CN102540193A - Laser radar monitoring system - Google Patents
Laser radar monitoring system Download PDFInfo
- Publication number
- CN102540193A CN102540193A CN2010106063260A CN201010606326A CN102540193A CN 102540193 A CN102540193 A CN 102540193A CN 2010106063260 A CN2010106063260 A CN 2010106063260A CN 201010606326 A CN201010606326 A CN 201010606326A CN 102540193 A CN102540193 A CN 102540193A
- Authority
- CN
- China
- Prior art keywords
- laser
- module
- information
- signal
- time
- 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.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000001914 filtration Methods 0.000 claims description 18
- 238000000605 extraction Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 10
- 239000000284 extract Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 6
- 230000005693 optoelectronics Effects 0.000 claims description 6
- 230000011514 reflex Effects 0.000 claims description 5
- 238000007493 shaping process Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000000630 rising effect Effects 0.000 description 6
- 230000001740 anti-invasion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009545 invasion Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012417 linear regression Methods 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention provides a laser radar monitoring system which comprises a laser transmission module, a laser receiving module, a rotational scanning mechanism and a signal processing and control module, wherein the signal processing and control module is used for obtaining the time difference between launch time of pulsed laser and receiving time according to the received signal of reflecting pulsed laser launch time and the signal reflecting pulse laser receiving time and obtaining range information of target information of a region to be monitored, and simultaneously matches angle information of a hall sensor uploaded by a motor in a rotational scan mechanism to obtain a distance angle information group of a detecting object; the group information is combined into frame data according to a fixed period, and is transferred to an alarm processing module in the signal processing and control module; and the alarm processing module adopts a map to build a detecting alarm point of a personnel detection method, and the alarm processing module in the signal processing and control module outputs coordinate position and/or quantity of the alarm point to judge whether to alarm.
Description
Technical field
The invention belongs to the Radar Technology field, relate in particular to a kind of laser radar monitoring system.
Background technology
Laser radar is light, mechanical, electrical integration apparatus, belongs to comparatively high-end instrument and equipment.The application of this series products now mainly concentrates on the application algorithm development that occurs in research institutions and the various match, such as can only navigation, mobile tracking, robot vision etc.Present international skill level has determined its high price, this to a great extent limit the popularizing and using of civilian laser radar.
In fact, laser radar is having very big advantage aspect the civilian anti-invasion.Traditional civilian anti-invasion means mainly realize that through video monitoring this mode needs the manpower of labor, and also there be the false-alarm and mistake alert condition that is difficult to avoid in other anti-invasion modes such as the vibrations warning.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of laser radar monitoring system, alert rate of its mistake and false dismissed rate are all very low.
For realizing above-mentioned purpose, the present invention provides a kind of laser radar monitoring system, comprising:
Laser emitting module is used for emission pulse laser, and will reflect that the signal of pulse laser launch time is sent to signal Processing and control module;
The laser pick-off module is used to receive the pulse laser that returns from regional reflex to be detected, and will reflect that the signal of the time of received pulse laser is sent to signal Processing and control module;
Rotary scanning mechanism is used for utilizing through rotation pulse laser scanning each position, area to be monitored of laser emitting module emission, and will collects successively the said laser pick-off module from the pulse laser of each position reflected back of area to be monitored;
Signal Processing and control module; Be used for according to the signal of the reflection pulse laser launch time that receives and the signal of the time of reflection received pulse laser; Obtain the launch time of pulse laser and the mistiming between the time of reception; Obtain the range information of the target information of area to be monitored by the said mistiming, and simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to the warning processing module in signal Processing and the control module according to the fixed cycle; Adopt map to set up and personnel's detection method detection alarm point in the said warning processing module, judge whether alarm by the coordinate position and/or the quantity of the warning processing module outputting alarm point in said signal Processing and the control module.
Preferably, said laser emitting module comprises: laser diode (LD), be used for laser pulse diode (PLD) driving circuit of driving laser diode and narrow-pulse generator and the square-wave generator that links to each other with the PLD driving circuit.
Preferably, said laser pick-off module comprises: be used to receive the snowslide receiving tube (APD) of the pulse laser that returns from regional reflex to be detected, the DC/DC inverter that receives the prime amplifier that signal that APD sends amplifies, the voltage amplifier that links to each other with prime amplifier, shaping modulate circuit and supply power for APD.
Preferably, said signal monitoring and control module comprise: ARM controller and time detecting module and interface module;
Wherein, Said ARM controller be used for after the trigger pip that receives the ARM controller according to signal and the signal of the time of reflection received pulse laser of the reflection pulse laser launch time after the conditioning shaping that receives; Obtain the launch time of pulse laser and the mistiming between the time of reception; And after detecting completion, send the detected mistiming to the ARM controller;
Said ARM controller is used for sending trigger pip to the time detecting module; And receive the detected mistiming that said time detecting module is sent; And obtain the range information of the target of area to be monitored by the said mistiming; And simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to warning Processing Algorithm module according to the fixed cycle.Said warning processing module is the main body that the laser radar upper layer application realizes, is the place of gordian technique core algorithm.The signal processing method that adopts in the algorithm in the warning processing module mainly is divided into: map is set up and personnel detect.Coordinate position and/or quantity by algoritic module outputting alarm point judge whether alarm.
