CN106403905A - Sensor for automatic drive - Google Patents
Sensor for automatic drive Download PDFInfo
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- CN106403905A CN106403905A CN201610932007.6A CN201610932007A CN106403905A CN 106403905 A CN106403905 A CN 106403905A CN 201610932007 A CN201610932007 A CN 201610932007A CN 106403905 A CN106403905 A CN 106403905A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- Engineering & Computer Science (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a sensor for automatic drive. The sensor is characterized in that at least one linear laser emission device 1 facing the ground in front is arranged on a vehicle, at least one digital imaging module 2 is arranged on the portion, lower than or higher than the linear laser emission device, of the front part of the vehicle, the digital imaging modules 2 are mainly used for ingesting projection lines of linear laser rays 1 at the projection position in front of the vehicle on CCD or CMOS photosensitive elements of the imaging modules, and whether the projection lines of the laser rays on the ground are blocked by obstacles or not can be judged according to the positions and shapes of the laser rays on the photosensitive elements; for the linear laser emission devices, multiple point-like laser emitters are arranged in a parallel or radial mode on a base plate capable of rotating back and force and swinging, by rotating back and forth and swinging, the point-like laser emitters projection laser rays formed by making-breaking points on the front projection surface, and by means of linear laser formed by the projection lines emitted by the laser emitters swinging back and force, the brightness of the lines can be guaranteed; in addition, the structure is simple, and the problem that a laser emitter power supply circuit is complicated for continuous rotation is solved.
Description
Technical field
The present invention relates to a kind of sensor for automatic Pilot, it is mainly used in automobile and or assists during automatic Pilot
The barrier being likely to be encountered on the whole perspective plane in detection front in control loop, is also adapted to the vehicles such as train, ship
Automatic Pilot or auxiliary drive in.
Background technology
The automobile of automatic Pilot is just becoming the focus of research and development at present, for automobile moving direction（It is usually front）Upper obstacle
The detection of thing relies primarily on radar, laser scanning and ranging, the first-class mode of video camera, and wherein video frequency pick-up head generally detects
Road markings, signal lamp etc, the occupation mode of extension is detection people, other automobiles etc.（Rely on the perfect of big data）, at present
That most successful pilotless automobile leans on is LIDAR, i.e. laser radar sensor, and it is also referred to as the eye of pilotless automobile
Eyeball.LIDAR is a compound word, takes from " light "（Light）" radar "（Radar）.As its name suggests, sensors with auxiliary electrode is to be close to thing
Body sends light, inspects around bad border by measuring the light reflection time used.On pilotless automobile, function is very strong
Greatly, simply the design of LIDAR is heavy and expensive at present.The pilotless automobile of Google's early stage has only just spent 8 on LIDAR
Ten thousand dollars.Moreover, present autonomous driving vehicle often travels on the structural road have distinguishing mark line, and technology is simultaneously
It is not very ripe.
Content of the invention
The present invention is designed so as to：
A kind of sensor for automatic Pilot, is characterized in that arranging at least one on a vehicle towards the line on front ground
Shape laser beam emitting device, arranges at least one digital imagery in anterior being below or above at linear laser emitter of the vehicles
Module, digital imagery module is mainly used in the projection line in vehicles front projection position by linear laser line and takes in imaging mould
On CCD the or CMOS photo-sensitive cell of block, according to position shape on photo-sensitive cell for this laser rays, laser rays just can be differentiated on ground
The projection line in face is either with or without by other objects（Barrier）Shelter from, except laser rays（Cooperative target）, other objects（Non- cooperation
Target）Imaging on photo-sensitive cell can be ignored.Because general barrier all lands（There is pin）, the wheel of especially automobile,
Front ground can be detected, then barrier also there is.
Linear laser emitter includes a base plate that can rotate back and forth swing around a rotary shaft certain angle,
On base plate, parallel or radial arrangement at least one of which multiple point-like laser emitting head or the little a wordline laser emitting head of subtended angle, lead to
Come over back rotary oscillation, and point-like laser emitting head or the little a wordline laser emitting head of subtended angle project disconnected on front projection face
Continuous point or the laser rays of short-term section composition, what driving base plate rotated back and forth swing is repeatedly electromagnet or the motor of discontinuous power supply.
One casing is also set up on base plate and surrounds point-like laser emitting head or the little a wordline laser emitting head of subtended angle, laser
Can open wide or arrange the panel of printing opacity at the casing of emitting head direction.
