CN207817209U - A kind of linear laser panoramic scanning radar - Google Patents
A kind of linear laser panoramic scanning radar Download PDFInfo
- Publication number
- CN207817209U CN207817209U CN201820133174.9U CN201820133174U CN207817209U CN 207817209 U CN207817209 U CN 207817209U CN 201820133174 U CN201820133174 U CN 201820133174U CN 207817209 U CN207817209 U CN 207817209U
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- China
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- linear laser
- laser
- measured object
- wide
- camera module
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Abstract
The utility model is related to laser radar technique fields, disclose a kind of linear laser panoramic scanning radar, including camera module, wide-angle lens, narrow band filter slice, linear laser, horizontal revolving stage.The narrow band filter slice is positioned between camera module and wide-angle lens, the light for gating respective wavelength；The horizontal revolving stage can 360 ° of rotations of level；The linear laser is fixed on horizontal revolving stage, can emit the line-like laser beam flux of certain light-emitting angle, and is got on object to be measured object；Laser beam is reflected by object to be measured object on the wide-angle lens, enters back into the image that camera module forms object to be measured object, and by principle of triangulation, calculate image formed by object to be measured object and obtain the distance of object to be measured object.The utility model can simplify the structure of laser radar, the ranging vertical angle of view range of expansion of laser light radar, while also improve its reliability and stability.
Description
Technical field
The utility model is related to a kind of laser scanning and ranging field more particularly to a kind of linear laser panoramic scanning radars.
Background technology
In recent years, emerging with pilotless automobile and robot, as must accessory, range laser radar technology
High speed development.Wherein, the cost laser radar using video camera as information acquisition unit is even more and is rapidly risen in market.Mesh
Before, most Compact Laser Radars is all to drive cmos camera and laser to revolve jointly using a stepper motor on the market
Turn.Because the field of view angle by video camera is limited, stepper motor, which rotates a circle, all to scan the information on 360 ° of periphery
Arrive, caused by information lose.
Invention content
The purpose of this utility model is that the technology used for existing product on the market there are the problem of, one kind is provided
Linear laser panoramic scanning radar, can simplify the structure of laser radar, the ranging vertical angle of view range of expansion of laser light radar, together
When also improve its reliability and stability.
In order to solve posed problems above, the technical solution adopted in the utility model is：
A kind of linear laser panoramic scanning radar, including camera module, wide-angle lens, narrow band filter slice, linear laser,
Horizontal revolving stage；The narrow band filter slice is positioned between camera module and wide-angle lens, the light for gating respective wavelength；Institute
Stating horizontal revolving stage can 360 ° of rotation of level；The linear laser is fixed on horizontal revolving stage, can emit certain beam angle
The line-like laser beam flux of degree, and get on object to be measured object；Laser beam is reflected into the wide-angle by object to be measured object
On camera lens, enter back into the image that camera module forms object to be measured object, and according to calculate object to be measured object institute at
Image obtain the distance of object to be measured object.
The laser beam of the linear laser output is near-infrared light beam.The laser beam of the linear laser output
Light extraction subtended angle be not less than 90 °.The imaging sensor used in the camera module is CMOS or CCD.The wide-angle lens
Optical field of view angle be not less than 180 °.The output beam wavelength of the gating wavelength and the linear laser of the narrow band filter slice
Unanimously.
Compared with prior art, the beneficial effects of the utility model are：
A kind of panorama range laser radar of the utility model extends camera coverage by using big wide-angle panoramic camera lens
Environment veiling glare is filtered by the way of spike filter and reduction camera shutter time simultaneously, removal ambient light interferes, and
Horizontal revolving stage rotation only drives the 360 ° of rotations of linear laser level, this mode that can mitigate the load burden of stepper motor, make
It can faster reach laser beam on the object under test on periphery, and receive determinand by full shot and camera module
The reflected light of body.The utility model solves ambient light to scanning ranging interference problem, while solving horizontal turn
Platform rotation when due to simultaneously drive laser and video camera to rotate jointly when caused by overload, mechanical oscillation and shortening
The problems such as information caused by stepper motor service life and small angle is lost, simplifies the structure of laser ranging, improves signal-to-noise ratio,
Improve the performance of laser radar.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of panorama range laser radar of the utility model.
Specific implementation mode
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing 1.But the utility model can come in many different forms
It realizes, however it is not limited to embodiment described herein.Make to the utility model on the contrary, purpose of providing these embodiments is
The understanding of disclosure is more thorough and comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with the technology for belonging to the utility model
The normally understood meaning of technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Shown in attached drawing 1, a kind of panorama range laser radar provided by the utility model, including including camera module
（1）, wide-angle lens（2）, narrow band filter slice（3）, linear laser（4）And horizontal revolving stage（5）.The linear laser（4）Gu
Due to horizontal revolving stage（5）On, the line-like laser beam flux of certain light-emitting angle can be emitted, and get to object to be measured object（6）On,
Laser beam passes through object to be measured object（6）It is reflected into the wide-angle lens（2）On, enter back into camera module（1）Formation waits for
Survey target object 6）Image, and according to calculating the object to be measured object（6）Formed image obtains object to be measured object（6）
Distance.