Preferably, said ARM controller comprises: being used for the target information in zone to be detected reported to the police obtains alarming input submodule a little after processing module is handled;
Wherein, said input submodule comprises:
The data pretreatment unit is used for the target information in zone to be detected is carried out filtering, to reach the noise spot filtering;
Background filtering unit is used for obtaining differentiated target information with carrying out multiple difference through the target information of noise spot filtering with the map datum of setting up in advance;
Cutting unit is used for tentatively cutting apart the data point that belongs to different objects, possibly be one group for the some cluster of same target;
Feature extraction unit is used for cutting apart the different pieces of information dot information of each object afterwards according to cutting unit, extracts the shape and/or the motion feature information of each object;
The data fusion unit is used for the characteristic information that comprehensive said feature extraction unit extracts, and characteristic information is satisfied the different objects that the divided consecutive number strong point of pre-defined rule belongs to be reclassified as same object, realizes following function.
Preferably, the shape information of the object of said feature extraction unit extraction comprises: the linearity, curvature or the ellipticity of the barycenter of object, the profile of object, profile; The motion feature information of said object comprises: the Cartesian coordinates of object current location, movement velocity, direction, angular velocity or acceleration.
Preferably, said cutting unit is selected variable decision threshold according to the distance of obstacle distance laser pick-off module when cutting apart the data point that belongs to different objects.
Preferably, said ARM controller also comprises the map rebuilding module;
Said map rebuilding module is used for when taking place to rebuild the map trigger event, and the target information through the noise spot filtering that the data pretreatment unit in the said input submodule obtains is done background environment match computing, the map datum after obtaining rebuilding.
Preferably, said map trigger condition time that is timer arrives threshold value or the alarm point detects a unusual flag display abnormality.
Preferably, also comprise optoelectronic switch, said optoelectronic switch revolves when turning around at said rotary scanning mechanism, produces all pulse;
In the motor of rotary scanning mechanism, Hall element is installed in addition, is used to detect the anglec of rotation of rotary scanning mechanism.
Through the laser radar monitoring system that the embodiment of the invention provides, false dismissed rate and false alarm rate that the invador is detected are all very low.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the synoptic diagram of an embodiment of laser radar monitoring system provided by the invention;
Fig. 2 is the synoptic diagram of a kind of concrete structure of the laser emitting module among Fig. 1;
Fig. 3 is the synoptic diagram of a kind of concrete structure of the laser pick-off module among Fig. 1;
Fig. 4 is a kind of synoptic diagram of layout of the circuit board at laser emitting module place;
Fig. 5 is a kind of synoptic diagram of layout of the circuit board at laser pick-off module place;
Fig. 6 is the synoptic diagram of a kind of concrete structure of the ARM controller among Fig. 1.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the invention clearer; To combine the accompanying drawing in the embodiment of the invention below; Technical scheme in the embodiment of the invention is carried out clear, intactly description; Obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
Fig. 1 is the synoptic diagram of an embodiment of laser radar monitoring system provided by the invention; As shown in Figure 1, the laser radar monitoring system in the present embodiment comprises laser emitting module 1, laser pick-off module 2, signal Processing and control module 3, rotary scanning mechanism 4.
Wherein, laser emitting module 1 is used for emission pulse laser, and will reflect that the signal of pulse laser launch time is sent to signal Processing and control module 3.Laser radar in the present embodiment passes through to accomplish according to the time delay of the launch time of pulse laser and time of reception the range finding of the target in the area to be monitored, and through the scanning of area to be monitored being obtained the target information of whole area to be monitored.
Laser pick-off module 2 is used to receive the pulse laser of the reflected back from the area to be monitored, and will reflect that the signal of the time of received pulse laser is sent to signal Processing and control module 3.
Rotary scanning mechanism 4 is used for through rotation, utilizes each position in the pulse laser scanning area to be monitored of laser emitting module 1 emission, and will be from the area to be monitored pulse laser of each position reflected back collect successively the laser pick-off module 2.
Signal Processing and control module 3 link to each other with laser pick-off module 2 with laser emitting module 1, laser emitting module 1 and laser pick-off module 2 are controlled, and received signal from it.The signal of the time of the reflection received pulse laser that signal Processing and control module 3 receives according to the signal of the reflection pulse laser launch time that receives from laser emitting module 1 and from laser pick-off module 2; The launch time and the same pulse laser that obtain pulse laser reflect the also mistiming between the received time of reception from the area to be monitored, can be obtained the target information of area to be monitored by this mistiming.Said process all is signal Processing and control module 3 principle according to laser ranging, surveys the information of area to be monitored.Then signal Processing and control module 3 be the target range information of the area to be monitored that obtains, and simultaneously with rotary scanning mechanism 4 in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group.This information is gathered in the fixed cycle for frame data pass to the warning processing module, through filtering and the personnel positioning and the definite alarm of tracking of background.Here background technology comprises even without the alarm situation and occurs; Scan the target information that zone to be detected also can obtain; Because these information are not the information that alarm is concerned about; And it has also usually reflected other information of moving-target or not except the invador, so can be called background information.
