A laser radar and a fast scanning method thereof

Abstract

The application discloses a laser radar and a fast scanning method thereof and belongs to the technical field of laser radars. The laser radar comprises a radar body, a receiving module is arranged on the top of the radar body, and a regulating assembly and a transmitting assembly are arranged on the front face and the back face of the radar body, respectively. When the laser radar is disassembled, only two clamping blocks are squeezed to make the clamping blocks disengage from the clamping grooves, and the disassembly work can be completed. The two first elastic members effectively buffer the laser radar, the damping spring supports the sliding block, the damping characteristics are utilized to slow down the vibration and consume kinetic energy, the buffering effect of the laser radar is improved, the laser emission frequency is changed through the emission power of the laser pulse, the scanning rate is improved, the vegetation data coding value is arranged in the laser radar to automatically filter the vegetation, the DSM and DEM are outputted, the transmission of the reflected pulse signal after scanning is improved, and the applicability of the laser radar is further improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radars, and particularly relates to a laser radar and a rapid scanning method thereof. BACKGROUND

[0002] The laser radar is a measuring method for measuring the distance of a target by irradiating the target with pulsed laser and measuring the return time of the reflected pulse, and can be used to make a digital three-dimensional representation of the target by using the difference between the return time and the wavelength of the laser. The laser radar, now commonly known as light detection (or light imaging, detection and ranging), is originally a mixture of light and radar. The laser radar is sometimes referred to as 3D laser scanning, which is a special combination of 3D scanning and laser scanning. The laser radar has applications in land, air and mobile terminals. The laser radar is usually used to make high-resolution maps and is applied to geodesy, geographic information science, archaeology, geography, geology, geomorphology, seismology, forestry, atmospheric physics, laser guidance, airborne laser swath mapping (ALSM) and laser altimetry.

[0003] When multiple laser radars simultaneously scan the same scanning point, the laser signals emitted by the multiple laser radars will interfere with each other, so that the laser radar receives the laser signal emitted by the scanning point and contains the laser signal emitted by other laser radars, which affects the reception of the reflected pulse information of the laser radar, and the scanning parameters need to be removed after scanning, thereby affecting the scanning rate of the laser radar and affecting the use of the laser radar. Therefore, a laser radar and a rapid scanning method thereof are needed to solve the above problems.

[0004] The laser radar can be used in backpack mode, vehicle-mounted mode and airborne mode. Since the laser radar has poor protection, it is prone to failure due to strong vibration or collision when working in various modes, which affects the normal scanning work of the laser radar and the accuracy of timely data reception. At the same time, the laser radar needs to be installed on a vehicle frame or a machine frame through multiple fasteners, which is extremely inconvenient to disassemble and assemble, and is not conducive to the rapid switching of the airborne and vehicle-mounted modes of the laser radar, so the applicability of the laser radar is poor. SUMMARY

[0005] (1) Technical problems solved

[0006] In order to overcome the above-mentioned defects of the prior art, the application provides a laser radar and a rapid scanning method thereof, which solves the problems that when multiple laser radars simultaneously scan the same scanning point, the laser signals emitted by the multiple laser radars will interfere with each other, and since the laser radar has poor protection, it is prone to failure due to strong vibration or collision when working in various modes, which affects the normal scanning work of the laser radar and the accuracy of timely data reception. At the same time, the laser radar needs to be installed on a vehicle frame or a machine frame through multiple fasteners, which is extremely inconvenient to disassemble and assemble, and is not conducive to the rapid switching of the airborne and vehicle-mounted modes of the laser radar.

