CN209327578U - A kind of multi-angle laser ranging system based on ARM - Google Patents
A kind of multi-angle laser ranging system based on ARM Download PDFInfo
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- CN209327578U CN209327578U CN201822209476.2U CN201822209476U CN209327578U CN 209327578 U CN209327578 U CN 209327578U CN 201822209476 U CN201822209476 U CN 201822209476U CN 209327578 U CN209327578 U CN 209327578U
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Abstract
The utility model discloses a kind of multi-angle laser ranging system based on ARM, comprising: pedestal, the pedestal are equipped with power supply；Bracket, the bracket setting is on the base, the bracket is equipped with laser emitter and camera, the laser emitter and camera are located in the same horizontal plane, the camera is equipped with optical filter, the laser emitter is arranged on bracket by rotating device, and angle can be freely rotated in the horizontal plane；Steering engine, the bracket are set on the base by steering engine；Arm processor, the arm processor is for image procossing and apart from calculating.The advantages of the utility model are as follows: firstly, the rotation of camera and laser emitter can manually or automatically be controlled to obtain the distance of multiple tested points within the scope of multi-angle；Secondly, range information and rotation angle can directly read from display screen or obtain data from host computer by wireless communication.
Description
Technical field
The utility model relates to a kind of range units, more particularly, to a kind of multi-angle laser ranging system based on ARM.
Background technique
Laser is widely used on range unit because having many characteristics, such as good monochromaticjty, high directivity, coherence's height,
Measurement accuracy can largely be improved.The method of laser ranging includes impulse method, phase method and triangulation, wherein
Triangle telemetry has good application effect and production cost is low, is the hot spot of current Study of Laser ranging.
In mobile robot field, laser ranging system as main detection sensor, can be used to avoidance, positioning and
Build figure, but have strict requirements to the volume of sensor, and laser ranging system price currently on the market is higher, structure compared with
It is complicated.In this case it is a kind of it is at low cost, structure is simple, the reasonable range unit of volume seems very necessary.
The patent of Publication No. CN205333856U discloses a kind of cost laser survey based on common camera chip
Away from device, which issues light beam by laser emitter and is irradiated on target object to be measured, anti-from target object
Optical signal is converted to electric signal by camera chip imaging sensor by the light beam penetrated, by image processing unit data processing
Obtain testing distance information.But its measuring system is replicated, imaging lens group is needed to configure, has certain cost, and primary
The range information that a single point can only be measured needs manual regulating device to measure the distance of next tested point, finally measure away from
It can not directly display from information or obtain data by wireless communication.
Utility model content
Purpose of utility model: in order to overcome the shortcomings of background technique, the utility model discloses one kind can be quickly and easily
Measure the multi-angle laser ranging system based on ARM of multiple tested point distances within the scope of certain angle.
Technical solution: the multi-angle laser ranging system described in the utility model based on ARM, comprising:
Pedestal, the pedestal are equipped with power supply；
Bracket, on the base, the bracket is equipped with laser emitter and camera, the laser hair for the bracket setting
Emitter and camera are located in the same horizontal plane, and the camera is equipped with optical filter, and the laser emitter passes through rotation dress
It installs on bracket, angle can be freely rotated in the horizontal plane；
Steering engine, the bracket are set on the base by steering engine；
Arm processor, the arm processor is for image procossing and apart from calculating.
It is reflected when laser emitter issues after laser beam is mapped to some on barrier, the light spot image of reflection is shot
As head collects, it is transferred to arm processor and carries out the distance that image real time transfer finally calculates tested point.To measure next point
Distance, pass through steering engine rotate angle.
Further, the pedestal is additionally provided with display screen, the angle letter of the rotation of distance and device that arm processor obtains
Breath can be shown from display screen in real time.
Further, scale wheel disc is equipped with below the laser emitter, rotation is as needed to adjust the angle.
