CN210347936U - Laser radar applying panoramic imaging device - Google Patents
Laser radar applying panoramic imaging device Download PDFInfo
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- CN210347936U CN210347936U CN201920993571.8U CN201920993571U CN210347936U CN 210347936 U CN210347936 U CN 210347936U CN 201920993571 U CN201920993571 U CN 201920993571U CN 210347936 U CN210347936 U CN 210347936U
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Abstract
The utility model discloses an use panoramic imaging device's laser radar belongs to the laser radar field, and it makes the laser net that the transmitting element formed for annular laser net through the laser pipe combination, and the barrier is touch to laser and the diffuse reflection of meeting back can, receives diffuse reflection laser through panoramic imaging device and obtains data, carries out image processing at last, and this kind of laser radar reaction rate is fast, and horizontal vision is big to receive diffusion laser through panoramic imaging device, the receiving surface is wide, and simple structure moreover, and is with low costs, and the production degree of difficulty is low.
Description
Technical Field
The utility model relates to a laser radar field especially relates to an use panorama image device's laser radar.
Background
Along with the high-speed development of AI, more and more intelligent robots are applied to large-scale markets, hospitals and factories to replace human work, the current intelligent robots mainly rely on laser radars for indoor positioning, the current solid-state laser radars have three types, namely mechanical type, MEMS mechanical/solid-state hybrid type and phased array (matrix) laser radars, and the current radars have some defects, such as the mechanical laser radars mainly rely on a rotary motor for driving, the number of laser tubes is large, the service life is short, the reliability is high, and the reaction speed is low; the MEMS type solid-state hybrid radar has the problem of small horizontal angle scanning, the phased array solid-state laser radar has the problems of complex structure, internal interference and small horizontal scanning angle, and the problems of high cost and high production difficulty exist.
SUMMERY OF THE UTILITY MODEL
For solving foretell problem, the utility model provides an use panoramic imaging device's laser radar makes the laser net that the transmitting element formed through the laser pipe combination be annular laser net, can diffuse reflection after the barrier is touch to laser, receive diffuse reflection laser through panoramic imaging device and obtain data, carry out image processing at last, this kind of laser radar reaction rate is fast, horizontal vision is big to receive diffusion laser through panoramic imaging device, the receiving surface is wide, and simple structure, and is with low costs, the production degree of difficulty is low.
The utility model adopts the technical proposal that: a laser radar comprises a transmitting unit, a panoramic imaging device and an image processor; the emitting unit enables a laser net formed by the emitting unit to be an annular laser net in a laser tube combination mode; the panoramic imaging device faces the transmitting unit to receive the laser diffused by the barrier after being transmitted by the transmitting unit;
the panoramic imaging device has two implementation modes:
the first is that the panoramic imaging device is a panoramic lens, and the laser radar also comprises a photoelectric sensor;
the second is that the panoramic imaging device is a panoramic camera.
In the technical scheme, the panoramic imaging device is internally provided with the narrow-band filter which can filter other external light except the emission unit.
In the above technical scheme, the emission unit comprises a laser tube, and a plurality of laser tubes are combined to emit to form an annular laser network.
In the above technical solution, the emission unit may also include a laser tube and a conical mirror body, the laser emission direction of the laser tube faces the conical surface of the conical mirror body, and the conical mirror body reflects laser light to form an annular laser network.
In the above technical scheme, when the emitting unit is formed into the annular laser net by arranging the plurality of laser tubes axially outwards around the circle center, the laser tubes are horizontally arranged or inclined upwards by a certain angle to form the horizontal annular laser net or the conical annular laser net.
In the above technical solution, the emission unit has at least two layers, thereby forming a three-dimensional laser network.
In the technical scheme, the panoramic lens vertically faces the transmitting unit to receive the laser diffused by the barrier after being transmitted by the transmitting unit and then refract the laser onto the photoelectric inductor.
In the technical scheme, the axis of the photoelectric sensor coincides with the axis of the panoramic imaging device so as to receive the laser reflected by diffuse reflection and accurately acquire the positioning information.
In the technical scheme, each transmitting unit is electrically connected with an independent power supply, so that different transmitting units are selected to be combined and positioned, and a two-dimensional space with any height is scanned.
The utility model has the advantages that: the laser radar using the panoramic imaging device is simple in used parts and low in production cost, solves the problem of high cost of the traditional laser radar, and also solves the problem of complex assembly and difficult debugging of the traditional laser radar; the laser network formed by the transmitting unit is an annular laser network through the combination of the laser tubes, and can receive a horizontal laser signal of 360 degrees, so that the problem of small horizontal visual angle of the traditional laser radar is solved; and moreover, the diffused laser is received through the panoramic imaging device, so that the receiving surface is wide and the receiving can be accurately carried out.
