity of instruction structure determines the swing circle of the rotary part, according to the swing circle and the angle of default laser detection
Degree resolution ratio determines the preset time period.
Optionally, the laser detection component includes wireless power module, illuminating module, receiving module and radio communication mold
Group；
The wireless power module receives electric energy by wireless power technology from the first control circuit plate, is the hair
Optical mode group, the receiving module, the wireless communication module and the position identification component provide electric energy.
Optionally, the wireless communication module be used for the first control circuit plate and the second control circuit plate into
Row information interacts.
Optionally, the wireless communication module receives the preset time period of the second control circuit plate transmission and connects
The time point of the identification information, the illuminating module and the receiving module are received to receive the time of the identification information
Point is starting point, and the testing result of laser detection is carried out every the laser that the preset time period emits laser and receives transmitting.
Optionally, further include：
The testing result received is sent to the wireless communication module, the wireless communication by the receiving module
The testing result is sent to the first control circuit plate by module, and the detection is exported by the first control circuit plate
As a result.
The embodiment of the utility model provides a kind of scanning laser radar installations, which includes non-
Rotary part, rotary part, position identification component, laser detection component and at least one position instruction structure.Rotary part phase
During for static on-rotatably moving part rotation, as the position identification component that rotary part rotates is non-rotating to being arranged on
Position instruction structure on component is identified, and recognizes the time interval of position instruction structure every time by position identification component
It is capable of determining that the real rotary speed of rotary part, and between combination angular resolution calculating each time for carrying out laser detection
Every i.e. preset time period.Laser detection component recognizes the position instruction structure with any position identification component
Time point is starting point, and laser detection is carried out every the preset time period.The scanning laser radar installations is by the way that position is identified
Component follows motor to rotate, and position instruction structure maintains static, and rotary part can be directly acquired by position identification component
The location of the rotary speed of rotary part and rotary part and angle information realize that angle is synchronous, it is only necessary to rotary part
To the one-way data transfer of on-rotatably moving part, simplify hardware circuit design, the device space has been saved, by position identification component
The identification information of output and the angular resolution of detection are handled, and reduce the design requirement and design to position identification component
Difficulty reduces complete machine cost.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram for the scanning laser radar installations that the utility model one embodiment provides；
Fig. 2 is that the flow for being detected the detection method synchronous with angle of the utility model another embodiment offer is shown
It is intended to；
Fig. 3 is the first pulse signal of the utility model another embodiment offer and the schematic diagram of the second pulse signal；
Fig. 4 is the detection based on scanning laser radar of the utility model another embodiment offer side synchronous with angle
The flow diagram of method.
Specific embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, those of ordinary skill in the art's all other embodiments obtained without making creative work, belongs to
The scope of the utility model protection.
Fig. 1 is a kind of structure diagram of scanning laser radar installations provided in this embodiment, and referring to Fig. 1, which swashs
Optical radar device includes on-rotatably moving part 101, rotary part 102, position identification component 103, laser detection component and at least one
A position instruction structure 104；
The position instruction structure 104 is arranged on the on-rotatably moving part 101；
The position identification component 103 is arranged on the rotary part 102, and in the rotary part 102 rotation
In the process, the position instruction structure 104 can be identified in the position identification component 103；
The laser detection component is arranged on the rotary part 102, during the rotary part 102 rotates
Carry out laser detection；
Wherein, during the rotary part rotates, institute's rheme is recognized with any position identification component
The time point of instruction structure is put as starting point, the laser detection is carried out every preset time period.