Signal Processing and control module 3 judge whether alarm according to carrying out in the warning processing module after background filtering, the personnel's testing process.Here can whether alarm according to the quantity and/or the location determination of alarm point.
Laser radar has working stability, detection probability is high, the advantage that loss is low.
Fig. 2 shows a kind of concrete structure of above-mentioned laser emitting module 1, and is as shown in Figure 2, and this laser emitting module 1 comprises laser diode (LD) 11, laser pulse diode (PLD) driving circuit 12, narrow-pulse generator 13 and square-wave generator 14.Laser diode 11 is driven by PLD driving circuit 12 as light source.Narrow-pulse generator 13 all links to each other with PLD driving circuit 12 with square-wave generator 14, for the PLD driving circuit provides pulse signal, so that PLD driving circuit 12 is according to the pulsed drive voltage of this pulse signal to laser diode 11 output correspondences.Wherein, the pulsed frequency of narrow-pulse generator 13 is preferably adjustable between 1KHz-30KHz, and positive pulsewidth is preferably adjustable between 10ns-10 μ s, and the pulse signal high level of its output is preferably 5V, and low level is preferably 0V.The rise time of rising edge is preferably in the 10ns, can guarantee that like this waveform of the final laser pulse of exporting is more satisfactory, the timing chip mistake timing of avoiding too much noise to cause.
Need to prove, spike can also be set in above-mentioned laser emitting module 1 suppress circuit, so that the amplitude uneven phenomenon in the circuit is adjusted.
Fig. 3 shows a kind of concrete structure of above-mentioned laser pick-off module 2.As shown in Figure 3, this laser pick-off module 2 comprises snowslide receiving tube (APD) 21, prime amplifier 22, voltage amplifier 23, shaping modulate circuit 24 and DC/DC inverter 25.Wherein, snowslide receiving tube 21 is used to receive the pulse laser that returns from regional reflex to be detected, and converts thereof into corresponding electric impulse signal.Prime amplifier 22 receives the electric impulse signal of snowslide receiving tube 21 outputs, and it is amplified.Voltage amplifier 23 also is used for the signal from prime amplifier 22 outputs is amplified; Shaping modulate circuit 24 will convert the precipitous digital signal of rising edge to input analog electrical signal wherein; Be convenient to signal Processing and control module 3 it is handled, improve the precision of timing.DC/DC inverter 25 gives the snowslide receiving tube 21 power supplies, for it provides breakdown reverse voltage.
Need to prove, it will be understood by those skilled in the art that the snowslide receiving tube 21 in the above-mentioned laser pick-off module 2 can also replace with the photoelectric detector of other types.
Above-mentioned laser emitting module 1 can be through START pin signal rising edge inform that to signal Processing and control module 3 laser emitting module 1 launched a pulse laser, and the rising edge that laser pick-off module 2 can be through STOP pin signal is handled and control module 3 inform that laser pick-off module 2 has received a pulse laser of the reflected back from the area to be monitored to signal; Like this; Signal Processing and control module 3 can be through receiving above-mentioned START pin signal time and time that receives the rising edge of above-mentioned STOP pin signal of rising edge, confirm the time of same pulse laser emission respectively and reflected back and received time from the area to be monitored.
Below specify the inner structure of signal Processing and control module, see also Fig. 1.Signal Processing and control module 3 can comprise time detecting (TDC) module 31, ARM controller 32 and interface module 33.
Wherein, Time detecting module 31 is used for after the trigger pip that receives ARM controller 32; According to the signal of the reflection pulse laser launch time that receives and the signal of the time of reflection received pulse laser; Obtain the launch time of pulse laser and the mistiming of time of reception, and after detecting completion, send the detected mistimings to ARM controller 32.
ARM controller 32 is used for sending trigger pip to time detecting module 31; And time of reception detection module 31 send by its detected mistiming; And obtain the target information of area to be monitored by this mistiming; And its map datum with the background information in the reflection zone of setting up in advance to be detected carried out difference, and obtain alarming information a little, whether alarm by the position and/or the quantity judgement of alarm point.
Above-mentioned interface module 33 is used to set up getting in touch between signal Processing and control device 32 and the host computer, can accomplish same a plurality of laser radars of ipc monitor thus.In Fig. 1, especially, comprise USB interface, Ethernet interface, RS-232 interface in the interface module 33.
In order to satisfy the requirement of high speed data transfer between ARM controller 32 and the time detecting module 31; The interface that transmits data between ARM controller 32 and the time detecting module 31 preferably adopts the SPI mouth; For example between ARM controller 32 and time detecting module 31, set up 10 signal line; Wherein 4 are used to transmit laser radar range finding result for adopting SPI to communicate, and other 6 be used to transmit timing signal and control signal.Timing signal comprises timing commencing signal and timing stop signal.Control signal can comprise the passage enable signal, and this enable signal is used for without passage the time, with this pathway closure, thereby farthest reduces the influence of the noise of idle channel to timing.
