Multi-line rotary scanning detection method

Abstract

The invention relates to a multi-line rotary scanning detection method which is used for measuring the distance between a multi-line rotary scanning detection device and a detected object. The multi-line rotary scanning detection method comprises the steps that an emitting light source emits infrared detection light, and the detection azimuth of the multi-line rotary scanning detection device is recorded; a photoelectric sensor receives the infrared detection light reflected by the detected object; a signal processing unit calculates the distance between the multi-line rotary scanning detection device and the detected object based on a time of flight method; and the detection device continuously rotates and records azimuth and distance information. According to the invention, an LED is adopted to act as the light source to emit a light beam with a small divergence angle, thereby avoiding mutual interference caused by using multiple laser light sources in the prior art. The sensor adopts an array sensor, thereby performing scanning on multiple positions in the horizontal and vertical directions, and acquiring multi-line scanning three-dimensional point cloud distance data in the 360-degree field of view. The emitting light source and the receiving device are simple in structural design in the operating process.

Description

technical field [0001] The present application relates to the field of optical ranging, in particular, to a multi-line rotary scanning detection device and method. Background technique [0002] The optical scanning ranging device is a device that uses collimated beams to perform non-contact scanning ranging through triangulation, Time of Flight (TOF for short) and other methods. At present, a common time-of-flight optical scanning ranging device includes: a light emitting module, an optical lens, a chip for receiving and processing signals, a motor, a bearing and a conductive slip ring. The light emitting module emits a single light beam, the optical lens is located on the optical path of the light emitting module, the collimated light beam is emitted to the surface of the object to be measured, and the light beam is reflected to the receiving chip after encountering obstacles, and the receiving chip transmits it to the receiving side through measurement. The distance betwe...

AI Technical Summary

Problems solved by technology

The above-mentioned multi-line laser radar system in the prior art is composed of 64 individual ranging systems (laser light sources / detector pairs), and the individual laser light sources / detectors need to be set at fixed angles, which is complicated to manufacture

However, when multiple lasers are used as the detection light source, it is preferable during the detection process (see page 6 of the above-mentioned prior art specification) to emit only a few lasers or only one laser at a time. Luminance interference, or dazzle when a laser beam encounters a returning laser beam, and firing only a few lasers at a time reduces detection efficiency at the same angle

In addition, the 64 laser diodes only perform distance detection on 64 angles in the same vertical direction, and cannot expand in the horizontal direction at the same angle where the lidar is located.

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