Among the above, the narrow band filter slice is installed on camera module（1）With wide-angle lens（2）Between, it is corresponding for gating
The light of wavelength.The horizontal revolving stage（5）It can 360 ° of rotations of level.The linear laser（4）For the laser beam got
Angle is not less than 90 °, and light spot shape is the linear type shape vertical with space level face, the purpose for the arrangement is that can turn in level
When the 360 ° of rotations of platform level, the object under test on the scanning periphery of laser large area, the solid angle of scanning range are driven
Degree is not less than 180 °（360 ° of level angle, vertical angle are not less than 90 °）.
Linear laser（4）The laser beam got is irradiated to object to be measured object（6）Afterwards, the light of reflection passes through wide-angle
Camera lens（2）And narrow band filter slice（3）, enter camera module（1）, you can obtain the space diagram that space is not less than within the scope of 180 °
Picture.Using triangle telemetry, done at further number according to the picture element position information of the image of acquisition on the image sensor
Reason, so that it may to obtain required space length information to be measured.
In above-described embodiment, for the camera module（1）, wide-angle lens（2）, narrow band filter slice（3）Swash with threadiness
Light device（4）Suffer from strict requirements.Wherein, the time for exposure of camera module will adjust to short enough, to exclude to swash except linear
Other light beams other than the laser beam that light device is sent out interfere imaging；Wide-angle lens（2）Field angle otherwise be less than 180 °,
For obtaining spatial information on a large scale；Linear laser（4）Transmitting light beam wavelength be single wavelength, and be near-infrared wave
Section, may be used 808nm or 860nm；Narrow band filter slice（3）Gating wavelength and linear laser（4）Consistent wavelength, this
Sample can fully filter luminous ray, avoid interference of the luminous ray for imaging.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned
The limitation of embodiment, under other any Spirit Essences and principle without departing from the utility model made by change, modify, replace
In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.
Claims (6)
1. a kind of linear laser panoramic scanning radar, which is characterized in that including camera module（1）, wide-angle lens（2）, narrowband filter
Wave plate（3）, linear laser（4）, horizontal revolving stage（5）；The narrow band filter slice is positioned over camera module（1）With wide-angle lens
（2）Between, the light for gating respective wavelength；The horizontal revolving stage（5）It can 360 ° of rotations of level；The linear laser
（4）It is fixed on horizontal revolving stage（5）On, the line-like laser beam flux of certain light-emitting angle can be emitted, and get to object to be measured object
（6）On；Laser beam passes through object to be measured object（6）It is reflected into the wide-angle lens（2）On, enter back into camera module（1）
Form object to be measured object（6）Image, and according to calculating the object to be measured object（6）Formed image obtains object to be measured
Object（6）Distance.
2. a kind of linear laser panoramic scanning radar according to claim 1, which is characterized in that the linear laser
（4）The laser beam of output is near-infrared light beam.
3. a kind of linear laser panoramic scanning radar according to claim 1, which is characterized in that the linear laser
（4）The light extraction subtended angle of the laser beam of output is not less than 90 °.
4. a kind of linear laser panoramic scanning radar according to claim 1, which is characterized in that the camera module（1）
The interior imaging sensor used is CMOS or CCD.
5. a kind of linear laser panoramic scanning radar according to claim 1, which is characterized in that the wide-angle lens（2）
Optical field of view angle be not less than 180 °.
6. a kind of linear laser panoramic scanning radar according to claim 1, which is characterized in that the narrow band filter slice
（3）Gating wavelength and the linear laser（4）Output beam consistent wavelength.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820133174.9U CN207817209U (en) | 2018-01-26 | 2018-01-26 | A kind of linear laser panoramic scanning radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820133174.9U CN207817209U (en) | 2018-01-26 | 2018-01-26 | A kind of linear laser panoramic scanning radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207817209U true CN207817209U (en) | 2018-09-04 |
Family
ID=63325381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820133174.9U Expired - Fee Related CN207817209U (en) | 2018-01-26 | 2018-01-26 | A kind of linear laser panoramic scanning radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207817209U (en) |
-
2018
- 2018-01-26 CN CN201820133174.9U patent/CN207817209U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180904 Termination date: 20190126 |
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| CF01 | Termination of patent right due to non-payment of annual fee |