In reality, laser emitting module 1 can be provided with the layout of the circuit board at laser pick-off module 2 places flexibly.For example, Fig. 4 shows the layout of the circuit board at laser emitting module 1 place, in Fig. 4, also is provided with LDO and DC/DC power supply on the circuit board, and the two provides the voltage of 5V respectively and greater than the voltage of 24V.Fig. 5 shows the layout of the circuit board at laser pick-off module 2 places; In Fig. 5; On the circuit board except the component units of laser pick-off module 2 self, the time detecting module in also integrated signal Processing and the control module, in like manner; Also be provided with the needed power supply of functional unit on this plate in the circuit board among Fig. 5, the DC/DC power supply that the LDO of 5V voltage and 3.3V voltage for example is provided and 9-24V voltage is provided.The edge of the circuit board in Fig. 4 and Fig. 5 also is provided with pin required among Fig. 1, also is provided with convenient fixing fixed orifice in addition.
Below specify ARM controller 32 and how to realize alarming identification a little.
Fig. 6 shows the concrete structure of ARM controller 32.As shown in Figure 6, this ARM controller can comprise input submodule 601, and this input submodule 601 specifically is used for map datum with the target information in zone to be detected and foundation to carry out difference and obtain alarming a little.Input submodule 601 can comprise: data pretreatment unit 6011, background removal unit 6012, cutting unit 6013, feature extraction unit 6014 and data fusion unit 6015.
Wherein, data pretreatment unit 6011 is used for the target information in zone to be detected is carried out filtering, to reach preliminary noise spot filtering.Owing in the process of laser ranging, have some isolated points through laser radar in the data of gained, they are bigger with the distance of adjacent point, and these points that isolate belong to noise spot, data are carried out subsequent treatment before need be with its filtering.In the present embodiment, the data pretreatment unit 6011 preferred methods of medium filtering that adopt are carried out filtering to noise spot.Median filter method is based on the theoretical a kind of nonlinear signal processing technology that can effectively suppress noise of sequencing statistical; Its ultimate principle is to replace the value of any in digital picture or the Serial No. with the Mesophyticum of each point value in the neighborhood of this point, thereby can eliminate isolated noise spot.
The different pieces of information dot information of each object after feature extraction unit 6014 is used for cutting apart according to above-mentioned cutting unit 6013 extracts the shape and/or the motion feature information of each object.The characteristic information of these extractions carries out target classification and crucial effects is played in tracking to follow-up.The shape information of above-mentioned object can be any one or combination in any in the linearity of the barycenter of object, profile and contour of object, curvature or the ellipticity.The motion feature information of above-mentioned object can be any one or combination in any in the Cartesian coordinates of object current location, movement velocity, angular velocity or the acceleration.Because most of objects can be combined by comparatively regular straight-line segment; And that need to survey in the civilian anti-invasion field mainly is the invasion personnel; The invasion personnel often show as upright line segment feature, so when characteristic information extracts, it will be the main means that adopt that linear feature extracts.The process that linear feature extracts can be accomplished based on methods such as linear regression, Hough transformation, delta algorithm, greatest hope value-based algorithms.
Through after above-mentioned segmenting unit 6014 segmentations, may the data point that should belong to same object be divided into and belong to two different objects, be about to a complete object and be divided into a plurality of sections.Individually each section being carried out follow-up signature analysis is nonsensical with recognition objective.In addition, when object being divided into a plurality of parts and analyzing, it is identical may causing the signature analysis result of the different sections that belong to different objects, and this can't distinguish the target type in zone to be detected with regard to causing.In addition, only can't judge the type of target sometimes exactly according to the shape facility of target, this is the motion feature that needs combining target, so the frame scan data of some before and after also need taking all factors into consideration.
Based on top consideration, need data fusion unit 6015 that a plurality of data points in the frame data are carried out the space and merge, simultaneously the multiframe data time of carrying out is merged.For example; The characteristic of people's two legs in same frame data is similar; But be divided into two objects probably, if but in certain threshold range, finding similar characteristics, then be respectively that the possibility of the one leg in same individual's the two legs is just bigger in these two sections; At this moment, need above-mentioned two continuous sections are fused to together.Simultaneously, people's leg possibly be consistent with the data characteristics of a pole in section, can effectively obtain the difference of people's leg and round log through the target travel characteristic in the multiframe relatively, so that the coupling of same target in the multiframe realizes functions such as follow-up tracking.
Map datum may change owing to the real background in zone to be detected in use for some time, causes the result who utilizes original map datum to remove recognition objective to make a mistake.In order to overcome the problems referred to above, preferably, a map rebuilding module 602 is set also in ARM controller 32.This map rebuilding module 602 is used for when taking place to rebuild the map trigger event, and the target information through the noise spot filtering that the data pretreatment unit 6011 in the input submodule 601 obtains is done background environment match computing, the map datum after obtaining rebuilding.
Above-mentioned reconstruction map datum trigger event goes consider to be provided with from multiple angles, at least can be from the experience time that testing result and background the change consideration of getting on.For example; See from the angle of testing result, when system after the background in change of external force upper/lower positions or zone to be detected changes, continue to utilize original map datum to carrying out difference through target information; The alarm point that will occur quantity, duration severely subnormal among the result of gained; The position distribution in frame data of these alarm points also will the distribution when normally the invador occurring be more disperseed and near background dot, so system can safeguard that is detected a unusual flag, the quantity of the alarm point after system detects and/or the scope that position distribution exceeds normal alarm point in addition; Then should detect unusual flag and be revised as " unusually "; Map rebuilding module 602 will start the function that map datum is rebuild at this moment, after rebuilding completion, more above-mentioned zone bit will be revised as " normally ".Go to consider that the user can pass through the experience time of the change of background of statistics laser radar institute monitored area, sets a timer from the experience time that background changes; And whether the time of detecting this timer by map rebuilding module 602 arrives the above-mentioned experience time; If arrive, then start the function that map datum is rebuild, after rebuilding completion; Again above-mentioned timer is reset, with reclocking.