Further, the direction of the launch of the laser emitter and bracket angulation range are 81 ° -85 °, preferably
83°。
Further, the distance range of the laser emitter to camera is 12cm-15cm, preferably 14cm.
It further, further include wireless communication module, module connection host computer passes the arm processor by wireless communication
Delivery data and control signal, host computer can remotely obtain measurement data, and control steering engine rotation angle degree.
The utility model has the advantages that compared with prior art, the advantages of the utility model are as follows: taken the photograph firstly, can manually or automatically control
The distances of multiple tested points within the scope of multi-angle is obtained as the rotation of head and laser emitter；Secondly, range information and rotation
Angle can directly read from display screen or obtain data from host computer by wireless communication.
Detailed description of the invention
Fig. 1 is utility model device structure chart；
Fig. 2 is the utility model bracket top view；
Fig. 3 is utility model works schematic diagram；
Fig. 4 is the utility model range measurement principle figure.
Specific embodiment
The technical solution of the utility model is further described with reference to the accompanying drawings and examples.
Multi-angle laser ranging system based on ARM as depicted in figs. 1 and 2, comprising:
Pedestal 1, the pedestal 1 are equipped with power supply 3, power to all devices.
Bracket 4, the bracket 4 are arranged on pedestal 1, and the bracket 4 is equipped with laser emitter 5 and camera 6, described
Laser emitter 5 and camera 6 are located in the same horizontal plane, and the distance range at the laser emitter 5 to 6 center of camera is
14cm, the camera 6 are equipped with optical filter 7, only the light of 5 launch wavelength of laser emitter are allowed to pass through, to avoid it
The light belt of his environment interferes, and the laser emitter 5 is arranged on bracket 4 by rotating device, and under laser emitter 5
Side is equipped with scale wheel disc 10, and angle, 5 direction of the launch of laser emitter and branch can be freely rotated in laser emitter 5 in the horizontal plane
4 angulation of frame ranges preferably from 83 °.
Arm processor 2, the arm processor 2 are arranged on pedestal 1 for image procossing and apart from calculating.
Steering engine 8, the bracket 4 are set on pedestal 1 by steering engine 8, can control 8 rotation angle of steering engine by arm processor 2
Degree.
Wireless communication module 11, module 11 connects host computer transmitting data and control to the arm processor 2 by wireless communication
Signal processed, host computer can remotely obtain the data information of arm processor, can also remotely control steering engine 8 and carry out rotational angle, real
The range measurement of multiple spot in existing multi-angle.
Display screen 9, the display screen 9 are that LCD display is arranged on pedestal 1 for showing the rotation angle letter of steering engine 8
The range data that breath and arm processor calculate.
As shown in figure 3, reflected when laser emitter 5 issues after laser beam is mapped to some on barrier, reflection
Light spot image is collected by camera 6, is transferred to arm processor 2 and is carried out the distance that image real time transfer finally calculates tested point.
To measure the distance of next point, it can be manually entered steering engine 8 from host computer and need the angle rotated or set on software
The angle of the angle that steering engine 8 rotates automatically, distance and steering engine 8 rotation of acquisition can be shown from display screen 9 and host computer in real time
It shows and.
As shown in figure 4, it is required distance that wherein d, which is distance of the target point apart from laser emitter, s is range measurement principle
For laser emitter to the distance at camera center, β is the direction of the launch of laser emitter and the angle of camera place plane, q
For the distance of plane where target point to camera, f is camera focal length, and x is that laser facula is photosensitive in camera on barrier
The distance of imaging point on chip to image one side edge.
