Industrial grade laser radar scanning module suitable for outdoor warehouse

Abstract

The invention provides an industrial-grade laser radar scanning module suitable for an outdoor warehouse, and belongs to the technical field of laser radars, and the module comprises a laser transmitting module, a laser receiving module, a scanning module, a data processing module, and a data transmission module. The technical principle, the performance characteristics, the installation and debugging method and the maintenance precautions of the industrial-grade laser radar scanning module suitable for the outdoor warehouse are introduced in detail, it is ensured that related personnel can correctly use and maintain the equipment, and the advantages of the industrial-grade laser radar scanning module in outdoor warehouse management are brought into full play.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and in particular to an industrial-grade lidar scanning module suitable for outdoor warehouses, used to solve problems such as three-dimensional environmental perception, material volume measurement, dynamic obstacle avoidance and safety monitoring in complex outdoor scenarios. Background Technology

[0002] With the continuous development of industrial automation and intelligence, the demand for efficient management and precise monitoring of outdoor warehouses is increasing. Industrial-grade LiDAR scanning modules, as an advanced sensor technology, can provide high-precision three-dimensional spatial information for outdoor warehouses, playing an important role in inventory counting, cargo positioning, and security monitoring. Summary of the Invention

[0003] To address the above technical problems, this invention provides an industrial-grade LiDAR scanning module suitable for outdoor warehouses, which solves problems such as 3D environmental perception, material volume measurement, dynamic obstacle avoidance, and safety monitoring in complex outdoor scenarios.

[0004] The technical solution of this invention is:

[0005] An industrial-grade lidar scanning module suitable for outdoor warehouses includes a laser emitting module, a laser receiving module, a scanning module, a data processing module, and a data transmission module.

[0006] The laser emitting module is used to emit high-energy laser pulses;

[0007] The laser receiving module is used to receive laser pulses reflected back from the target object;

[0008] The scanning module can achieve a horizontal scanning range of 360° and a vertical scanning range of [X]° to [X]° to obtain distance information of target objects at different angles in the outdoor warehouse;

[0009] The data processing module performs preprocessing such as noise reduction and filtering on the raw laser ranging data, and analyzes cargo displacement, abnormal stacking and other situations in real time through built-in intelligent algorithms.

[0010] The data transmission module is equipped with an Ethernet interface and a USB interface, which are used to quickly and stably transmit the processed point cloud data to the host computer or warehouse management system.

[0011] The laser emitting module and laser receiving module described in this invention work together to calculate the distance to the target object based on the principle of laser ranging by measuring the time difference between laser emission and reception. The ranging accuracy reaches ±[X] mm, which meets the needs of accurate inventory counting and cargo positioning in outdoor warehouses.

[0012] Laser emission: A laser emitter emits a high-energy laser pulse that travels at the speed of light toward the target object.

[0013] Laser reflection: When a laser pulse encounters a target object, part of the laser light is reflected back.

[0014] Laser receiver: The module's laser receiver receives the reflected laser pulses;

[0015] Time measurement: By measuring the time difference Δt between laser emission and reception, and since the speed of light c is a known constant, the distance to the target object can be calculated using the formula d = c × Δt / 2, where d is the distance between the target object and the lidar.

[0016] The scanning module can be either mechanical or solid-state scanning. The mechanical scanning method uses a motor to drive the laser emitting and receiving device to rotate or swing in the horizontal and vertical directions to achieve scanning. The solid-state scanning method uses microelectromechanical systems (MEMS), phased array and other electro-optical technologies to control the direction of laser emission and reception to achieve scanning. Users can choose according to the actual needs and budget of the outdoor warehouse.

[0017] After preprocessing the raw data, the data processing module generates a point cloud density of over [X] points per square meter, which can clearly distinguish the outline, shape, and stacking status of goods in the outdoor warehouse, providing detailed data support for warehouse management. This module has wide environmental adaptability, with an operating temperature range of -[X]℃ to +

[0018] [X]℃, relative humidity range of 5% to 95% (non-condensing), dustproof and waterproof protection rating of IP[X] or above, can operate stably in the complex and ever-changing environment of outdoor warehouses.