[0007] (II) Technical solutions

[0008] To achieve the above object, the application provides the following technical scheme: a laser radar, comprising a radar body, a receiving module is arranged on the top of the radar body, a regulation component and a transmitting component are arranged on the front and back of the radar body respectively, the lower surface of the radar body is fixedly connected with the upper surface of a buffer component, the buffer component is arranged in a fixed block, the lower surface of the fixed block is fixedly connected with the upper surface of a base, the lower surface of the base is overlapped with the upper surface of a bottom plate, the front side of the lower surface of the radar body is hingedly connected with the upper surface of a connecting plate through a pin shaft, the lower surface of the connecting plate is hingedly connected with a stop block through two pin shafts, the front surface of the stop block is fixedly connected with the back surface of a sliding block, the sliding block is slidingly connected in a slide, the slide is arranged on the upper surface of the base, the front surface of the sliding block is fixedly connected with the back surface of the inner wall of the slide through a damping spring, two through holes are arranged on the upper surface of the base, a pressing component is slidingly connected in the through holes, one end of the pressing component is fixedly connected with the right surface of the inner wall of the through hole, the pressing component is clamped in a clamping groove, and the clamping groove is arranged on the upper surface of the bottom plate.

[0009] As a further scheme of the application: sliding sleeves are clamped at the four corners of the upper surface of the base, the sliding sleeves are sleeved with limiting rods, and the bottom ends of the four limiting rods are fixedly connected with the upper surface of the bottom plate.

[0010] As a further scheme of the application: the transmitting component comprises a laser head, the front surface of the laser head is fixedly connected with the back surface of the radar body, and a protective cover is arranged in the laser head.

[0011] As a further scheme of the application: the buffer component comprises a supporting block, the upper surface of the supporting block is fixedly connected with the lower surface of the radar body, two sliding rods are fixedly connected with the lower surface of the supporting block, the two sliding rods are slidingly connected in two sliding grooves, and the two sliding grooves are arranged on the upper surface of the fixed block; the bottom end of the sliding rod is fixedly connected with the lower surface of the inner wall of the sliding groove through a first elastic member.

[0012] As a further scheme of the application: the pressing component comprises a clamping block, the clamping block is clamped in a clamping groove, the clamping block is located in the through hole, and the right surface of the clamping block is fixedly connected with the right surface of the inner wall of the through hole through a second elastic member.

[0013] As a further scheme of the application: the left side of the bottom of the clamping block is arc-shaped, one side of the clamping block is embedded in a groove arranged in the inner wall of the through hole, and the cross sections of the slide and the sliding block are T-shaped.

[0014] A rapid scanning method of a laser radar, comprising the following steps:

[0015] S1, first, the laser radar emits a laser signal to a designated scanning point according to a target encoding value, alternately emits a near-frame light beam and a far-frame light beam according to a preset time period, and forms a first laser signal according to whether the reflected signal has a radar encoding value.

[0016] S2, if not, the emission power of the laser pulse corresponding to the partition in the range of the current scanning frame is obtained.

[0017] S3, secondly, the laser emission frequency is changed by adjusting the laser emission power of each regional partition range, and the echo signal is received by the return of the reflected pulse.

[0018] S4, by setting the vegetation data encoding value in the laser radar, the vegetation is automatically filtered out, and the DSM and DEM are output, and the transmission of the reflected pulse signal after scanning is improved.

[0019] S5, obtain the scanning parameters of the laser radar, including scanning period, angle analysis calculation, scanning range, line number, and accurate ground elevation point.

[0020] S6, according to the multiple laser signal emission to the received signal, multiple cycle parameter values are formed, and the average value of the corresponding parameter values is obtained by comparing and calculating the multiple cycle parameter values.

[0021] As a further scheme of the present application: in S1, the radar encoding value can be specified and set in the laser radar, and after emitting a laser signal to receive a reflected pulse, the laser signal emitted by other radars can be effectively identified, and if the identification is successful, the signal is directly skipped and the laser scanning work continues, and if the identification fails, the scanning parameters of the current region are obtained.