It should be noted that usually on-rotatably moving part 101 is to be located at below rotary part and have branch to rotary part 102
The structure of support effect.Position instruction structure 104 is arranged on on-rotatably moving part 101, during rotary part 102 rotates,
Position instruction structure 104 can be identified in position identification component 103.The number of position identification component 103 can be one
Can also be multiple, the present embodiment is not particularly limited this.It will be appreciated that the position instruction knot set on on-rotatably moving part
For structure for marking the angle that rotational structure turns over, the angle and angular resolution turned over according to rotational structure determines laser detection
Component carries out the time point of laser detection, and therefore, position instruction structure can be arranged on the bottom of rotational structure, can also set
In other positions, for example, fixing the position instruction structure at the top of rotational structure, the present embodiment is not particularly limited this,
As long as the angle that rotational structure turns over can be accurately positioned by the position instruction structure.
It should be noted that, although the rotating speed of rotary part 102 can be controlled, but characterization rotating part in order to be more accurate
The rotating speed of part 102, with the precision of raising progress laser detection, it is necessary to the rotation speed actual to rotary part 102 in the present embodiment
Degree carries out examinations.Rotary speed can sense to obtain by the velocity sensor being mounted on rotary part 102, can also
The combination of position identification component 103 and position instruction structure 104 in through this embodiment is calculated.Angular resolution refers to
Laser detection component is per the adjacent angle interval for carrying out laser detection twice, for example, laser detection of every 1 degree of progress.
For example, the position instruction structure 104 in the present embodiment have it is N number of, then detect the N+1 times and recognize position instruction
Structure then illustrates that rotary part 102 rotates a circle, then recognize position instruction structure according to the 1st time identifies in place to the N+1 times
Putting the time used in instruction structure can obtain rotary part rotation and turns around the time used, i.e. swing circle T1, then speed is rotated
Spend V=1/T1.If there is provided multiple position instruction structures, for example, certain two position identification structure turns compared with rotational structure
Angle between axis is α, and position identification component identifies that the time interval of the two positions identification structure is T2, then speed is rotated
Spend V=α/(360 × T2)。
For example, angular resolution is A, then the time interval that laser detection component carries out laser detection is T=A/ (360 × V).
Laser detection component once recognizes position instruction structure as start time using position identification component, often by preset time period
T transmitting laser carries out laser detection, that is, realizes the laser detection that angular resolution is A.In the present embodiment, rotating part is detected in real time
The rotary speed of part, and using the time point Jing Guo a certain position instruction structure as starting point, realize to the accurate fixed of rotation angle
Position.
The scanning laser radar installations is capable of determining that rotary part by position instruction structure and position identification component
Rotary speed can simultaneously position the angle that rotary part turns over, so that it is determined that the time point of laser detection is carried out every time, it is real
Existing method is simple.And the scanning laser radar installations need not set code-disc and encoder on rotary part and on-rotatably moving part
So as to carry out two-way communication, the structure of scanning laser radar is simplified, reduces cost.
Present embodiments provide a kind of scanning laser radar installations, the scanning laser radar installations include on-rotatably moving part,
Rotary part, position identification component, laser detection component and at least one position instruction structure.Rotary part is compared with static
During on-rotatably moving part rotates, as the position identification component of rotary part rotation is to the position that is arranged on on-rotatably moving part
It puts instruction structure to be identified, the time interval for recognizing position instruction structure every time by position identification component is capable of determining that
The real rotary speed of rotary part, and combine angular resolution and calculate the time interval for carrying out laser detection every time, i.e., when default
Between section.Laser detection component using any time position identification component recognize the time point of the position instruction structure for
Point carries out laser detection every the preset time period.The scanning laser radar installations by position identification component by following electricity
Machine rotates, and position instruction structure maintains static, and rotary part can directly acquire rotary part by position identification component
The location of rotary speed and rotary part and angle information realize that angle is synchronous, it is only necessary to which rotary part is to non-rotating portion
The one-way data transfer of part simplifies hardware circuit design, has saved the device space, passed through the identification exported to position identification component
Information and the angular resolution of detection are handled, and reduce the design requirement and design difficulty to position identification component, are reduced
Complete machine cost.
Further, on the basis of above-described embodiment, the on-rotatably moving part is located at below the rotary part, institute
Rheme puts identification component and rotates the track to be formed with the rotary part forms throwing in the plane where the on-rotatably moving part
Shadow curve；
The position instruction structure distribution is in the drop shadow curve.