Parallel or radial arrangement multiple point-like laser emitting head or the little a wordline laser emitting head of subtended angle can have many
Layer, on base plate, every layer towards different horizontal sextant angles for multilayer build-up.
Can towards remote, middle distance, be closely respectively provided with multiple（Such as three）The line of varying level angle
Shape laser aid.
Described linear laser emitter also carries upper and lower angular deflection mechanism, by linear laser when deflection mechanism rotates
The linear laser of device transmitting is towards the different level angle in front.
Described linear laser emitter also carries elevating mechanism, and elevating mechanism can adjust linear laser emitter position
Height on the vehicles.
Described linear laser emitter also may be installed the level altitude on the vehicles.
The position of digital imagery module substantially setting is the half high position of the vehicles, can take into account regarding of image-forming module
Angle.
General linear laser emitter is arranged on vehicle roof, and the linear laser being sent is towards before the vehicles
Lower section, the plane that projection surface is located perpendicular to the axis of the vehicles.
Constitute, with the laser head that swings back and forth, the brightness that linear laser can ensure that line, and structure is simple, it is to avoid be continuous
Laser head supply line complicated problem during rotation.
Brief description
Fig. 1（a、b、c、d）Differentiate schematic diagram for preceding object thing（Wherein a ', b ', c ', d ' are respectively the imaging of a, b, c, d
Schematic diagram）.
Fig. 2 is preceding object thing of the present invention apart from schematic diagram calculation.
Fig. 3 is the linear laser emitter structural representation of the present invention, and wherein Fig. 3 a is texture edge figure, Fig. 3 b, 3c
For swinging working condition top view.
Fig. 4（a、b、c、d）The direction schematic diagram irradiated in swing process for laser rays, wherein 4a, 4b are point-like laser
Emitting head；4c, 4d are a wordline laser emitting head.
Fig. 5（a、b、c、d、e、f）Schematic diagram for the linear laser emitter with upper and lower angular deflection mechanism.
Fig. 6（a、b）~7（a、b、c）For elevating lever operating diagram（7c is partial enlarged drawing）.
Fig. 8 is a kind of crane schematic diagram.
Embodiment：
At least one linear laser emitter 1 towards front ground is set on a vehicle, in vehicles front panel
Nearby it is below or above at linear laser emitter and at least one digital imagery module 2 is set, the position of substantially setting is to hand over
The half high position of logical instrument, can take into account the visual angle of image-forming module, and digital imagery module is mainly used in handing over linear laser line
The projection line of logical instrument front projection position takes in the CCD of image-forming module（Or CMOS）On photo-sensitive cell, existed according to this laser rays
Position shape on photo-sensitive cell, just can differentiate the projection line on ground for the laser rays either with or without by other objects（Barrier）Block
Live, except laser rays（Cooperative target）, other objects（Noncooperative target）Imaging on photo-sensitive cell can be ignored.Because one
As barrier all land（There is pin）, the wheel of especially automobile, front ground can be detected, then barrier is also just deposited
?.
Linear laser emitter 1 includes a bottom that can rotate back and forth swing around rotary shaft 50 certain angle
Plate 16, on base plate 16 at least provided with one layer side by side（Parallel or radial, fan-shaped array）Multiple point-like laser emitting heads 12 or
The little a wordline laser emitting head 11 of subtended angle, by rotating back and forth swing, point-like laser emitting head 12 or the little wordline of subtended angle
Laser beam emitting head 11 projects the laser rays that making-breaking point or short-term section are constituted on front projection face, drives base plate 16 to rotate back and forth
Swing is repeatedly discontinuous power supply or electromagnet 58 that forward and reverse interval powers or motor, the subtended angle of a wordline laser emitting head 11
It is each perpendicular to the face that the axis of the vehicles is located.
As Fig. 3, respectively two electromagnet 58 are set at base plate 16 side two ends, electromagnet 58 is repeatedly spaced adhesive and is arranged on
The iron block at base plate 16 side two ends（Plate）60, reach allow multiple on base plate 16（Multilayer or one layer）Point-like laser emitting head 12 encloses
Around rotary shaft 50 by rotating back and forth swing, or the iron block of base plate 16 side outer（Plate）60 is magnetic, near electromagnet
58 sides are one of " N/S " polarity, and electromagnet 58 only needs to arrange one, by forward and reverse power supply adhesive or repulsion magnetic
Body 60.