[0022] (Three) beneficial effects

[0023] Compared with the prior art, the beneficial effects of the present application are:

[0024] 1、In the present application, by setting the buffer assembly, fixed block, base, bottom plate, damping spring, sliding block, extrusion assembly, sliding sleeve and limiting rod, when loading the laser radar, the base is placed on the bottom plate, the limiting rod is inserted into the sliding sleeve, the clamping block is inserted into the clamping groove, at this time the two clamping blocks are supported by the elastic force of the two second elastic members, the two clamping blocks are embedded in the inner wall of the clamping groove, and the installation work of the laser radar is completed, and when disassembling the laser radar, only the two clamping blocks are extruded to make the clamping blocks separate from the clamping grooves, and the disassembly work of the laser radar is completed by directly lifting, which is very convenient for the quick switching of the airborne and vehicle-mounted modes of the laser radar, and is very suitable.

[0025] When the laser radar works in the vehicle-mounted or airborne mode, the laser radar is vibrated, the support block drives the two sliding rods to move in the sliding groove, and the two first elastic members in the sliding groove effectively support the sliding rods, effectively play a buffering role, and in the process that the laser radar is floated up and down, the connecting plate drives the sliding block to move, the damping spring supports the sliding block, the damping characteristics are utilized to slow down the vibration and consume kinetic energy, the buffering effect of the laser radar is further improved, the laser radar is protected, and the normal scanning work of the laser radar and the accuracy of the received data are not affected.

[0026] 2、In the application, the laser radar emits a laser signal to a specified scanning point according to a target coding value, and whether the reflected signal exists a radar coding value to form a first laser signal, the radar coding value can be set in the laser radar, after the emission of the laser signal and the reception of the reflected pulse, the laser signal emitted by other radars can be effectively identified, if the identification is successful, the signal is directly skipped to continue the laser scanning work, if the identification fails, the scanning parameters of the current area are obtained, when multiple laser radars scan the same scanning point at the same time, the emitted laser signals will not interfere with each other, the parameters of the scanning area are effectively reflected, and then the laser emission frequency is changed through the emission power of the laser pulse, so that the scanning rate is improved; the vegetation data coding value is set in the laser radar to automatically filter the vegetation, output the DSM and DEM, improve the transmission of the reflected pulse signal after scanning, and further improve the applicability of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a three-dimensional structural schematic view of the application;

[0028] Figure 2 It is a three-dimensional structural schematic view of the emission assembly of the application;

[0029] Figure 3 It is a sectional structural schematic view of the bottom plate of the application;

[0030] Figure 4 It is a sectional structural schematic view of the buffering assembly of the application;

[0031] Figure 5 It is a scanning method flow chart of the application;

[0032] In the diagram: 1 Radar body, 2 Receiver module, 3 Control component, 4 Transmitter component, 41 Laser head, 42 Protective cover, 5 Buffer component, 51 Support block, 52 Slide rod, 53 First elastic element, 6 Slide groove, 7 Fixing block, 8 Base, 9 Base plate, 10 Connecting plate, 11 Stop block, 12 Slide rail, 13 Slider, 14 Damping spring, 15 Pressing component, 151 Locking block, 152 Second elastic element, 16 Through hole, 17 Locking groove, 18 Slide sleeve, 19 Limiting rod. Detailed Implementation

[0033] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0034] like Figures 1-5 As shown, the present invention provides a technical solution: a laser radar, including a radar body 1, a receiving module 2 disposed on the top of the radar body 1, a control component 3 and a transmitting component 4 disposed on the front and back of the radar body 1 respectively, the lower surface of the radar body 1 being fixedly connected to the upper surface of a buffer component 5, the buffer component 5 being disposed within a fixing block 7, the lower surface of the fixing block 7 being fixedly connected to the upper surface of a base 8, the lower surface of the base 8 overlapping the upper surface of a base plate 9, the front side of the lower surface of the radar body 1 being hinged to the upper surface of a connecting plate 10 via a pin, the connecting plate 10... The lower surface is hinged with two stops 11 by two pins. The front of the stops 11 is fixedly connected to the back of the slider 13. The slider 13 is slidably connected in the slide rail 12. The slide rail 12 is opened on the upper surface of the base 8. The front of the slider 13 is fixedly connected to the back of the inner wall of the slide rail 12 by a damping spring 14. The upper surface of the base 8 has two through holes 16. The extrusion assembly 15 is slidably connected in the through holes 16. One end of the extrusion assembly 15 is fixedly connected to the right side of the inner wall of the through hole 16. The extrusion assembly 15 is snapped into the slot 17. The slot 17 is opened on the upper surface of the base plate 9.