Further, on the basis of the various embodiments described above, the rotation axis of the rotary part is on the plane
It is projected as projected centre point；
The angle using the projected centre point as vertex that point where per two adjacent position instruction structures is formed is
Predetermined angle.
As shown in Figure 1, support construction of the on-rotatably moving part 101 as support rotary part 102, position identification component are set
In the surface of drop shadow curve, missing inspection of the position identification component to some position instruction structure is avoided.It should be noted that work as
When position instruction structure 104 has multiple, the position instruction being distributed in drop shadow curve structure 104 can be caused to be uniformly distributed, i.e.,
The angle using the projected centre point as vertex that point where per two adjacent position instruction structures is formed is predetermined angle.
For example, predetermined angle is 90 degree, position instruction structure is 4.
A kind of scanning laser radar installations is present embodiments provided, on the on-rotatably moving part of the scanning laser radar installations
Position instruction even structure is set, and convenient for passing through the rotary speed of any two position instruction Structure Calculation rotary part, is improved
The accuracy rate of the rotary speed calculated.
Further, on the basis of the various embodiments described above, the position instruction structure is boss, concave station or quarter
Line,
The position identification component is optoelectronic switch, penetration encoder or reflective encoder.
It should be noted that boss can be structure integrally formed with on-rotatably moving part or individually installation
Component, the present embodiment are not particularly limited this.Optoelectronic switch that can be above-mentioned, penetration encoder at the identification component of position
Or outside reflective encoder, camera can also be, the present embodiment is not particularly limited this.
A kind of scanning laser radar installations is present embodiments provided, the position instruction structure of the scanning laser radar installations is
Be arranged on boss on on-rotatably moving part, concave station either groove position identification component be optoelectronic switch, penetration encoder or
Reflective encoder, component easily obtain, simple in structure, are easy to be molded.
Further, on the basis of the various embodiments described above, as shown in Figure 1, further including motor 105；
The motor 105 is fixed on the on-rotatably moving part；
The motor 105 drives the rotary part to rotate.
Further, on the basis of the various embodiments described above, first be arranged on the on-rotatably moving part is further included
Control circuit board 106 is arranged on the second control circuit plate rotated at the top of the rotary part with the rotary part；
The first control circuit plate 106 is used to provide electric energy for the motor, and the motor is controlled to drive the rotation
Component is rotated according to preset rotation speed；
The second control circuit plate 107 recognizes the position instruction structure for receiving the position identification component
Identification information；
Wherein, the second control circuit plate 107 is according to the time interval that receives the identification information every time and described
The quantity of position instruction structure determines the swing circle of the rotary part, according to the swing circle and default laser detection
Angular resolution determine the preset time period.
First control circuit plate 101 is the main control board of bottom, for driving motor so that rotary part 102 is according to pre-
If rotating speed is rotated.Second control circuit plate 107 and position identification component 103 connect, for record position identification component 103
The time point of position instruction structure 104 is recognized every time, so as to calculate the rotary speed of rotary part 102.Meanwhile second controls
Circuit board 107 processed can also calculate laser detection component according to rotary speed and angular resolution and carry out the default of laser detection
Period, so that laser detection component carries out laser detection every preset time period
A kind of scanning laser radar installations is present embodiments provided, which is driven by motor rotates
Component rotates, and the calculating of rotary speed is realized by second control circuit plate, and determines to carry out the preset time period of laser detection,
Control to rotary part is realized by first control circuit plate, realizes and is detected the detection synchronous with angle.
Further, on the basis of the various embodiments described above, as shown in Figure 1, the laser detection component is included wirelessly
Power supply module 1081, illuminating module 1082, receiving module 1083 and wireless communication module 1084；
The wireless power module 1081 receives electric energy by wireless power technology from the first control circuit plate 106,
For the illuminating module 1082, the receiving module 1083, the wireless communication module 1084 and the position identification component 103
Electric energy is provided；
Further, on the basis of the various embodiments described above, the wireless communication module is used for and the described first control
Circuit board and the second control circuit plate carry out information exchange.