In the process of carrying out above-mentioned data fusion; The angle information of the pairing realistic objective of data point is very important; In order to improve the accuracy of this angle information, preferably, an optoelectronic switch 5 is set also in above-mentioned laser radar monitoring system; This optoelectronic switch 5 revolves when turning around at rotary scanning mechanism 4, produces all pulse.In addition, in the motor in rotary scanning mechanism 4 Hall element is installed, is used to export the anglec of rotation of rotary scanning mechanism, like this can be to the angle information of radar to revise.
The above only is a preferred implementation of the present invention; Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; Can also make some improvement and retouching, these improvement and retouching also should be regarded as protection scope of the present invention.
Claims (10)
1. laser radar monitoring system comprises:
Laser emitting module is used for emission pulse laser, and will reflect that the signal of pulse laser launch time is sent to signal Processing and control module;
The laser pick-off module is used to receive the pulse laser that returns from regional reflex to be detected, and will reflect that the signal of the time of received pulse laser is sent to signal Processing and control module;
Rotary scanning mechanism is used for utilizing through rotation each position of the pulse laser scanning area to be monitored of laser emitting module emission, and will collects successively the said laser pick-off module from the pulse laser of each position reflected back of area to be monitored;
Signal Processing and control module; Be used for according to the signal of the reflection pulse laser launch time that receives and the signal of the time of reflection received pulse laser; Obtain the launch time of pulse laser and the mistiming between the time of reception; Obtain the range information of the target information of area to be monitored by the said mistiming, and simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to the warning processing module in signal Processing and the control module according to the fixed cycle; Adopt map to set up and personnel's detection method detection alarm point in the said warning processing module, judge whether alarm by the coordinate position and/or the quantity of the warning processing module outputting alarm point in said signal Processing and the control module.
2. laser radar monitoring system according to claim 1; It is characterized in that said laser emitting module comprises: laser diode (LD), be used for laser pulse diode (PLD) driving circuit of driving laser diode and narrow-pulse generator and the square-wave generator that links to each other with the PLD driving circuit.
3. laser radar monitoring system according to claim 1; It is characterized in that said laser pick-off module comprises: be used to receive the snowslide receiving tube (APD) of the pulse laser that returns from regional reflex to be detected, the DC/DC inverter that receives the prime amplifier that signal that APD sends amplifies, the voltage amplifier that links to each other with prime amplifier, shaping modulate circuit and supply power for APD.
4. according to any described laser radar monitoring system in the claim 1 to 3, it is characterized in that said signal monitoring and control module comprise: ARM controller and time detecting module and interface module;
Wherein, Said ARM controller is used for after the trigger pip that receives the ARM controller signal and the signal of the time of reflection received pulse laser according to the reflection pulse laser launch time that receives; Obtain the launch time of pulse laser and the mistiming between the time of reception; And after detecting completion, send the detected mistiming to the ARM controller;
Said ARM controller is used for sending trigger pip to the time detecting module; And receive the range information of the detected mistiming that said time detecting module sends; And simultaneously with rotary scanning mechanism in the angle information coupling of the Hall element uploaded of motor, obtain detecting target apart from the angle information group; Should group information be combined as frame data, pass to the warning processing module according to the fixed cycle; Adopt map to set up and personnel's detection method detection alarm point in the said warning processing module, judge whether alarm by the coordinate position and/or the quantity of the warning processing module outputting alarm point in the said ARM controller.
5. laser radar monitoring system according to claim 4 is characterized in that, said ARM controller comprises: be used for map datum with the target information in zone to be detected and foundation and carry out difference and obtain alarming input submodule a little;
Wherein, said input submodule comprises:
The data pretreatment unit is used for the target information in zone to be detected is carried out filtering to reach preliminary noise spot filtering;
The background removal unit is used for obtaining differentiated target information with carrying out multiple difference through the target information of noise spot filtering with the map datum of setting up in advance;
Cutting unit is used for tentatively cutting apart the data point that belongs to different objects, possibly be one group for the some cluster of same target;
Feature extraction unit is used for cutting apart the different pieces of information dot information of each object afterwards according to cutting unit, extracts the shape and/or the motion feature information of each object;
The data fusion unit is used for the characteristic information that comprehensive said feature extraction unit extracts, and characteristic information is satisfied the different objects that the divided consecutive number strong point of pre-defined rule belongs to be reclassified as same object, realizes following function.
6. laser radar monitoring system according to claim 5 is characterized in that, the shape information of the object that said feature extraction unit is extracted comprises: the linearity, curvature or the ellipticity of the barycenter of object, the profile of object, profile; The motion feature information of said object comprises: the Cartesian coordinates of object current location, movement velocity, direction, angular velocity or acceleration.