[0019] The Ethernet interface of the data transmission module can meet the needs of real-time transmission of large amounts of point cloud data, realize high-speed and stable connection with the warehouse management system, and ensure timely data upload and processing. The intelligent algorithm built into the data processing module can perform real-time analysis of data on the device. When the displacement of goods or abnormal stacking is detected, it will send early warning information to the host computer in a timely manner, thereby improving the safety management level of the outdoor warehouse.

[0020] The present invention also includes mounting brackets, which include wall-mounted brackets and hanging brackets; the wall-mounted brackets are used to fix the module to the warehouse wall, and the hanging brackets are used to suspend the module from the top of the warehouse, and the brackets are adjustable in angle to ensure that the scanning direction of the module covers the target area of ​​the outdoor warehouse.

[0021] The beneficial effects of this invention are

[0022] I. Improve warehouse management efficiency

[0023] With its 360° horizontal scanning and vertical scanning range adapted to warehouse height, the module can quickly and comprehensively acquire the location information of goods, vehicles, and personnel within the warehouse, generating detailed point cloud data in real time. Based on this data, the warehouse management system can rapidly plan goods storage and handling routes, optimize work processes, reduce the time spent manually searching for goods, improve the efficiency of goods entering and leaving the warehouse, and achieve automated and intelligent warehouse management.

[0024] II. Ensuring Measurement Accuracy

[0025] High-precision ranging capability (±[X]mm) and high point cloud density enable the module to accurately measure the position, size and volume of goods, providing accurate data for inventory counting, avoiding inventory deviations caused by measurement errors, ensuring the authenticity and reliability of inventory data, and helping enterprises to rationally arrange production and sales plans.

[0026] III. Enhancing Environmental Adaptability

[0027] With a wide temperature range (-X℃ to +X℃), humidity range (5%-95% non-condensing), and high protection rating (IPX and above), the module can operate stably in harsh outdoor environments. It can work continuously in extreme cold, heat, humidity, or sandstorms, reducing equipment failures and downtime caused by environmental factors, lowering maintenance costs, and ensuring the continuity of warehouse management.

[0028] IV. Strengthen security protection

[0029] The system monitors abnormal situations within the warehouse in real time, such as cargo displacement or personnel entering dangerous areas. Intelligent algorithms analyze the data and send out early warnings. Managers can respond quickly to prevent accidents and ensure the safety of warehouse goods and personnel. Simultaneously, it provides security monitoring of the surrounding area to prevent theft and other illegal activities.

[0030] V. Optimize data transmission and processing

[0031] Multiple high-speed data transmission interfaces (Ethernet, USB, etc.) enable fast and stable connection with the warehouse management system, transmitting large amounts of point cloud data in real time. Data preprocessing and intelligent algorithms within the module perform initial data processing and anomaly analysis on the device side, reducing the burden on the host computer, improving data processing efficiency and real-time performance, and providing timely and accurate data for management decisions. Attached Figure Description

[0032] Figure 1 This is a block diagram of the working structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the workflow of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] This invention provides an industrial-grade lidar scanning module suitable for outdoor warehouse environments, comprising:

[0036] I. This module adopts a "multi-source sensor fusion + edge intelligent computing" architecture, comprising four core subsystems:

[0037] 1. Anti-interference optical system: 1550nm laser wavelength (better than 905nm in penetrating rain and fog) + dynamic variable focus receiving lens group to ensure the stability of target detection at 200m@10% reflectivity.

[0038] 2. Multi-dimensional scanning mechanism:

[0039] Horizontal scanning: A brushless motor drives a rotating prism (speed adjustable from 0-600rpm), providing 360° full coverage;

[0040] Vertical scanning: MEMS galvanometers achieve a 30° field of view and an angular resolution of 0.05°.