Further, on the basis of the various embodiments described above, the wireless communication module receives the second control electricity
The preset time period that road plate is sent and the time point for receiving the identification information, the illuminating module and the reception mould
Group emits laser every the preset time period and receives swashing for transmitting using the time point for receiving the identification information as starting point
Light carries out the testing result of laser detection.
Further, on the basis of the various embodiments described above, further include：
The testing result received is sent to the wireless communication module, the wireless communication by the receiving module
The testing result is sent to the first control circuit plate by module, and the detection is exported by the first control circuit plate
As a result.
The wireless communication module is used to receive the preset time period that the second control circuit plate is sent, the hair
Optical mode group and the receiving module carry out laser detection according to the preset time period.
Since the second control circuit plate 107 at top is the state of 360 ° of rotations, the side of direct line cannot be used
Formula supplies power for, therefore is powered using existing common wireless power technology to it, and wireless power module 1081 is also controlled by bottom
The first control circuit plate 106 in portion, 105 stabilization of speed of motor and, the first control circuit plate 106 of bottom enables wireless power mould
Group 1081, is powered second control circuit plate 107.
Scanning laser radar installations provided in this embodiment, the scanning laser radar installations are realized by wireless power technology
The transmission of power supply and signal between rotary part and on-rotatably moving part so that the structure of scanning laser radar installations is more simple
It is single.
Second aspect, based on above-mentioned scanning laser radar installations, present embodiments provide be detected it is synchronous with angle
Detection method, as shown in Fig. 2, this method includes：
201：During the rotary part rotates, the position identification component carries out the position instruction structure
Identification, and the identification information for recognizing the position instruction structure every time is transmitted to the second control circuit plate；
202：After the second control circuit plate receives the identification information, according to receiving the identification information every time
Time interval and the angular resolution determine the preset time period, and the preset time period is sent to described wireless
Communications module；
203：After the wireless communication module receives the preset time period, the illuminating module is controlled with any secondary institute
Rheme puts identification component and recognizes the time point of the position instruction structure as starting point, emits laser every the preset time period
Laser detection is carried out, the receiving module receives the testing result for carrying out the laser detection, and the testing result is transmitted
To the wireless communication module；
204：The testing result is transmitted to the first control circuit plate by the wireless communication module, passes through described
One control circuit board exports the testing result.
It is provided in this embodiment to be detected based on above-mentioned scanning laser radar installations in the detection method synchronous with angle,
Scanning laser radar installations includes on-rotatably moving part, rotary part, position identification component, laser detection component and at least one position
Put instruction structure.During rotary part is compared with static on-rotatably moving part rotation, with the position of rotary part rotation
The position instruction structure being arranged on on-rotatably moving part is identified in identification component, is recognized every time by position identification component
The time interval of position instruction structure is capable of determining that the real rotary speed of rotary part, and combines angular resolution and calculate every time
Carry out the time interval of laser detection, i.e. preset time period.Laser detection component is identified with any position identification component
Time point to the position instruction structure is starting point, and laser detection is carried out every the preset time period.The scanning laser thunder
Up to device by motor being followed to rotate position identification component, and position instruction structure maintains static, and rotary part can pass through
Position identification component directly acquires the location of rotary speed and rotary part of rotary part and angle information, realizes angle
It is synchronous, it is only necessary to which that rotary part simplifies hardware circuit design, saved equipment sky to the one-way data transfer of on-rotatably moving part
Between, it is handled by the identification information and the angular resolution of detection that are exported to position identification component, reduces and position is known
The design requirement and design difficulty of other component reduce complete machine cost.