7. laser radar monitoring system according to claim 5 is characterized in that, said cutting unit is selected variable decision threshold according to the distance of obstacle distance laser pick-off module when cutting apart the data point that belongs to different objects.
8. laser radar monitoring system according to claim 5 is characterized in that, said ARM controller also comprises the map rebuilding module;
Said map rebuilding module is used for when taking place to rebuild the map trigger event, and the target information through the noise spot filtering that the data pretreatment unit in the said input submodule obtains is done background environment match computing, the map datum after obtaining rebuilding.
9. laser radar monitoring system according to claim 8, its characteristic for fear of, time that said map trigger condition is a timer arrives threshold value or the alarm point detects a unusual flag display abnormality.
10. according to any described laser radar monitoring system in the claim 1 to 9, it is characterized in that, also comprise optoelectronic switch, said optoelectronic switch revolves when turning around at said rotary scanning mechanism, produces all pulse;
In the motor of rotary scanning mechanism, Hall element is installed in addition, is used to detect the anglec of rotation of rotary scanning mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010606326.0A CN102540193B (en) | 2010-12-24 | 2010-12-24 | Laser radar monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010606326.0A CN102540193B (en) | 2010-12-24 | 2010-12-24 | Laser radar monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102540193A true CN102540193A (en) | 2012-07-04 |
| CN102540193B CN102540193B (en) | 2014-04-30 |
Family
ID=46347519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010606326.0A Active CN102540193B (en) | 2010-12-24 | 2010-12-24 | Laser radar monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102540193B (en) |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105277944A (en) * | 2015-09-23 | 2016-01-27 | 上海物景智能科技有限公司 | Laser ranging radar and power supply control method therefor |
| CN105912027A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle |
| CN105988109A (en) * | 2014-11-21 | 2016-10-05 | 专家科技有限公司 | Distance measuring method, distance measuring device, positioning device and positioning method |
| CN105988105A (en) * | 2014-11-21 | 2016-10-05 | 专家科技有限公司 | Distance measuring method, distance measuring device, positioning device and positioning method |
| CN106289278A (en) * | 2016-08-08 | 2017-01-04 | 成都希德电子信息技术有限公司 | Navigation system and method for dangerous road condition advisory |
| CN106324618A (en) * | 2015-06-17 | 2017-01-11 | 百利得汽车主动安全***（苏州）有限公司 | System for detecting lane line based on laser radar and realization method thereof |
| CN106970391A (en) * | 2017-03-31 | 2017-07-21 | 成都微光云科技有限公司 | A kind of UAV terrain detection systems based on laser ranging |
| CN107209268A (en) * | 2015-01-28 | 2017-09-26 | 夏普株式会社 | Obstacle detector, moving body, obstacle detection method and detection of obstacles program |
| CN108072877A (en) * | 2016-11-10 | 2018-05-25 | 光宝电子(广州)有限公司 | Optical devices |
| CN108153308A (en) * | 2017-12-21 | 2018-06-12 | 李华 | For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot |
| CN108426562A (en) * | 2018-05-14 | 2018-08-21 | 北京雷图科技有限公司 | A kind of laser tunnel cross-section detector |
| CN108603758A (en) * | 2015-11-30 | 2018-09-28 | 卢米诺技术公司 | The pulse laser of laser radar system and laser radar system with distribution type laser device and multiple sensor heads |
| CN108627849A (en) * | 2018-07-25 | 2018-10-09 | 南京富锐光电科技有限公司 | A kind of range laser radar system applied to high speed camera calibration |
| CN108872967A (en) * | 2018-05-15 | 2018-11-23 | 天津杰泰高科传感技术有限公司 | Laser radar narrow-pulse generation circuit and method |
| CN109144050A (en) * | 2017-06-27 | 2019-01-04 | 通用汽车环球科技运作有限责任公司 | The method and apparatus for carrying out body surface estimation are propagated using reflection delay |
| CN109633684A (en) * | 2017-10-06 | 2019-04-16 | 罗伯特·博世有限公司 | For the method, apparatus of classification, machine learning system and machine readable storage medium |
| CN109709570A (en) * | 2017-10-25 | 2019-05-03 | 奥特润株式会社 | LIDAR signal processing apparatus and method |
| CN110275173A (en) * | 2018-03-13 | 2019-09-24 | 深圳越登智能技术有限公司 | A kind of laser ranging system |
| CN112021998A (en) * | 2020-07-20 | 2020-12-04 | 科沃斯机器人股份有限公司 | Data processing method, measuring system, autonomous mobile device and cleaning robot |
| CN112236685A (en) * | 2018-04-09 | 2021-01-15 | 创新科技有限公司 | Lidar system and method with internal light calibration |
| CN112346077A (en) * | 2019-08-08 | 2021-02-09 | 杭州海康威视***技术有限公司 | Ship superelevation detection method and device, electronic equipment and storage medium |
| CN112731430A (en) * | 2020-12-15 | 2021-04-30 | 武汉万集信息技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
