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WO2018201961A1 - Radar laser par triangulation - Google Patents

Radar laser par triangulation Download PDF

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Publication number
WO2018201961A1
WO2018201961A1 PCT/CN2018/084602 CN2018084602W WO2018201961A1 WO 2018201961 A1 WO2018201961 A1 WO 2018201961A1 CN 2018084602 W CN2018084602 W CN 2018084602W WO 2018201961 A1 WO2018201961 A1 WO 2018201961A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser radar
tilt
pan
radar according
chassis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/084602
Other languages
English (en)
Chinese (zh)
Inventor
郭盖华
李少海
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Ldrobot Co Ltd
Original Assignee
Shenzhen Ldrobot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Ldrobot Co Ltd filed Critical Shenzhen Ldrobot Co Ltd
Publication of WO2018201961A1 publication Critical patent/WO2018201961A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the invention relates to a triangular ranging laser radar.
  • ranging is mainly performed by a triangulation method and a TOF method.
  • the triangular ranging scheme mainly measures the imaging position on the linear array CCD of the reflected light spot to calculate the distance of the object.
  • the existing laser radar products use linear array CCD with digital output, which has many output pins, complicated wiring, and easy to cause interference.
  • high-speed digital on the CCD The components will bring a large amount of heat, causing deformation caused by thermal expansion and contraction on the CCD, thereby affecting the final measurement accuracy.
  • a triangular ranging laser radar comprising: a pan/tilt base and a rotating pan/tilt that can rotate on the base of the pan/tilt head, wherein the rotating pan/tilt head is provided with a laser emitting unit for measuring distance, an optical receiving lens, and An imaging element for outputting an imaging signal and a synchronization signal, the rotary pan/tilt being further provided with an ADC module for converting an imaging signal output by the imaging element into a digital signal, and for receiving the digital A processor for the signal and the synchronization signal.
  • the imaging component adopts an imaging signal output, and the analog signal of the imaging signal is converted into a digital signal through an ADC module external to the imaging component, thereby reducing the signal line drawn from the imaging component and reducing data acquisition.
  • the complexity in the process reduces the interference and reduces the analog-to-digital conversion process on the imaging element, so that the heat generation of the imaging element itself is rapidly reduced, so that the problem of the accuracy of the ranging due to the deformation of the imaging element due to heat can be effectively alleviated.
  • FIG. 1 is a schematic diagram showing the external structure of a triangular ranging laser radar according to an embodiment
  • FIG. 2 is a schematic diagram showing the internal structure of the triangular ranging laser radar shown in FIG. 1;
  • FIG. 3 is a block diagram of a block diagram of a partial structure of the triangular ranging laser radar shown in FIG. 1.
  • 1 is the base of the gimbal
  • 2 is the rotating pan/tilt
  • 3 is the imaging component
  • 4 is the laser emitting unit
  • 5 is the optical receiving lens
  • 6 is the ADC module
  • 7 is the processor
  • 8 is the variable speed motor
  • 9 is the belt.
  • a triangular ranging laser radar will be described more fully hereinafter with reference to the associated drawings.
  • a preferred embodiment of a triangulating laser radar is given in the drawings.
  • the triangulation laser radar can be implemented in many different forms and is not limited to the embodiments described herein. Rather, the purpose of providing these embodiments is to make the disclosure of the triangulating laser radar more thorough and comprehensive.
  • a triangular ranging laser radar includes: a pan/tilt base 1, a rotating pan/tilt 2, an imaging element 3, a laser emitting unit 4, and an optical receiving lens 5, and a rotating head 2 is mounted on the base of the pan/tilt head 1 and rotatable relative to the base of the pan/tilt head 1 , and the accommodating cavity is provided in the rotating pan/tilt 2 , and the imaging element 3 , the laser emitting unit 4 and the optical receiving lens 5 are all located in the accommodating cavity.
  • the rotary pan/tilt 2 mainly serves as a protection function for reducing dust, water, and the like entering the accommodating cavity, and ensures normal operation of the imaging element 3, the laser emitting unit 4, and the optical receiving lens 5.
  • the imaging element 3, the laser emitting unit 4, and the optical receiving lens 5 are all rotatable in synchronization with the pan-tilt head 2.
  • the imaging element 3 is for outputting an imaging signal and an synchronization signal, the imaging signal is an analog signal, the laser emitting unit 4 is for emitting a collimated laser light, and the optical receiving lens 5 is for receiving a light beam reflected by the object.
  • the triangulation laser radar also includes an ADC (Analog-to-Digital Converter) module 6 and a processor 7, and the ADC module 6 and the processor 7 are housed in the accommodating cavity.
  • the ADC module 6 is connected to both the imaging element 3 and the processor 7, and the ADC module 6 is capable of converting the imaging signal output by the imaging element 3 into a digital signal, and can transmit the converted digital signal to the processor 7, the processor 7 In addition to receiving the digital signal, it is also possible to receive the synchronization signal output from the imaging element 3.