Further, on the basis of above-described embodiment, the second control circuit plate receives the identification information
Afterwards, the preset time period is determined according to the time interval and the angular resolution that receive the identification information every time, and
The preset time period is sent to the wireless communication module, including：
After the second control circuit plate receives the identification information, the first pulse signal is generated, according to described first
Pulse signal passes through formulaCalculate the rotary speed；
According to the rotary speed and the angular resolution, the preset time is calculated by formula T=A/ (360 × V)
Section using the edge corresponding time point of any first pulse signal as starting point, generates second pulse signal, with this
Time point where two pulse signals is starting point, a second new pulse signal is generated every the preset time period, by life
Into all second pulse signals be sent to the wireless communication module, between the time between adjacent two the second pulse signals
Every as described preset time period；
Wherein, V is the rotary speed of the rotary part, and N is the position instruction knot being arranged on the on-rotatably moving part
The number of structure, A are the angular resolution, and T is the preset time period, and each first pulse signal corresponds to institute's rheme
Put instruction structure, tiTo receive i-th of first pulse signals away from the time interval for receiving (i-1)-th the first pulse signal,
And t1=0.
If Fig. 3 shows the schematic diagram of the first pulse signal and the second pulse signal, as shown in figure 3, being revolved in rotary part
The time T to circle1The middle number for carrying out laser detection is 360/A, i.e., in T1In include 360/A the second pulse signals.
Further, on the basis of the various embodiments described above, the wireless communication module receives the preset time
Duan Hou, control the illuminating module using any time position identification component recognize time point of the position instruction structure as
Starting point carries out laser detection every preset time period transmitting laser, and the receiving module, which receives, carries out the laser detection
Testing result, and the testing result is transmitted to the wireless communication module, including：
After the wireless communication module receives the second pulse signal, the illuminating module is controlled to believe in every one second pulse
Time point transmitting laser where number carries out laser detection, and the receiving module receives the detection knot for carrying out the laser detection
Fruit, and the testing result is transmitted to the wireless communication module.
It is provided in this embodiment that the detection method synchronous with angle is detected based on above-mentioned scanning laser radar installations, it should
Method defines the computational methods of the time interval of rotary speed and laser detection component progress laser detection, can by this method
To realize the quick calculating of preset time period, laser detection is effectively controlled by pulse signal.
Further, on the basis of the various embodiments described above, further include：
The first control circuit plate controls the motor to drive the rotary part according to preset rotary speed
Rotation, and generates the enabled control signal of the wireless power module, with for the position identification component, the illuminating module,
The receiving module, the wireless communication module and the second control circuit plate provide electric energy；
After the first control circuit plate receives the testing result, the testing result is sent by external interface
To default host computer.
It is provided in this embodiment that the detection method synchronous with angle is detected based on above-mentioned scanning laser radar installations,
It should be noted that host computer can be such as mobile phone, apparatus such as computer, testing result is shown by host computer.
It present embodiments provides and the detection method synchronous with angle is detected based on above-mentioned scanning laser radar installations, it should
Testing result is sent to host computer by first control circuit plate in method, to show testing result by host computer, realizes inspection
Survey the visualization of result.
As a kind of more specifically embodiment, as shown in Figure 1, scanning laser radar installations provided in this embodiment includes
On-rotatably moving part 101 controls for the structural support to rotary part 102 and rotation；Position instruction structure 104, for rotation
The position of rotation member 102 and angle instruction；Motor 105 for connecting on-rotatably moving part 101 and rotary part 102, makes rotating part
Part 102 stablizes rotation；Rotary part, the angle position according to residing for rotary part are detected into row distance；Position identification component
103, coordinate with position instruction structure 104, the angle of test position instruction structure 104, and angle position signal is provided；Wherein,
Position instruction structure 104 maintains static, and position identification component 103 follows motor 105 to rotate.
