CN209102900U - A kind of New Two Dimensional solid state LED laser radar - Google Patents
A kind of New Two Dimensional solid state LED laser radar Download PDFInfo
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- CN209102900U CN209102900U CN201821648327.XU CN201821648327U CN209102900U CN 209102900 U CN209102900 U CN 209102900U CN 201821648327 U CN201821648327 U CN 201821648327U CN 209102900 U CN209102900 U CN 209102900U
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Abstract
The utility model discloses a kind of New Two Dimensional solid state LED laser radars, comprising: optical transmitting set, for issuing horizontal point light source；Optical receiver is encountered the reflected light of barrier for receiving point light source；Beam condensing unit, for assembling the received light of optical receiver；Reflective optical system, the light for assembling beam condensing unit, which reflects, to be issued；Projection plane forms a coordinate position for receiving the reflection light after reflective optical system reflects, and in the projection plane；Coordinate acquiring device, for obtaining the coordinate information of reflection light；Graphics processor is used to that optical transmitting set to be calculated at a distance from barrier according to coordinate position and optical transmitting set, optical receiver, optical transmitting set, projection plane relative position and dimensional parameters.The utility model eliminates the original rotation motor of radar, saves cost, improves life and reliability.
Description
Technical field
Figure is built in the interior that this patent relates to the use of radar progress, positions, and avoidance technology belongs to detection field, specially one
Kind New Two Dimensional solid state LED laser radar.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
Current laser radar is widely applied on intelligent robot, is mainly used for building figure during the motion, positioning,
Avoidance, one of which are that a pair of of laser emitter is mounted on a level with receiver and is put down using triangle measurement method principle
On face, laser emitter issues a light, and light, which encounters barrier, light reflected back towards receiver to be installed behind receiver
There is a ccd linear sensor, reception angular is measured by it, barrier is then measured from laser by triangulation
The distance (such as Fig. 1) of transmitter；But such laser can only go out the distance of one-dimensional square to pipe, if to measure entire level
The distance of all barriers in face (two-dimensional surface) plane, it is necessary to which this laser is mounted on a horizontal plane rotation to pipe
It on motor, drives Laser emission receiver 360 degree rotation to scan using motor, carries out ranging in each angle respectively, then
Data processing is carried out using computer, obtains the flat obstacle distance map of entire horizontal two-dimension.Due in entire scanning process,
A Ge Ping rotation motor mechanism must be used, leads to one side high expensive in this way, conversion speed also wants slack-off, and the time is long
Motor life is also impacted, and noise is also bigger when rotation, and when motor vibration also has an impact to precision.
If removing rotation motor, be made into solid radar, then need 360 degree at least installed along annular horizontal direction it is tens of
A laser emitter and laser pickoff also need to install dozens of laser and CCD linear transducer to pipe, make in this way
The solid-state radar come is sufficiently bulky, and laser and CCD linear transducer price is very high, and it is very high to do so cost.
Utility model content
In order to solve the above-mentioned technical problem, the purpose of this utility model is to provide a kind of New Two Dimensional solid state LEDs to swash
Optical radar and its distance measuring method can reduce laser radar cost, improve the response time, increase reliability, and the utility model is public
Open following technical solution:
A kind of New Two Dimensional solid state LED laser radar, comprising:
Optical transmitting set, for issuing horizontal point light source, the optical transmitting set is arranged on the pcb board of an annular, pcb board
On be uniformly placed with n point light source, the point light source circumferentially annular distribution, and point light source axial line is directed to the center of circle, puts light
The direction of the launch in source is horizontally outward；
Optical receiver is arranged right above optical transmitting set, and for receiving point light source, to be met barrier W1 reflected
Light；
Beam condensing unit is arranged after optical receiver, for assembling the received light of optical receiver；
Reflective optical system is arranged the light in optical receiver center, for assembling beam condensing unit and reflects sending, and light
Reflector is placed on optical receiver center；
Projection plane is arranged right above optical receiver, for receiving the reflection light after reflective optical system reflects, and at this
Projection plane forms a coordinate position；
Coordinate acquiring device, setting is square on a projection plane, for obtaining the coordinate information of reflection light；
Graphics processor, for the distance according to coordinate position and point light source reflection path, be calculated optical transmitting set with
The distance of barrier.
Specifically, the optical receiver be a circular ring type device, circular ring type device from annular outboard face to medial surface along
Horizontal direction is uniformly provided with n through-hole, and the axial line of through-hole is directed to the center of circle, and the angle in adjacent two through-holes to the centers of circle is P=
360/n degree is provided with a collector lens after each through-hole.