[0041] 3. Environment Adaptation Module:

[0042] Built-in six-axis IMU (Inertial Measurement Unit) compensates for equipment vibration errors;

[0043] The temperature and humidity sensor is linked to the Peltier semiconductor cooling chip, extending the operating temperature range to -40℃ to 70℃.

[0044] 4. Real-time processing unit:

[0045] Point cloud processing: Hardware-level filtering implemented using FPGA (voxel mesh downsampling + statistical outlier removal);

[0046] Target recognition: A lightweight YOLO-LiDAR model is deployed on the ARM side, with an inference latency of <8ms.

[0047] II. Module Composition and Functions

[0048] Laser emitting unit

[0049] Laser source: 4 groups of 1550nm fiber lasers (compliant with IEC 60825-1 Class 1 safety standards), single pulse energy 1.5mJ, repetition frequency 200kHz.

[0050] Beam control:

[0051] Horizontal beam splitting: Diffractive optical elements (DOEs) generate 16-line parallel scans;

[0052] Vertical adjustment: galvanometer deflection angle error < 0.01°.

[0053] Safety mechanism: Real-time monitoring of pupil safety distance (NOHD < 5m), automatically switching to low power mode when the limit is exceeded.

[0054] Signal receiving unit

[0055] Photoelectric conversion: 32-channel APD array (gain range 60-120dB), paired with transimpedance amplifier (bandwidth 1.2GHz).

[0056] Noise suppression:

[0057] Optical layer: bandpass filter (center wavelength 1540-1560nm, bandwidth ±10nm);

[0058] Circuit layer: Differential signal processing eliminates common-mode interference.

[0059] Dynamic adjustment: The AGC module adjusts the integration time (10ns-1μs) according to the background light intensity (0-100klux).

[0060] Data processing unit

[0061] Hardware configuration:

[0062] FPGA: Xilinx Zynq UltraScale+ (completes timestamp alignment and coordinate transformation);

[0063] ARM: NVIDIA Jetson Xavier NX (runs SLAM and target tracking algorithms).

[0064] Communication protocol:

[0065] Real-time data: Raw point cloud transmitted via UDP protocol (bandwidth usage < 50Mbps);

[0066] Control commands: The Modbus-TCP protocol supports remote parameter configuration.

[0067] Structural protection design

[0068] Shell material: aviation aluminum alloy (surface anodized treatment) + polycarbonate optical window (hardness > 4H).

[0069] Sealing rating: IP67 protection (level 6 dustproof, level 7 waterproof), passed MIL-STD-810G vibration test.

[0070] Cooling solution: Internal heat pipes + external fins ensure temperature rise <15℃ at 30W power consumption.

[0071] III. Laser Ranging Principle

[0072] LiDAR scanning modules primarily rely on laser ranging technology to obtain distance information of target objects.

[0073] Laser emission: The laser emitter inside the module emits a high-energy laser pulse that propagates toward the target object at the speed of light.

[0074] Laser reflection: When a laser pulse encounters a target object, part of the laser light is reflected back.

[0075] Laser receiver: The module's laser receiver receives the reflected laser pulses.

[0076] Time measurement: By accurately measuring the time difference Δt between laser emission and reception, and since the speed of light c is a known constant, the distance to the target object can be calculated using the formula d = c × Δt / 2 (where d is the distance between the target object and the lidar).

[0077] IV. Scanning Principle

[0078] To acquire three-dimensional spatial information within an outdoor warehouse, the LiDAR scanning module needs to perform a scanning operation. Common scanning methods include mechanical scanning and solid-state scanning.

[0079] Mechanical scanning: This method uses a motor to drive a laser emitter and receiver, causing them to rotate or oscillate in the horizontal and vertical directions, thus enabling distance measurement of target objects at different angles. For example, in the horizontal direction, the motor drives the scanning head to rotate at a constant angular velocity; in the vertical direction, different height ranges can be covered by adjusting the pitch angle of the scanning head. The advantage of mechanical scanning is its wide scanning range, capable of 360° omnidirectional scanning. The disadvantage is the presence of moving mechanical parts, which are prone to wear and tear, affecting the reliability and lifespan of the equipment.