Wherein, position instruction structure 104 is boss or groove, and quantity is at least N, N >=1, position instruction structure 104
Can be to be uniformly distributed or non-uniform Distribution in the range of 360 °.Position identification component 103 is penetration or reflective
Encoder or optoelectronic switch, after detecting position instruction structure, level change will be generated, generate the first pulse signal, non-rotation
Rotation member 101 is used as bottom mounting plate, is provided with first control circuit plate 106 and is used as bottom main control board.It controls bottom
Circuit board processed provides the enabled control signal of motor rotation and wireless power module, and obtains wireless communication module transmission range letter
Breath, by external interface, is sent to computer or upper computer equipment.The component rotated together with rotary part includes top
Second control circuit plate 107, wireless power module 1081, wireless communication module 1084, the illuminating module 1082 of laser, laser
Receiving module 1083.Wherein, wireless power module is controlled by bottom control circuit board, powers for rotary part；The channel radio
Believe module, the information of rotary part is transferred to on-rotatably moving part；The lasing fluorescence module is controlled by top control circuit
Plate, will be on laser projection to testee；The laser pick-off module, with top control circuit board (second control circuit plate) even
It connects, the scattering echo signal of testee is amplified processing, and obtain the time of laser flying, top control circuit board
It is connected with rotary part, is handled according to the information of position identification component, obtain angle control pulse (the second pulse signal),
The work of lasing fluorescence module and laser pick-off module is controlled, range information is obtained, and range information (testing result) is passed through
Wireless communication module is transferred to base circuit board.
For example, as shown in Figure 1, the scanning laser radar installations includes：On-rotatably moving part 101, position instruction structure 104,
Motor 105, position identification component 103, rotary part 102.Wherein, on-rotatably moving part 101 is as the structure to rotational structure 102
The structural member of support further includes the second control circuit plate 107 controlled rotary part 102, for rotary part
Structural support and rotation control.
Wherein, the supporting structure in 104 right and wrong rotary part 101 of position instruction structure is connected, with support
Structural member can be one whole or independent.
Motor 105 provides power supply and control signal by first control circuit plate 106, when first control circuit plate 106 is sent
During 105 speed controling signal of motor, motor is rotated with the stabilization of speed set.
The power supply of position identification component 103 is provided by the second control circuit plate 107 at the top of rotary part 102, position
Identification component 103 is put to be engaged with position instruction structure 104.Position identification component 103 can be the encoder of penetration, reflection
Formula encoder, optoelectronic switch.Position instruction structure 104 matches change according to the difference of position identification component 103, when position is known
When other component 103 detects position instruction structure 104, it may occur that level change forms detection pulse (the first pulse signal) and sends out
Give top main control board (second control circuit plate 107).
Rotary part 102 includes wireless power module 1081, wireless communication module 1084, illuminating module 1082, reception
Module 1083, top main control board, wherein,
Wireless power module 1081 is controlled by bottom main control board (first control circuit plate 106), is and rotary part
Position identification component 103, illuminating module 1082, receiving module 1083, the wireless communication module 1084 of 102 connections provide electric energy.
Wireless communication module 1084, signal transmitting terminal are connected with top main control board, signal receiving end and bottom master control
Circuit board 113 connects, and the data message that top main control board obtains is transferred to top master control by wireless communication module 1084
Circuit board.
Since rotary part 102 is in 360 ° of rotation status, pass through wireless power and power wireless communication and information
Transmission.
Illuminating module 1082 and receiving module 1083 can be single line module or multi-thread module.
The effect of top main control board is that the position angle information of rotary part 102 is obtained from position identification component 103,
Illuminating module 1082 and receiving module 1083 is controlled to complete laser detection and obtains range information (testing result), and by range information
Bottom main control board is sent to by wireless communication module 1084.