Specifically, the reflective optical system is the cylindrical body reflector equipped with n cylinder, and equal perpendicular to the center line of cylinder
It is directed toward the center of circle, the angle in adjacent two cylinder center lines to the centers of circle is also P=360/n degree, and the diameter of cylinder is less than light-receiving
The annular diameters of device.
Specifically, the projection plane is the plane of a translucent circle, using circle center as reference point, it is divided into n
Fan-shaped view field, the center line of each sector are directed to the center of circle, the angle of adjacent two fan-shaped projection zone centerlines to the center of circle
For P=360/n degree.
Specifically, the beam condensing unit is condenser.
Specifically, the coordinate acquiring device is high-definition camera.
A kind of three-dimensional solid-state face battle array laser radar range method of the utility model, comprising the following steps:
Step 1, optical transmitting set emits beam from n point light source；
Step 2, optical receiver receives the reflected light after the light issued through point light source meets barrier W1, and reflected light passes through
Optical receiver passes through beam condensing unit optically focused after receiving again；
Step 3, the light after optically focused projects after reflective optical system reflects to projection plane；
Step 4, coordinate acquiring device obtains the coordinate information of the projection plane glazed thread projected position；
Step 5, graphics processor is according to the distance of coordinate position and point light source reflection path, be calculated optical transmitting set with
The distance of barrier completes ranging.
The principles of the present invention assume that first point light source of optical transmitting set first issues a horizontal light, encounter obstacle
Light can reflect after object, and reflected light, which is projected by the optical receiver that is mounted above on the cylinder of cylinder reflective optical system, (was in the past
It is projected directly on ccd linear sensor), then be reflected up on projection plane, pass through a camera or a plane
First point light source is calculated to the distance of barrier in ccd sensor progress image-capture；N number of point light source is successively lighted, according to
It is secondary that processing of taking pictures is carried out to image, thus obtain the distance of the corresponding barrier of all point light sources of 360 ° of horizontal extents.
Compared with the prior art, the utility model have the following advantages that and the utility model has the advantages that
1, the New Solid LED radar of the utility model, eliminates rotation motor, it is only necessary to 360 ° of horizontal plane annular sides
To uniform one annular LED transmitter of installation (containing n point light source in inside), an annular optical receiver is installed above it
(containing n small circular through hole in inside), installing one in annular optical receiver inside center has n cylinder cylinder light reflection mirror, so
One horizontal projection plane is installed above cylinder light reflection mirror afterwards, a downward common camera of camera lens is installed on projection plane
And image processor can complete a solid-state radar, complete the function of radar.
2, compared with existing production solid-state laser radar, the utility model integrates optical transmitting set and optical receiver, then
It is installed separately placement up and down, to save space, by the mirror-reflection of polycylinder cylindrical body, all are entered optical receiver
Light be reflected up to projection plane, only need processing of taking pictures by a camera in this way, do not need that multiple CCD lines are installed
Property sensor, significantly reduce cost；Due to using common camera, optical transmitting set can also use common LED
Lamp further saves cost.
3, compared with original production machinery laser radar, the utility model utility model eliminates mechanical radar, reduces
Entire cost, because with electron scanning instead of mechanical scanning, it is fast to improve the response time, increases reliability, and significantly
Improve the service life of radar.
Detailed description of the invention
Fig. 1 is the New Two Dimensional solid state LED laser radar structural schematic diagram of the utility model；
Fig. 2 is solid-state radar schematic illustration.
In figure, 1, optical transmitting set；1a, pcb board；1b, LED lamp bead；2, optical receiver；2a, round tube hole；2a, round tube hole；3,
Reflective optical system；4, projection plane；5, camera and image processor.
Specific embodiment
As shown in Figure 1, 2, a kind of New Two Dimensional solid state LED laser radar, comprising: 360 degree of horizontal annular light emittings
Device 1,360 degree of horizontal annular optical receivers 2, a beam condensing unit, a polycylinder cylindrical type specular optical reflector 3, one
A projection plane 4, a coordinate acquiring device 5 and graphics processor, wherein a beam condensing unit of the present embodiment is optically focused
Mirror, coordinate acquiring device are high-definition camera.
Optical transmitting set 1 is a luminescent device, by a circle pcb board 1a and n point light source 1b and power-supply controller of electric 1c
Composition, n are the natural number greater than 1, and pcb board diameter is unlimited, and present case is 40mm or so, and point light source 1b is exactly an optically focused
Lamp bead, color is unlimited, and light emitting angle is the smaller the better, and lamp bead is horizontal positioned to be welded on pcb board 1a, and axial line is directed to justify
The heart, horizontally outward, angle is P=360/n degree to the direction of the launch of light between adjacent two point light sources, and power-supply controller of electric is mentioned to lamp bead
It power supply source and controls lamp bead and successively shines, set n point light source number respectively A1, A2, A3 ... An.