Solve as follows: known s, β, f are released according to triangle correspondence theorem:
Q=f*s/x (1),
It is released again according to triangle sine:
D=q/sin (β) (2),
Formula (2) are substituted into formula (1), are obtained:
D=f*s/x/sin (β) (3),
After having found out the center pixel coordinate (px, py) of hot spot in picture by centroid method, it is desirable that go out in formula and need
X, it is necessary first to by the coordinate transform of pixel unit to actual distance value.For convenience of calculation, camera shooting can be enabled during installation
One reference axis of head picture is parallel with upper figure line section s, the advantage of doing so is that we only need to sit by spot center pixel
A parameter (px or py) in mark finds out practical projector distance x, we have only used px here, and variable x can be by such as
Lower formula calculates:
X=PixelSize*px+offset (4),
In formula (4), PixelSize is the size of single pixel photosensitive unit on camera photosensitive-member, and offset is
The departure of the projector distance and practical projector distance x that are calculated by pixel.PixelSize can pass through the photosensitive member of camera
Part handbook determines its numerical value, and offset needs to correct by ranging finds out.
Formula (4) are substituted into (3), can finally obtain the formula of corresponding hot spot actual range:
D=f*s/ (PixelSize*px+offset)/sin (β) (5).
Claims (8)
1. a kind of multi-angle laser ranging system based on ARM characterized by comprising
Pedestal (1), the pedestal (1) are equipped with power supply (3)；
Bracket (4), the bracket (4) are arranged on pedestal (1), and the bracket (4) is equipped with laser emitter (5) and camera
(6), the laser emitter (5) and camera (6) are located in the same horizontal plane, and the camera (6) is equipped with optical filter
(7), the laser emitter (5) is arranged on bracket (4) by rotating device, and angle can be freely rotated in the horizontal plane；
Steering engine (8), the bracket (4) are set on pedestal (1) by steering engine (8)；
Arm processor (2), the arm processor (2) is for image procossing and apart from calculating.
2. the multi-angle laser ranging system according to claim 1 based on ARM, it is characterised in that: the pedestal (1) is also
Equipped with the display screen (9) for showing steering engine angle and distance information.
3. the multi-angle laser ranging system according to claim 1 based on ARM, it is characterised in that: the Laser emission
Scale wheel disc (10) are equipped with below device (5).
4. the multi-angle laser ranging system according to claim 1 based on ARM, it is characterised in that: the Laser emission
The direction of the launch and bracket (4) angulation range of device (5) are 81 ° -85 °.
5. the multi-angle laser ranging system according to claim 4 based on ARM, it is characterised in that: the Laser emission
The direction of the launch and bracket (4) angulation range of device (5) are 83 °.
6. the multi-angle laser ranging system according to claim 1 based on ARM, it is characterised in that: the Laser emission
The distance range of device (5) to camera (6) is 12cm-15cm.
7. the multi-angle laser ranging system according to claim 6 based on ARM, it is characterised in that: the Laser emission
The distance range of device (5) to camera (6) is 14cm.
8. the multi-angle laser ranging system according to claim 1 based on ARM, it is characterised in that: further include channel radio
Believe module (11), module (11) connection host computer transmits data and control signal to the arm processor (2) by wireless communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822209476.2U CN209327578U (en) | 2018-12-27 | 2018-12-27 | A kind of multi-angle laser ranging system based on ARM |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822209476.2U CN209327578U (en) | 2018-12-27 | 2018-12-27 | A kind of multi-angle laser ranging system based on ARM |
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| Publication Number | Publication Date |
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| CN209327578U true CN209327578U (en) | 2019-08-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323771A (en) * | 2020-03-02 | 2020-06-23 | 南京理工大学 | Fixed-distance-based millimeter wave radar and video data fusion method |
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2018
- 2018-12-27 CN CN201822209476.2U patent/CN209327578U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111323771A (en) * | 2020-03-02 | 2020-06-23 | 南京理工大学 | Fixed-distance-based millimeter wave radar and video data fusion method |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220705 Address after: 215105 No. 5555, 5577 and 5559, Mudong Road, Linhu Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Suzhou Zhengyi Automatic Control Technology Co.,Ltd. Address before: 210044 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Patentee before: Nanjing University of Information Science and Technology |