  • ADC Analog-to-Digital Converter
  • the emitted laser spot is reflected by the object and then falls through the optical receiving lens 5 at the imaging position on the imaging element 3, in the imaging element 3, the ADC module 6, and the processor.
  • the distance between the object and the lidar can be calculated. What is important is that the imaging element 3 uses an imaging signal output, and the analog signal of the imaging signal is converted into a digital signal by the ADC module 6 outside the imaging element 3, thereby reducing the signal line drawn from the imaging element 3, reducing data acquisition.
  • the complexity of the process reduces the interference while reducing the analog-to-digital conversion process on the imaging element 3, so that the heat generation of the imaging element 3 itself is rapidly reduced, so that the problem of the measurement accuracy due to the deformation of the imaging element 3 due to heat can be effectively alleviated.
  • the optical output shaft of the laser emitting unit 4 is coplanar with the optical input shaft of the optical receiving lens 5 with an angle therebetween, and the included angle is an acute angle.
  • the first through hole 22 and the second through hole 23 are defined in the sidewall of the rotating head 2, and the first through hole 22 and the second through hole 23 are both communicated with the receiving cavity.
  • the first through hole 22 For the laser emitting unit 4, the second through hole 23 is facing the optical receiving lens 5.
  • the pan-tilt head 2 can be made transparent or designed to be transparent at the portions corresponding to the laser emitting unit 4 and the optical receiving lens 5, thereby avoiding opening holes in the rotating head 2 and simplifying production. Process.
  • the rotary head 2 includes a chassis 24 and a cover 25.
  • the chassis 24 is rotatably coupled to the platform base 1, and the cover 25 is screwed to the chassis 24 to form a receiving cavity.
  • a guide post 242 is disposed on a side of the chassis 24 away from the base of the pan-tilt head.
  • the guide post 242 extends along the axial direction of the rotating pan/tilt 2.
  • the guide post 242 defines a first connecting hole along the axial direction thereof.
  • a second connecting hole 252 is defined in the upper opening.
  • the second connecting hole 252 is opposite to the first connecting hole.
  • the rotating pan/tilt head 2 further includes a connecting member 26.
  • the connecting member 26 is disposed through the second connecting hole 252 and the first connecting hole for connecting. Chassis 24 and cover 25.
  • the guide post 242 is provided with three, and the axis of the three guide posts 242 is triangular in the area between the three projection points on the chassis 24, that is, the three projection points are connected to each other to form a triangle. It can be understood that in other embodiments, the number of the guide posts 242 may also be 1, 2, 4 or more, and the arrangement of the guide posts 242 may also be other forms, such as a linear arrangement, etc. .
  • a rotation speed control device is provided, and the rotation speed control device can control the rotation speed of the rotary pan/tilt 2, thereby being capable of controlling the rotation speed of the components located inside the accommodation cavity, thereby effectively controlling the number of output points of the laser radar per unit time.
  • the rotational speed control device includes a variable speed motor 8 and a transmission mechanism, and the transmission mechanism is coupled to the variable speed motor 6 and the rotary pan/tilt 2, respectively.
  • the transmission mechanism is a belt 9, and the belt 9 is sleeved on the output shaft of the variable speed motor 6 and the outside of the rotary head 2, respectively.
  • the belt 9 is sleeved on the output shaft of the variable speed motor 6 and the outside of the rotary head 2, respectively.
  • other transmission mechanisms are also possible, which is not specifically limited in this embodiment.
  • processor 7 is preferably a single chip microcomputer. Of course, other processors may be used, which are not limited in this embodiment, as the case may be.
  • a controller is further included, and the controller can control the output point speed of the imaging element to improve the accuracy of the ranging or reduce the energy consumption of the device.
  • the output point speed referred to here refers to the number of samples per unit period.
  • ADC module 6 and the processor 7 are disposed on the same block IC.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un radar laser par triangulation, comprenant : une base de tête de berceau (1) et une tête de berceau rotative (2) qui peut tourner sur la base de tête de berceau (1) ; la tête de berceau rotative (2) est pourvu d'une unité d'émission laser (4) qui est utilisée pour la télémétrie, d'une lentille de réception optique (5) et d'un élément d'imagerie (3) ; l'élément d'imagerie (3) est utilisé pour émettre un signal d'imagerie et un signal de synchronisation; la tête de berceau rotative (2) est en outre pourvue d'un module de convertisseur analogique-numérique (CAN) (6) qui est utilisé pour convertir le signal d'imagerie qui est émis par l'élément d'imagerie (3) en un signal numérique, et un processeur (7) qui est utilisé pour recevoir le signal numérique et le signal de synchronisation.
PCT/CN2018/084602 2017-05-04 2018-04-26 Radar laser par triangulation Ceased WO2018201961A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201720489885.5 2017-05-04
CN201720489885.5U CN206892339U (zh) 2017-05-04 2017-05-04 一种三角测距激光雷达