[0080] Solid-state scanning employs electro-optical technologies, such as microelectromechanical systems (MEMS) and phased arrays, to achieve scanning by controlling the emission and reception directions of laser light. Taking MEMS scanning as an example, tiny mirrors are rapidly oscillating under the influence of electrostatic or electromagnetic forces, changing the direction of laser reflection and thus enabling scanning at different angles. The advantages of solid-state scanning are the absence of moving mechanical parts, high reliability, small size, and light weight. The disadvantages are currently a relatively limited scanning range and higher cost.

[0081] For outdoor warehouse applications, the appropriate scanning method is usually selected based on actual needs and budget. In some large outdoor warehouses, where a large area and height range need to be covered, mechanical scanning methods may be more suitable; while in scenarios where there are high requirements for equipment size and reliability, solid-state scanning methods have advantages.

[0082] The above description is merely a preferred embodiment of the present invention and is used only to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An industrial-grade lidar scanning module suitable for outdoor warehouses, characterized in that, include Laser emitting module, used to emit high-energy laser pulses; A laser receiving module is used to receive laser pulses reflected back from the target object; The scanning module can achieve a horizontal scanning range of 360° and a vertical scanning range of [X]° to [X]° to obtain distance information of target objects at different angles in an outdoor warehouse; The data processing module performs noise reduction and filtering preprocessing on the raw laser ranging data, and analyzes cargo displacement and abnormal stacking in real time through built-in intelligent algorithms; The data transmission module is equipped with an Ethernet interface and a USB interface, which are used to quickly and stably transmit the processed point cloud data to the host computer or warehouse management system.

2. The module according to claim 1, characterized in that, The laser emitting module works in conjunction with the laser receiving module to calculate the distance to the target object based on the principle of laser ranging by measuring the time difference between laser emission and reception.

3. The module according to claim 2, characterized in that, Laser emission: A laser emitter emits a high-energy laser pulse that travels at the speed of light toward the target object. Laser reflection: When a laser pulse encounters a target object, part of the laser light is reflected back. Laser receiver: The module's laser receiver receives the reflected laser pulses; Time measurement: By measuring the time difference Δt between laser emission and reception, and since the speed of light c is a known constant, the distance to the target object can be calculated using the formula d = c × Δt / 2, where d is the distance between the target object and the lidar.

4. The module according to claim 2, characterized in that, The scanning module can be either mechanical or solid-state scanning. in, Mechanical scanning achieves scanning by driving a laser transmitter and receiver to rotate or oscillate in the horizontal and vertical directions using a motor. Solid-state scanning uses microelectromechanical systems and phased array electro-optical technology to control the direction of laser emission and reception to achieve scanning. Users can choose according to the actual needs and budget of the outdoor warehouse.

5. The module according to claim 3, characterized in that, In outdoor warehouses where a large area and height need to be covered, mechanical scanning can be used; in scenarios where there are high requirements for equipment size and reliability, rotating solid-state scanning is preferred.

6. The module according to claim 1, characterized in that, After the data processing module preprocesses the raw data, the generated point cloud density reaches more than [X] points per square meter.

7. The module according to claim 1, characterized in that, The Ethernet interface of the data transmission module meets the need for real-time transmission of large amounts of point cloud data, enabling high-speed and stable connection with the warehouse management system, ensuring timely data upload and processing. The intelligent algorithm built into the data processing module performs real-time data analysis on the device. When cargo displacement or abnormal stacking is detected, it promptly sends early warning information to the host computer to improve the safety management level of the outdoor warehouse.

8. The module according to claim 1, characterized in that, It also includes mounting brackets, which include wall-mounted brackets and hanging brackets; the wall-mounted brackets are used to fix the module to the warehouse wall, and the hanging brackets are used to suspend the module from the top of the warehouse, and the brackets are adjustable in angle.

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