Optical receiver 2 is a circular ring type device, and there is no limit also there is no limit present case annulus for annulus size for material
Outer diameter is 40mm, internal diameter 36mm, height 10mm.N are uniformly provided with greatly along horizontal direction from annular outboard face to medial surface
Small the same small circular through hole 2a, through-hole diameter is unlimited, and present case is diameter 2mm or so, and the height of through-hole is unlimited, and axial line refers both to
To the center of circle, the angle in adjacent two through-holes to the centers of circle is P=360/n degree, and it is saturating that an optically focused can also be equipped with after each through-hole
Mirror, through-hole are overlapped with the axle center of collector lens, and for the light optically focused to through-hole, the number for setting through-hole is respectively B1, B2,
B3……Bn。
Reflective optical system 3 is the cylindrical body of n cylinder, and making material is unlimited, but each cylinder must be plated to mirror surface, cylinder
Height be slightly higher than optical receiver, the vertical center line of each cylinder is directed to the center of circle, adjacent two cylinder center lines to circle
The angle of the heart is also P=360/n degree, and the annular diameters present case that the diameter of cylinder is less than optical receiver is 20mm or so, if
The number for determining n cylinder is respectively C1, C2, C3 ... Cn.
Projection plane 4 is the plane of a translucent circle, and present case is molded with translucent acrylic, with a thickness of
0.5mm or so, diameter is 50mm or so, using circle center as reference point, is divided into n fan-shaped view field, it is each it is fan-shaped in
Heart line is directed to the center of circle, and the angle in adjacent two fan-shaped projection zone centerline to the centers of circle is also P=360/n degree, sets each fan
The number of shape projected area is respectively D1, D2, D3 ... Dn.
It should be noted that the present embodiment is horizontally arranged firstly the need of optical transmitting set 1, it is then horizontal right above it
Optical receiver 2 is placed, because optical receiver 2 is ring-shaped hollow device, annular diameters are greater than the diameter of reflective optical system 3,
Reflective optical system 3 is placed on 2 center of optical receiver, then is horizontally arranged circular projection plane 4 right above optical receiver 2,
One camera 5,5 alignment lens projection plane 4 of camera, this five device central axises are finally installed above projection plane 4
All being overlapped is straight line, and optical transmitting set 1, optical receiver 2, reflective optical system 3 and projection plane 4 have equally and have n face, is installed
When each face will align, for example A1, B1, C1, D1 will be aligned, and be not staggered.
As Fig. 2 encounters barrier W1 light meeting its working principles are as follows: optical transmitting set A1 issues a horizontal direction light
It reflects, reflected light is received by the hole optical receiver B1, and by condenser optically focused, projects the face reflecting mirror C1, reflecting mirror
C1 face handle light is vertically reflected into the area projection plane D1 upwards, forms a subpoint F1, and camera takes pictures to subpoint F1
And its coordinate position is calculated by image processor processing, optical transmitting set and barrier are then calculated by formula 1,2,3,4
Hinder the distance L1 of object.
Same optical transmitting set A2, A3 ... An successively emits beam, and encounters barrier W2, and W3 ... Wn can reflect, reflection
Light is successively received by optical receiver B2, B3 ... Bn, then is successively reflected into projection plane D2 by C2, C3 ... Cn,
On D3 ... Dn, F2, F3 ... Fn subpoint are formed in projection plane, camera respectively takes pictures to subpoint and passes through figure
As processor calculates separately out subpoint coordinate, can be calculated by formula in each optical transmitting set front obstacle
Distance L2, L3 ... Ln thus knows the radar in all two-dimensional level faces at a distance from barrier.
Radar optical transmitting set is as follows apart from barrier calculating process:
It sets first:
1: the vertical range of 1 lamp bead of optical transmitting set to 2 center of circular hole of optical receiver is a；
2: reflective optical system radius is e；
3: the horizontal distance of 2 lateral surface of optical receiver to 3 lateral surface of reflective optical system is b；
4: the vertical range of optical transmitting set 1 to projection plane 4 is d；
5: the projected length of projection plane is g；
6: barrier W1 to lamp bead A1 horizontal distance is L1,
According to light mirror surface principle of reflection: reflection light and incident ray and normal are in the same plane；Reflected light
Line and incident ray separation are in the two sides of normal；Angle of reflection is equal to incidence angle, it is concluded that three triangle △ out
W1A1B1, △ B1G1C1, △ F1E1C1 are similar, can be released according to triangle similar principles:
L1/a=b/c=f/h ... formula 1
It can be released again from formula 1:
L1=a*b/c ... formula 2
C=b*h/f ... formula 3
It can be learnt from Fig. 2: h=d- (a+c)
Therefore it can be released from formula 3
C=b*h/f=b* [d- (a+c)]/f
C=b (d-a)/(f+b)=b (d-a)/(g-e+b)
(f=g-e as can be seen from Figure 2, wherein g is after taking pictures processing by camera it is known that e is also known ginseng
Number)
Therefore available L1 length
L1=a*b/c=a*b* (g-e+b)/b* (d-a) ... formula 4
(a, b, d, e be it is known, g be taken pictures by camera processing after can learn).