Rotary shaft 50 itself is fixing, is connected by bearing with base plate 16；Or rotary shaft 50 is fixed together with base plate 16,
By fixing bearing rotary, if Motor drive base plate 16 rotates back and forth swing, then motor output shaft can exactly revolve
Rotating shaft 50.
One casing 10 is also set up on base plate 16 and surrounds point-like laser emitting head 12 or the little a wordline laser emitting head 11 of subtended angle,
The panel of printing opacity can be opened wide or arrange at the casing 10 of laser beam emitting head direction（Such as glass or resin）, on the one hand can be dust-proof,
On the other hand resistance can be reduced, this panel can also be the convex lens of above-below direction（Left and right directions uniform thickness, aspherical mirror）, can be right
Linear laser focuses on further（Line is attenuated rather than line shortens）.
Electromagnet 58 adhesive iron block 60 has noise, can be not directly contacted with adhesive（It is separated by a bit clearance distance）, side
The setting elastomer such as spring or rubber 61, hinders the collision of iron block 60 and electromagnet 58.
Electromagnet 58 is in addition to may be provided at base plate 16 side two ends（As Fig. 3, Fig. 4 a/4b）, may also be arranged on base plate 16
Both sides（As Fig. 4 c/4d）.
Casing 10 and rotary shaft 50, electromagnet 58 or motor are arranged on a base 18, certainly may also be one bigger
Casing 10, surrounds laser beam emitting head（There is window towards place）, electromagnet 58, base 18.
When accessible, the laser rays stable projection on ground is in fixed position（Because road has certain gradient, projection
Laser rays not necessarily one straight line）, such as Fig. 1 a/1a ', when having obstacle raised, a part of laser rays impinges upon on the obstacle of projection,
Its projection on image-forming module will be shifted up（Recorded the upper time moved first）, such as Fig. 1 b/1b ', 1c/1c ', according to upper shifting
Side-play amount, can calculate the distance of barrier, and according to vehicles translational speed, can calculate how long the vehicles can meet
To this obstacle, the vehicles should how action, if hole is had on road ahead（Step）, then should have in desired location
Laser rays will move down or invisible, such as Fig. 1 d/1d ', this situation also indicates that there is obstacle in front it is impossible to cross over（Also may be used
By calculating the side-play amount moving down, determine that this drop vehicles can pass through based on experience value）.
Further, according to the linear laser line projection position on the angle obliquely of linear laser emitting head, photo-sensitive cell
Put, or even the position from the vehicles for the barrier can be calculated, such as going out at light of Fig. 2 linear laser emitter is A（Liftoff
It is highly AB）, the light of injection shines D point on road surface, once running into the barrier on road（Such as one roadblock）, partly light meeting
It is blocked, bright spot occurs at L（Line segment）, the camera lens E central point of imaging device is O, and this terrain clearance is OG；Photo-sensitive cell
C（CCD）It is Q point at the corresponding O point of horizontal direction, for R point at the imaging on C, L point is at the imaging on C for P point for D point
（Not in one plane, in figure is the perspective plane of these points to D, L, N, R, P point in fact）, DR and barrier LM（Take its height）
Intersect at N point, AD is α with the angle on ground, and DR is β with the angle on ground.Putting of gained is calculated with multiplication factor according to focal length
Vast scale be k, wherein AB, OG, GB, OQ be known（Fixed value）, RQ, PQ are according to the density of pixel（And pixel interval
Distance）, can calculate in the coabsolute length of C and learn, physical length（When substituting into formula）Magnification ratio also to be multiplied by
K, regards as and understands（Known）It is assumed that barrier LM is x with a distance from D, that is, the length of DM for x then, is given tacit consent to for the sake of in figure is convenient and is put
Vast scale k is 1：
∵ tgβ=MN/DM= RQ/OQ= OG/DG
∴ DG= OG*OQ/RQ
∵ tg α=AB/DB is tg α=AB/（DG+GB）= AB/（OG*OQ/RQ +GB）
∵ LN=LM-MN= x*（tgα- tgβ）
∵（DG-DM）/ OQ=LN/RP is（DG-x）/OQ=LN/RP
∴（DG-x）/OQ= x*（tgα- tgβ）/RP
I.e.（DG-x）/OQ= x*（AB/（DG +GB）- RQ/OQ）/RP
x=(RP*DG/ ((AB*OQ/(DG+GB))-(RQ-RP))
Wherein RQ-RP=PQ, so after simplifying：
x=RP*DG/ (AB*OQ/(DG+GB)-PQ);DG=OG*OQ/RQ
∴x=RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))
DG-x is OG*OQ/RQ-RP*OG*OQ/ (RQ* (AB*OQ/ (OG*OQ/RQ+GB)-PQ)) is barrier before the vehicles
End（Camera lens）Distance.