Publications (1)

Publication Number Publication Date
WO2018201961A1 true WO2018201961A1 (fr) 2018-11-08

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Application Number Title Priority Date Filing Date
PCT/CN2018/084602 Ceased WO2018201961A1 (fr) 2017-05-04 2018-04-26 Radar laser par triangulation

Country Status (2)

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CN (1) CN206892339U (fr)
WO (1) WO2018201961A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206892339U (zh) * 2017-05-04 2018-01-16 深圳乐行天下科技有限公司 一种三角测距激光雷达
CN111712721A (zh) * 2019-04-25 2020-09-25 深圳市大疆创新科技有限公司 雷达系统、雷达系统的信号采集方法、设备及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030117310A1 (en) * 2001-12-11 2003-06-26 Nec Corporation Radar system, method of obtaining image, control method based on image data and monitoring method using milliwaves
CN101035204A (zh) * 2006-03-10 2007-09-12 奥林巴斯映像株式会社 电子抖动校正装置以及电子抖动校正方法
CN204086528U (zh) * 2014-08-15 2015-01-07 中国科学院上海技术物理研究所 具备采样点时间定位的激光雷达回波全波形采集器
CN105068082A (zh) * 2015-08-19 2015-11-18 胡小波 一种激光雷达扫描探测方法及装置
WO2016009688A1 (fr) * 2014-07-16 2016-01-21 株式会社リコー Système, machine, procédé de commande et programme
CN206892339U (zh) * 2017-05-04 2018-01-16 深圳乐行天下科技有限公司 一种三角测距激光雷达

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030117310A1 (en) * 2001-12-11 2003-06-26 Nec Corporation Radar system, method of obtaining image, control method based on image data and monitoring method using milliwaves
CN101035204A (zh) * 2006-03-10 2007-09-12 奥林巴斯映像株式会社 电子抖动校正装置以及电子抖动校正方法
WO2016009688A1 (fr) * 2014-07-16 2016-01-21 株式会社リコー Système, machine, procédé de commande et programme
CN204086528U (zh) * 2014-08-15 2015-01-07 中国科学院上海技术物理研究所 具备采样点时间定位的激光雷达回波全波形采集器
CN105068082A (zh) * 2015-08-19 2015-11-18 胡小波 一种激光雷达扫描探测方法及装置
CN206892339U (zh) * 2017-05-04 2018-01-16 深圳乐行天下科技有限公司 一种三角测距激光雷达

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