Lamp bead lighting mode is successively to light in turn above, mainly avoids interfering with each other for adjacent ray in this way, can also be with
In the case where not influencing adjacent light and interacting, it is spaced several lamp beads lighting mode together, accelerates scan frequency, such as first A1,
A4, A8 ... are first lighted, and second A2, A5, A9 ... are lighted, and so on.
If certain lamp bead, the N value of through-hole, reflector, projection plane is bigger, and test obstacle object point is more, differentiates
Rate is higher, and certain cost is also higher.
This utility model principle can also be applied on present mechanical laser radar, and mechanical radar can be greatly increased
Scanning speed, this application are also considered as the patent category for not departing from the utility model.
Its light source of the product of the utility model can be LED light, be also possible to laser, and multi-panel cylinder reflector can also be with
It is multi-panel conical reflector, projection plane can be a planar photo sensor, these changes are all to belong to ordinary skill
The appropriate changes or modifications that personnel do it all should be regarded as the patent category for not departing from the utility model.
Claims (6)
1. a kind of New Two Dimensional solid state LED laser radar characterized by comprising
Optical transmitting set, for issuing horizontal point light source, the optical transmitting set is arranged on the pcb board of an annular, on pcb board uniformly
It is placed with n point light source, the point light source circumferentially annular distribution, and point light source axial line is directed to the center of circle, the hair of point light source
Penetrate direction horizontally outward；
Optical receiver is arranged right above optical transmitting set, is encountered the reflected light of barrier W1 for receiving point light source；
Beam condensing unit is arranged after optical receiver, for assembling the received light of optical receiver；
Reflective optical system is arranged the light in optical receiver center, for assembling beam condensing unit and reflects sending, and light reflects
Device is placed on optical receiver center；
Projection plane is arranged right above optical receiver, for receiving the reflection light after reflective optical system reflects, and in the projection
Plane projection forms a coordinate position；
Coordinate acquiring device, setting is square on a projection plane, for obtaining the coordinate information of reflection light；
Optical transmitting set and obstacle is calculated for the distance according to coordinate position and point light source reflection path in graphics processor
The distance of object.
2. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the optical receiver is one
Circular ring type device, circular ring type device are uniformly provided with n through-hole, the axis of through-hole from annular outboard face to medial surface along horizontal direction
Heart line is directed to the center of circle, and the angle in adjacent two through-holes to the centers of circle is P=360/n degree, and an optically focused is provided with after each through-hole
Lens.
3. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the reflective optical system is to set
There is the cylindrical body reflector of n cylinder, and is directed to the center of circle, adjacent two cylinder center lines to circle perpendicular to the center line of cylinder
The angle of the heart is also P=360/n degree, and the diameter of cylinder is less than the annular diameters of optical receiver.
4. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the projection plane is one
The plane of a translucent circle is divided into n fan-shaped view field using circle center as reference point, and the center line of each sector is equal
It is directed toward the center of circle, the angle in adjacent two fan-shaped projection zone centerline to the centers of circle is P=360/n degree.
5. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the beam condensing unit is poly-
Light microscopic.
6. New Two Dimensional solid state LED laser radar according to claim 1, which is characterized in that the coordinate acquiring device
For high-definition camera.
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| CN201821648327.XU CN209102900U (en) | 2018-10-11 | 2018-10-11 | A kind of New Two Dimensional solid state LED laser radar |
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| CN201821648327.XU CN209102900U (en) | 2018-10-11 | 2018-10-11 | A kind of New Two Dimensional solid state LED laser radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020073724A1 (en) * | 2018-10-11 | 2020-04-16 | 东莞市光劲光电有限公司 | Novel two-dimensional solid led laser radar and distance measurement method therefor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020073724A1 (en) * | 2018-10-11 | 2020-04-16 | 东莞市光劲光电有限公司 | Novel two-dimensional solid led laser radar and distance measurement method therefor |
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