The present embodiment also provides the detection based on above-mentioned scanning laser radar the method synchronous with angle, as shown in figure 4, with
Include in the distance measuring method of the scanning type laser radar ranging equipment of offer：
S1, bottom main control board (first control circuit plate) obtain preset motor speed information, and according to turning
Fast information adjusts output motor rotating speed control signal, and motor is made to reach predetermined speed (preset rotation speed)；
S2, bottom main control board open wireless power enable signal, make top main control board (second control circuit
Plate) and position identification component acquisition electric energy；
S3, top main control board obtain the first pulse signal of position identification component output, and pass through timer, calculate
The rotating speed (rotary speed) of rotary part；
S4, top governor circuit obtain preset angular resolution, calculate and store the required laser detection cycle
(preset time period)；
It the time for the position instruction structure that S5, top main control board are identified according to position identification component, exports with first
On the basis of the signal edge of pulse, the synchronous and cycle is the second pulse signal of detection cycle；
S6, top main control board on the basis of the edge of each pulse of the second pulse signal, control illuminating module with
Receiving module completes laser detection, and records detecting distance (testing result)；
S7, top main control board are by detecting distance value by wireless communication transmissions to base circuit board；
S8, base circuit board re-group package the distance value received, are sent by external interface.
Specifically, in step S1, backplane circuit plate maintains static, and can be set by external interface and outside
Standby connection, therefore be stored in during rotary speed information in backplane circuit plate, backplane circuit plate reads rotary speed information and motor is made to work, electricity
Machine makes rotary part rotate 15；
In step S2, since top circuit board is the state of 360 ° of rotations, powered using wireless power technology to it,
Wireless power module is also controlled by base circuit board, motor speed stablize and, base circuit board enables wireless power module, to top
Portion's circuit board is powered；
In step S3, although motor is rotated with certain rotating speed, still had between actual speed and setting speed
Deviation, due to the connection of position identification component and rotary part, the first pulse signal exported by reading position identification component
The number of (as shown in Figure 3 the first pulse signal), when position instruction structure have it is N number of, then detect N+1 the first pulses letters
Number, then illustrate that rotary part rotation is turned around, top plate main control board is by periodically, obtaining the time that rotary part rotation is turned around
T1, then motor speed V=1/T1；
In step S4, angular resolution A is the intrinsic index of scanning laser radar, between reaction laser radar measures twice
Angular deviation, top plate main control board can calculate to obtain lasing fluorescence mould according to angular resolution A and real electrical machinery rotating speed V
The light period T (the second pulse signal in such as Fig. 3) of group is T=A/ (360 × V)；
In step S5, on the basis of the edge of the first pulse signal, the second pulse signal that the cycle is T is regenerated, is used
In the actual signal that shines of control lasing fluorescence module, since the second pulse signal is on the basis of the first pulse signal edge, the
One pulse signal is obtained by the detection to position instruction structure, and position identification component is the design of fixed position, therefore
Realize the detection data that the detection of scanning laser radar is synchronous with angle, and rotary part every revolution obtains, each angle
Under, all it is identical position.
In step S6~S8, laser detection is carried out on the basis of the second pulse signal, and passes through wireless communication module 152,
Base circuit board is transferred to, base circuit board is converted and re-grouped package into row distance, ranging data is sent.
It is provided in this embodiment that the detection method synchronous with angle is detected based on above-mentioned scanning laser radar installations, lead to
It crosses and motor is followed to rotate position identification component, and position instruction structure maintains static, rotary part can be identified by position
Component directly acquires the location of motor speed and rotary part and angle information, realizes that angle is synchronous, it is only necessary to rotating part
Part simplifies hardware circuit design, the device space has been saved, by position identification part to the one-way data transfer of on-rotatably moving part
The information of angle detection of part output and the processing method of detection angles resolution ratio, reduce to the design requirement of position instruction structure and
Design difficulty reduces complete machine cost.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
Technical solution is stated substantially in other words to embody the part that the prior art contributes in the form of software product, it should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
Order, which is used, so that computer equipment (can be personal computer, server or the network equipment etc.) performs each implementation
Method described in some parts of example or embodiment.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the embodiment of the utility model, and
It is non-that it is limited；Although the embodiment of the utility model is described in detail with reference to foregoing embodiments, this field
Those of ordinary skill should be understood：It can still modify to the technical solution recorded in foregoing embodiments or right
Which part or all technical characteristic carry out equivalent substitution；And these modifications or replacement, do not make appropriate technical solution
Essence departs from the scope of each embodiment technical solution of embodiment of the utility model.