| CN113126640A (en) * | 2019-12-31 | 2021-07-16 | 北京三快在线科技有限公司 | Obstacle detection method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium |
| CN113237476A (en) * | 2021-05-19 | 2021-08-10 | 湖北科技学院 | Construction site safety early warning system and method |
| CN114046984A (en) * | 2022-01-12 | 2022-02-15 | 北京恒润安科技有限公司 | Gate fault troubleshooting device based on phase method laser ranging |
| CN114556153A (en) * | 2019-08-22 | 2022-05-27 | 法雷奥开关和传感器有限责任公司 | Method for operating a photodetecting device and photodetecting device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101241189A (en) * | 2008-03-07 | 2008-08-13 | 邵泽德 | Two-dimensional scanning laser collision avoidance radar system |
| CN101267548A (en) * | 2008-02-04 | 2008-09-17 | 长春理工大学 | Space laser video and audio transmission system |
| CN101393072A (en) * | 2008-11-10 | 2009-03-25 | 中国兵器工业第二〇五研究所 | Power supply drive device for pulse semiconductor laser test equipment |
| CN202025084U (en) * | 2010-12-24 | 2011-11-02 | 无锡物联网产业研究院 | Laser radar monitoring system |
-
2010
- 2010-12-24 CN CN201010606326.0A patent/CN102540193B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101267548A (en) * | 2008-02-04 | 2008-09-17 | 长春理工大学 | Space laser video and audio transmission system |
| CN101241189A (en) * | 2008-03-07 | 2008-08-13 | 邵泽德 | Two-dimensional scanning laser collision avoidance radar system |
| CN101393072A (en) * | 2008-11-10 | 2009-03-25 | 中国兵器工业第二〇五研究所 | Power supply drive device for pulse semiconductor laser test equipment |
| CN202025084U (en) * | 2010-12-24 | 2011-11-02 | 无锡物联网产业研究院 | Laser radar monitoring system |
Non-Patent Citations (2)
| Title |
|---|
| 冯聪慧: "机载激光雷达***数据处理方法的研究", 《中国优秀硕士学位论文全文数据库》 * |
| 李玉江等: "霍尔传感器用于角度测量的一种方法", 《电子机械工程》 * |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105988105B (en) * | 2014-11-21 | 2019-01-08 | 专家科技有限公司 | Distance measuring method, distance measuring device, positioning device and positioning method |
| CN105988109A (en) * | 2014-11-21 | 2016-10-05 | 专家科技有限公司 | Distance measuring method, distance measuring device, positioning device and positioning method |
| CN105988105A (en) * | 2014-11-21 | 2016-10-05 | 专家科技有限公司 | Distance measuring method, distance measuring device, positioning device and positioning method |
| CN105988109B (en) * | 2014-11-21 | 2019-02-26 | 专家科技有限公司 | Distance measuring method, distance measuring device, positioning device and positioning method |
| CN107209268A (en) * | 2015-01-28 | 2017-09-26 | 夏普株式会社 | Obstacle detector, moving body, obstacle detection method and detection of obstacles program |
| CN106324618A (en) * | 2015-06-17 | 2017-01-11 | 百利得汽车主动安全***（苏州）有限公司 | System for detecting lane line based on laser radar and realization method thereof |
| CN106324618B (en) * | 2015-06-17 | 2019-03-15 | 高田汽车电子(上海)有限公司 | Realize the method based on laser radar detection lane line system |
| CN105277944A (en) * | 2015-09-23 | 2016-01-27 | 上海物景智能科技有限公司 | Laser ranging radar and power supply control method therefor |
| CN108603758A (en) * | 2015-11-30 | 2018-09-28 | 卢米诺技术公司 | The pulse laser of laser radar system and laser radar system with distribution type laser device and multiple sensor heads |
| CN105912027A (en) * | 2016-06-30 | 2016-08-31 | 西安交通大学 | Obstacle avoiding device and obstacle avoiding method of unmanned aerial vehicle |
| CN106289278A (en) * | 2016-08-08 | 2017-01-04 | 成都希德电子信息技术有限公司 | Navigation system and method for dangerous road condition advisory |
| CN106289278B (en) * | 2016-08-08 | 2019-03-12 | 成都希德电子信息技术有限公司 | Navigation system and method for dangerous road condition advisory |
| CN108072877A (en) * | 2016-11-10 | 2018-05-25 | 光宝电子(广州)有限公司 | Optical devices |
| CN106970391B (en) * | 2017-03-31 | 2019-10-11 | 成都微光云科技有限公司 | A kind of UAV terrain detection system based on laser ranging |
| CN106970391A (en) * | 2017-03-31 | 2017-07-21 | 成都微光云科技有限公司 | A kind of UAV terrain detection systems based on laser ranging |
| CN109144050A (en) * | 2017-06-27 | 2019-01-04 | 通用汽车环球科技运作有限责任公司 | The method and apparatus for carrying out body surface estimation are propagated using reflection delay |
| CN109633684A (en) * | 2017-10-06 | 2019-04-16 | 罗伯特·博世有限公司 | For the method, apparatus of classification, machine learning system and machine readable storage medium |
| CN109709570A (en) * | 2017-10-25 | 2019-05-03 | 奥特润株式会社 | LIDAR signal processing apparatus and method |
| CN109709570B (en) * | 2017-10-25 | 2024-03-08 | 现代摩比斯株式会社 | LIDAR signal processing device and method |
| CN108153308A (en) * | 2017-12-21 | 2018-06-12 | 李华 | For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot |
| CN110275173A (en) * | 2018-03-13 | 2019-09-24 | 深圳越登智能技术有限公司 | A kind of laser ranging system |
| CN110275173B (en) * | 2018-03-13 | 2024-03-22 | 深圳越登智能技术有限公司 | Laser ranging system |
| CN112236685A (en) * | 2018-04-09 | 2021-01-15 | 创新科技有限公司 | Lidar system and method with internal light calibration |