[0035] Specifically, such as Figure 1 , Figure 3 and Figure 4As shown, the upper surface of the base 8 is clamped with a sleeve 18 at four corners, the sleeve 18 is sleeved with a limiting rod 19, the bottom end of the four limiting rods 19 is fixedly connected with the upper surface of the bottom plate 9, the emitting assembly 4 includes a laser head 41, the front surface of the laser head 41 is fixedly connected with the back surface of the radar body 1, the laser head 41 is provided with a protective cover 42, the buffer assembly 5 includes a supporting block 51, the upper surface of the supporting block 51 is fixedly connected with the lower surface of the radar body 1, the lower surface of the supporting block 51 is fixedly connected with two slide rods 52, the two slide rods 52 are both slidingly connected in the slide groove 6, the two slide grooves 6 are both opened in the upper surface of the fixed block 7, the bottom end of the slide rod 52 is fixedly connected with the lower surface of the inner wall of the slide groove 6 through the first elastic piece 53, the extruding assembly 15 includes a clamping block 151, the clamping block 151 is clamped in the clamping groove 17, the clamping block 151 is located in the through hole 16, the right side surface of the clamping block 151 is fixedly connected with the right side surface of the inner wall of the through hole 16 through the second elastic piece 152, the left side of the bottom of the clamping block 151 is designed in an arc shape, because the clamping block 151 is designed in an arc shape, when the base 8 is fixed, the base 8 is pressed down, and the clamping block 151 is clamped into the clamping groove 17, so that the related personnel need not continuously extrude the clamping block 151, the clamping block 151 can be clamped into the clamping groove 17, which is very convenient, one side of the clamping block 151 is embedded in the groove arranged on the inner wall of the through hole 16, the cross section of the slide 12 and the slide block 13 is designed in a T shape, the clamping block 151 is embedded in the inner wall of the through hole 16 and the slide block 13 is designed in a T shape, so that the clamping block 151 moves left and right without shaking and without being separated from the through hole 16, the clamping block 151 will not be separated from the slide 12 during movement, the stability of the laser radar installation and the buffer is improved, and it is very suitable.

[0036] A rapid scanning method of a laser radar, comprising the following steps:

[0037] S1, first, the laser radar emits a laser signal to a specified scanning point according to a target coding value, alternately emits a near-frame light beam and a far-frame light beam according to a preset time period, and forms a first laser signal according to whether a reflected signal exists a radar coding value, if yes, the laser radar emits a laser signal to a next specified scanning point according to a target coding value.

[0038] S2, if no, the emission power of a laser pulse corresponding to a partition in a current scanning frame region range is acquired.

[0039] S3, secondly, the laser emission frequency is changed by adjusting the laser emission power of each region partition range, and a return wave signal is received through a reflected pulse return.

[0040] S4, by setting a vegetation data coding value in the laser radar, the vegetation is automatically filtered out, and a DSM and a DEM are outputted, so as to improve the transmission of a reflected pulse signal after scanning.

[0041] S5, obtain the laser radar scanning parameters, including scanning period, angle analysis calculation, scanning range, line number, and accurate ground elevation point.

[0042] S6, form a plurality of period parameter values according to a plurality of laser signal emissions and received signals, and obtain an average value of the corresponding parameter values by comparing and calculating the plurality of period parameter values.