Drawings
Fig. 1 is an overall front view of a laser radar according to one or more embodiments of the present invention;
fig. 2 is an overall front view of a laser radar according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of an emitting unit according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a second transmitting unit according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a third transmitting unit according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
fig. 1 and 3 schematically show a laser radar to which a panoramic imaging apparatus is applied according to an embodiment of the present invention.
A lidar employing a panoramic imaging apparatus 2, comprising:
the transmitting units 1 include at least two layers or more of transmitting units 1, and here, three layers of transmitting units 1 are included by way of example, but the number of transmitting units 1 is not limited. Each layer of emission unit 1 is placed at different heights in space, the height can be set by self, and the emission unit 1 can horizontally emit annular laser and form a horizontal annular laser network, as shown by a dotted line in fig. 2; each layer of emission units 1 can emit each ring laser at different heights, so that a three-dimensional ring laser net is formed in space. Each layer of emission unit 1 comprises a laser tube 11 and a laser circuit board 12, and the laser circuit board 12 is electrically connected with the laser tube 11 to realize automatic control; the a laser tubes 11 are horizontally arranged along a circle, laser heads of the laser tubes 11 face outwards, the tail parts and the axial lead of the laser tubes 11 point to the circle center, horizontal included angles of the axes of the adjacent laser tubes 11 are P =360 DEG/a, the laser tubes 11 can emit linear laser line segments, the emitting line angles of the linear laser line segments are P =360 DEG/a, and therefore the laser line segments emitted by all the laser tubes 11 are connected end to finally form a horizontal annular laser network.
The panoramic imaging device 2 is a panoramic lens, the panoramic imaging device 2 can obtain a view field with a certain angle in the vertical direction and a full 360 degrees in the horizontal direction, faces the transmitting unit, and can receive laser diffused by the transmitting unit and touching an obstacle after being transmitted; the panoramic imaging apparatus 2 is internally provided with a narrow band filter (not shown in the figure) which can filter other external light except for the emitting unit.
The photoelectric sensor 3 is arranged behind the panoramic imaging device 2, and the axis of the photoelectric sensor coincides with the axis of the panoramic imaging device 2 so as to receive the laser reflected by diffuse reflection and accurately acquire positioning information. The photosensors 3 may be avalanche diode arrays, cmos arrays, CCD arrays.
And the image processor 4 is electrically connected with the photoelectric sensor 3, and is used for calculating a two-dimensional point cloud picture from the data acquired by the photoelectric sensor 3, and then combining the two-dimensional point cloud picture into a three-dimensional point cloud picture to obtain the coordinates of the barrier and realize three-dimensional laser positioning.
As described above, each layer of the emission units 1 is electrically connected to an independent power supply, so that each layer of the emission units 1 can be independently lighted. Of course, in special cases, the independent power supply may also light up the corresponding emitting unit 1 individually, if it is necessary to scan a certain area.
Example two:
fig. 2 and 4 schematically show a laser radar to which the panoramic imaging apparatus is applied according to an embodiment of the present invention.
A lidar employing a panoramic imaging apparatus 2, comprising:
the transmitting units 1 include at least two layers or more of transmitting units 1, and here, three layers of transmitting units 1 are included by way of example, but the number of transmitting units 1 is not limited. Each layer of emission unit 1 is placed at different heights in space, the height can be set by self, and the emission unit 1 can horizontally emit annular laser and form a horizontal annular laser network, as shown by a dotted line in fig. 3; each layer of emission units 1 can emit each ring laser at different heights, so that a three-dimensional ring laser net is formed in space. Each layer of emission unit 1 comprises a laser tube 11 and a laser circuit board 12, and the laser circuit board 12 is electrically connected with the laser tube 11 to realize automatic control; the laser tubes are inclined at an angle to form a conical arrangement, and a conical annular laser net is generated.
The laser light emitted by the emitting unit 1 is subjected to diffuse reflection after contacting with an obstacle, the panoramic imaging device 2 is a panoramic camera, replaces a panoramic lens, and does not use a photoelectric sensor 3; the panoramic imaging apparatus 2 is internally provided with a narrow band filter (not shown in the figure) which can filter other external light except for the emitting unit.