| CN108426562A (en) * | 2018-05-14 | 2018-08-21 | 北京雷图科技有限公司 | A kind of laser tunnel cross-section detector |
| CN108872967A (en) * | 2018-05-15 | 2018-11-23 | 天津杰泰高科传感技术有限公司 | Laser radar narrow-pulse generation circuit and method |
| CN108627849A (en) * | 2018-07-25 | 2018-10-09 | 南京富锐光电科技有限公司 | A kind of range laser radar system applied to high speed camera calibration |
| CN112346077A (en) * | 2019-08-08 | 2021-02-09 | 杭州海康威视***技术有限公司 | Ship superelevation detection method and device, electronic equipment and storage medium |
| CN114556153A (en) * | 2019-08-22 | 2022-05-27 | 法雷奥开关和传感器有限责任公司 | Method for operating a photodetecting device and photodetecting device |
| CN113126640A (en) * | 2019-12-31 | 2021-07-16 | 北京三快在线科技有限公司 | Obstacle detection method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium |
| CN113126640B (en) * | 2019-12-31 | 2022-06-28 | 北京三快在线科技有限公司 | Obstacle detection method and device for unmanned aerial vehicle, unmanned aerial vehicle and storage medium |
| CN112021998B (en) * | 2020-07-20 | 2023-08-29 | 科沃斯机器人股份有限公司 | Data processing method, measurement system, autonomous mobile device and cleaning robot |
| CN112021998A (en) * | 2020-07-20 | 2020-12-04 | 科沃斯机器人股份有限公司 | Data processing method, measuring system, autonomous mobile device and cleaning robot |
| CN112731430A (en) * | 2020-12-15 | 2021-04-30 | 武汉万集信息技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
| CN112731430B (en) * | 2020-12-15 | 2024-06-11 | 武汉万集光电技术有限公司 | High-altitude parabolic detection method and system based on laser radar |
| CN113237476A (en) * | 2021-05-19 | 2021-08-10 | 湖北科技学院 | Construction site safety early warning system and method |
| CN114046984A (en) * | 2022-01-12 | 2022-02-15 | 北京恒润安科技有限公司 | Gate fault troubleshooting device based on phase method laser ranging |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102540193B (en) | 2014-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102540193B (en) | Laser radar monitoring system | |
| CN202025084U (en) | Laser radar monitoring system | |
| CN103419944B (en) | Air bridge and automatic abutting method therefor | |
| US11971507B2 (en) | Systems and methods for mitigating optical crosstalk in a light ranging and detection system | |
| CN105100780B (en) | Optical safety monitoring with selective pixel array analysis | |
| US20180188357A1 (en) | HIGH RESOLUTION LiDAR USING HIGH FREQUENCY PULSE FIRING | |
| CN109799760B (en) | Bird-repelling robot control system and control method in power industry | |
| CN110955249B (en) | Method and device for robot to pass through obstacle, storage medium and electronic device | |
| EP2980756A1 (en) | Bird detection device, bird detection system, bird detection method, and program | |
| CN105486175A (en) | Low-altitude security protection system and method based on large-power continuous laser | |
| CN105093237A (en) | Detection device of barriers for unmanned plane and detection method thereof | |
| CN104238566A (en) | Image-recognition-based line patrolling robot control system for electronic circuit | |
| CN107561547A (en) | Distance measurement method, apparatus and system of the transmission line of electricity to object | |
| US10860034B1 (en) | Barrier detection | |
| CN109062201B (en) | ROS-based intelligent navigation microsystem and control method thereof | |
| KR101967049B1 (en) | Apparatus for providing object information for heavy machinery using lidar and camera | |
| CN106323230A (en) | Obstacle identification apparatus and obstacle identification method | |
| CN108871307B (en) | Y waveguide chip direct coupling device based on image recognition and optical power feedback | |
| Müller et al. | A miniature low-power sensor system for real time 2D visual tracking of LED markers | |
| CN111553319A (en) | Method and device for acquiring information | |
| CN107065892A (en) | Life detection and environmental data collecting search and rescue car after the calamity of controlled in wireless | |
| EP2910973A1 (en) | Laser distance measurement method and laser distance measurement device | |
| CN107749060A (en) | Machine vision equipment and based on flying time technology three-dimensional information gathering algorithm | |
| CN111666876A (en) | Method and device for detecting obstacle, electronic equipment and road side equipment | |
| CN104090571A (en) | Intelligent detection trolley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20201119 Granted publication date: 20140430 |
|
| PP01 | Preservation of patent right | ||
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20210112 Granted publication date: 20140430 |
|
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20210112 Granted publication date: 20140430 |
|
| PD01 | Discharge of preservation of patent | ||
| PD01 | Discharge of preservation of patent |
Date of cancellation: 20230509 Granted publication date: 20140430 |