Claims (10)
1. a kind of scanning laser radar installations, which is characterized in that including on-rotatably moving part, rotary part, position identification component, swash
Photodetector and at least one position instruction structure；
The position instruction structure setting is on the on-rotatably moving part；
The position identification component is arranged on the rotary part, and during the rotary part rotates, institute's rheme
The position instruction structure can be identified by putting identification component；
The laser detection component is arranged on the rotary part, and laser inspection is carried out during the rotary part rotates
It surveys；
Wherein, during the rotary part rotates, the position is recognized with any position identification component and is referred to
Show the time point of structure for starting point, the laser detection is carried out every preset time period.
2. scanning laser radar installations according to claim 1, which is characterized in that the on-rotatably moving part is located at the rotation
Below rotation member, the position identification component rotates the track to be formed where the on-rotatably moving part with the rotary part
Drop shadow curve is formed in plane；
The position instruction structure distribution is in the drop shadow curve.
3. scanning laser radar installations according to claim 2, which is characterized in that the rotation axis of the rotary part is in institute
It states and is projected as projected centre point in plane；
The angle using the projected centre point as vertex that point where per two adjacent position instruction structures is formed is default
Angle.
4. scanning laser radar installations according to claim 3, which is characterized in that
The position instruction structure be boss, concave station or groove,
The position identification component is optoelectronic switch, penetration encoder or reflective encoder.
5. scanning laser radar installations according to claim 4, which is characterized in that further include motor；
The motor is fixed on the on-rotatably moving part；
The motor drives the rotary part rotation.
6. scanning laser radar installations according to claim 5, which is characterized in that further include and be arranged on the non-rotating portion
First control circuit plate on part is arranged on the second control circuit rotated at the top of the rotary part with the rotary part
Plate；
The first control circuit plate is used to for the motor provide electric energy, control the motor drive rotary part according to
Preset rotation speed rotates；
The second control circuit plate is used to receive the identification letter that the position identification component recognizes the position instruction structure
Breath；
Wherein, the second control circuit plate is according to the time interval and the position instruction for receiving the identification information every time
The quantity of structure determines the swing circle of the rotary part, according to the angle of the swing circle and default laser detection point
Resolution determines the preset time period.
7. according to the scanning laser radar installations described in claim 6, which is characterized in that the laser detection component includes nothing
Line power supply module, illuminating module, receiving module and wireless communication module；
The wireless power module receives electric energy by wireless power technology from the first control circuit plate, is the luminous mould
Group, the receiving module, the wireless communication module and the position identification component provide electric energy.
8. scanning laser radar installations according to claim 7, which is characterized in that the wireless communication module is used for and institute
It states first control circuit plate and the second control circuit plate carries out information exchange.
9. scanning laser radar installations according to claim 8, which is characterized in that
The wireless communication module receives the preset time period of the second control circuit plate transmission and receives the knowledge
The time point of other information, the illuminating module and the receiving module to receive time point of the identification information as starting point,
The testing result of laser detection is carried out every the laser that the preset time period emits laser and receives transmitting.
10. scanning laser radar installations according to claim 9, which is characterized in that further include：
The testing result received is sent to the wireless communication module, the wireless communication module by the receiving module
The testing result is sent to the first control circuit plate, exporting the detection by the first control circuit plate ties
Fruit.
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| CN109507686A (en) * | 2018-11-08 | 2019-03-22 | 歌尔科技有限公司 | A kind of control method wears display equipment, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109507686A (en) * | 2018-11-08 | 2019-03-22 | 歌尔科技有限公司 | A kind of control method wears display equipment, electronic equipment and storage medium |
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