And the image processor 4 is electrically connected with the panoramic camera 5, and is used for calculating a two-dimensional point cloud picture from the data acquired by the panoramic camera 5, and then combining the two-dimensional point cloud picture into a three-dimensional point cloud picture to obtain the coordinates of the barrier, thereby realizing three-dimensional laser positioning.
As described above, each layer of the emission units 1 is electrically connected to an independent power supply, so that each layer of the emission units 1 can be independently lighted. Of course, in special cases, the independent power supply may also light up the corresponding emitting unit 1 individually, if it is necessary to scan a certain area.
Example three:
fig. 1 and 5 schematically show a laser radar to which a panoramic imaging apparatus is applied according to an embodiment of the present invention.
The laser radar using the panoramic imaging device 2 is different from the laser radars of the first embodiment and the second embodiment in that each layer of transmitting unit 1 comprises a laser tube 11, a laser circuit board 12 and a conical mirror body 13, and the laser circuit board 12 is electrically connected with the laser tube 11 to realize automatic control; the laser tube 11 is a point laser tube, the lower end of the conical mirror body 13 is a reflecting mirror surface with an inclined plane of 45 degrees, the conical mirror body 13 is vertically arranged right above the laser tube 11, and the emitting head of the laser tube 11 is right opposite to the lower end of the reflecting mirror 13; the point laser emitted from the laser tube 11 is reflected to the reflecting mirror surface of the conical mirror body 13 to form a horizontal ring-shaped laser network, as shown by the dotted line in fig. 4.
The above embodiments are merely for illustration and not for limitation, if only one transmitting unit is used in the above description, a two-dimensional solid-state lidar cloud point diagram can be generated independently, which is also within the protection of the present patent, so that all equivalent changes or modifications made by the method according to the claims of the present invention are included in the scope of the present application.
Claims (9)
1. A laser radar using a panoramic imaging device is characterized by comprising a transmitting unit, the panoramic imaging device and an image processor; the emitting unit enables a laser net formed by the emitting unit to be an annular laser net in a laser tube combination mode; the panoramic imaging device faces the transmitting unit to receive the laser diffused by the barrier after being transmitted by the transmitting unit;
the panoramic imaging device has two implementation modes:
the first is that the panoramic imaging device is a panoramic lens, and the laser radar also comprises a photoelectric sensor;
the second is that the panoramic imaging device is a panoramic camera.
2. The lidar employing the panoramic imaging apparatus according to claim 1, wherein: the panoramic imaging device is internally provided with a narrow-band filter which can filter other external light except the emitting unit.
3. The lidar employing the panoramic imaging apparatus according to claim 1, wherein: the transmitting unit comprises laser tubes, and the laser tubes are arranged outwards in the axial direction around the circle center to form an annular laser net.
4. The lidar employing the panoramic imaging apparatus according to claim 1, wherein: the transmitting unit comprises a laser tube and a conical mirror body, the laser transmitting direction of the laser tube faces the conical surface of the conical mirror body, and the conical mirror body reflects laser to form an annular laser net.
5. The lidar employing the panoramic imaging apparatus according to claim 3, wherein: when the emitting unit is formed by a plurality of laser tubes which are arranged outwards along the axial direction of the circle center to form an annular laser net, the laser tubes are horizontally arranged or are arranged by inclining upwards for a certain angle to form a horizontal annular laser net or a conical annular laser net.
6. The lidar employing a panoramic imaging apparatus according to any one of claims 1, 3, 4, or 5, wherein: the emission unit has at least two layers to form a three-dimensional laser network.
7. The lidar employing the panoramic imaging apparatus according to claim 1, wherein: the panoramic lens faces the transmitting unit vertically.
8. The lidar employing a panoramic imaging apparatus according to claim 1 or 7, wherein: the axis of the photoelectric sensor coincides with the axis of the panoramic imaging device.
9. The lidar employing a panoramic imaging apparatus according to any one of claims 1 to 5, wherein: each transmitting unit is electrically connected with an independent power supply, so that different transmitting units are selected to be combined and positioned, and a two-dimensional space with any height is scanned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920993571.8U CN210347936U (en) | 2019-06-28 | 2019-06-28 | Laser radar applying panoramic imaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920993571.8U CN210347936U (en) | 2019-06-28 | 2019-06-28 | Laser radar applying panoramic imaging device |
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| Publication Number | Publication Date |
|---|---|
| CN210347936U true CN210347936U (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920993571.8U Active CN210347936U (en) | 2019-06-28 | 2019-06-28 | Laser radar applying panoramic imaging device |
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| CN (1) | CN210347936U (en) |
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