[0043] In S1, the radar code value can be set by specifying in the laser radar, and after transmitting the laser signal and receiving the reflected pulse, the laser signal transmitted by other radars can be effectively identified. If the identification is successful, the signal is directly skipped and the laser scanning work is continued. If the identification fails, the scanning parameters of the current area are obtained.

[0044] In summary:

[0045] When loading the laser radar, the base 8 is placed on the bottom plate 9, the limiting rod 19 is inserted into the sliding sleeve 18, the clamping block 151 is inserted into the clamping groove 17, and the two clamping blocks 151 are supported by the elastic force of the two second elastic members 152 at this time, so that the two clamping blocks 151 are embedded in the inner wall of the clamping groove 17. That is, the installation work of the laser radar can be completed, and when disassembling the laser radar, only the two clamping blocks 151 are squeezed to make the clamping block 151 separate from the clamping groove 17, and the disassembly work of the laser radar can be completed by directly lifting. It is very convenient to realize the quick switching of the airborne and vehicle-mounted modes of the laser radar.

[0046] When the laser radar works in the vehicle-mounted or airborne mode, the laser radar is vibrated, the supporting block 51 drives the two sliding rods 52 to move in the sliding groove 6, and the two first elastic members 53 in the sliding groove 6 effectively support the sliding rods 52, effectively play a buffering role, and the laser radar can move the sliding block 13 by driving the connecting plate 10 in the process of floating up and down. The damping spring 14 supports the sliding block 13, slows down the vibration and consumes kinetic energy by utilizing the damping characteristics, thereby further improving the buffering effect of the laser radar, protecting the laser radar to a certain extent, and not easily affecting the normal scanning work of the laser radar and the accuracy of timely receiving data.

[0047] The laser radar emits laser signals to the designated scanning point according to the target coding value, and the reflected signal is whether the radar coding value exists, to form the first laser signal, the radar coding value can be set by design in the laser radar, and after the reflected pulse of the emitted laser signal is received, the laser signals emitted by other radars can be effectively identified, if the identification is successful, the signal is directly skipped and the laser scanning work is continued, if the identification fails, the scanning parameters of the current area are obtained, so that when the multiple laser radars scan the same scanning point at the same time, the emitted laser signals will not interfere with each other, so that the parameters of the scanning area are effectively reflected, and secondly, the laser emission frequency is changed by the emission power of the laser pulse, so as to improve the scanning rate; because the vegetation data coding value is set in the laser radar, the vegetation is automatically filtered out, the DSM and DEM are output, the transmission of the reflected pulse signal after scanning is improved, and the applicability of the laser radar is further improved.

[0048] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] The preferred embodiments of the present patent have been described in detail above, but the present patent is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present patent.

Claims

1. A fast scanning method of a laser radar, characterized by, Comprise the following steps: S1, first, the laser radar according to the target code value to the designated scanning point emits laser signal, according to the preset time period alternately emits near frame light beam and far frame light beam, whether the reflected signal exists radar code value, form the first laser signal, if yes laser radar according to the target code value to the next designated scanning point emits laser signal; In S1, radar code value can be set by specifying in laser radar, after emitting laser signal and receiving reflected pulse, other radar emitted laser signal can be effectively identified, if identification is successful, the signal is directly skipped and laser scanning work continues, if identification fails, the scanning parameters of the current area are obtained; S2, if no, the emission power of laser pulse corresponding to the partition in the area range of the current scanning frame is obtained; S3, secondly, the laser emission frequency is changed by adjusting the laser pulse emission power of each area partition range, and the echo signal is received by reflected pulse return; S4, by setting vegetation data code value in laser radar, to automatically filter out vegetation, output DSM, DEM, improve the transmission of reflected pulse signal after scanning; S5, obtain the scanning parameters of laser radar, including scanning period, angle analysis calculation, scanning range, line number, accurate ground elevation point; S6, according to multiple laser signal emission to receive signal forms multiple cycle parameter value, multiple cycle parameter value is used for comparison calculation, the average value of corresponding parameter value is obtained.

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