Speed according to the vehicles at that time and braking distance, calculate how long the vehicles can also move ahead（Or it is how many
Distance）It is accomplished by changing direction, and determine toward left and right or which direction movement of rear according to the situation of the barrier left and right sides,
Or change after moving direction is the left back or right side according to mobile trend.
For the majority vehicles such as automobile, the position of digital imagery module 2 substantially setting is half high position of the vehicles
Put, linear laser emitter 1 can be arranged on the top of automobile, the visual angle of image-forming module can be taken into account.For train or
The big vehicles of steamer one class inertia, closely detect not necessarily meaningful（Stop not living）, also can by digital imagery module 2 very
To at top, linear laser emitter 1 is positioned close to ground（Or the water surface）Place.
Can towards remote, middle distance, the multilayer that is closely respectively provided with（Such as three layers）Varying level angle swash
Light emitting head, layering is superimposed in a casing 10 from high to low, and the laser color of every layer of laser beam emitting head is preferably different.
Can towards remote, middle distance, be closely respectively provided with multiple（Such as three）The line of varying level angle
Shape laser aid 1, layering is superimposed in a casing 10 from high to low, or each own respective casing 10, and each wire swashs
The angle rotating back and forth swing of light emitting devices 1 has size, little towards farthest angle（Laser head selects point-like laser to launch
12）, towards linear laser emitter 1 the most nearby rotate back and forth swing angle big, the laser line length of projection, can
Cover larger scope.
Linear laser emitter 1 can arrange upper and lower angular deflection mechanism, by linear laser device 1 when deflection mechanism rotates
The linear laser of transmitting is towards front difference angle.According to the vehicles（Automobile）Speed, automatically control this linear laser
Emitter 1（And ground between）Horizontal sextant angle, vehicle speed is faster, and angle is less, and this angular deflection mechanism can
To be to rotate upwardly and downwardly mechanism or swing mechanism.Drive deflection（Rotation）Drive shaft 51 can be by the stepping with or without reducing gear
Motor or servomotor（Steering wheel）Drive.Angular deflection mechanism can also one end（Or middle part）Circular rotatable manner is fixed, separately
One end（Or middle part）The screw mandrel being driven by nut with one lifts, and this mode can be raised the price disk control or step with common DC motor
Stepper motor drives.Linear laser can be rotated some angles by rotating mechanism or swing mechanism 5, by rotating, linear laser is passed
It is delivered to front horizontal direction difference angle, such as automatic Pilot（Or band auxiliary driving device）Vehicle according to speed and safety stop
Spacing, needs detection at a distance（Over such as 100 meters）Or middle distance（30 ~ 50 meters）, nearby（Within 10 meters）Different barriers
Hinder, this turn（Pendulum）Dynamic direction is to remote rotation, this turn by laser rays by near（Pendulum）Dynamic direction is to turn upwards（Pendulum）Move to
Linear laser can be exposed to contour scope in front of the vehicles, this turn can be passed through（Pendulum）Dynamic detection road ahead either with or without
Less than obstacles such as the crossbeam of height of car, branches.
Certainly linear laser emitter 1 also can be not provided with upper and lower angular deflection mechanism 5, and linear laser transmitting apparatus are towards admittedly
Determine angle, the laser beam emitting head towards different directions for the multilayer can be set, set gradually four layers in such as Fig. 4, before being respectively facing partially
On（The detection vehicles obtain whether peak can collide the bridge in front, tunnel etc.）, front on the lower side（100 meters about distance）, in
Distance（50 meters about）, front lower place（Closely）.
Linear laser emitter 1 namely includes laser beam emitting head and the casing 10 surrounding these laser beam emitting heads, or
Person's base 18 or the casing 10 comprising base 18（Similarly hereinafter）Left and right two ends（Or at least one end）Rotary shaft 50 supported
Arm 59 clamps（Can be by copper sheathing or bearing clamping）, centre position（Or another section）Rotary shaft 50 on arrange gear, pass through
One transition gear 52 is engaged with the gear in drive shaft 51, such as Fig. 5（a）, drive shaft subtracts by servomotor, stepper motor or band
The direct current generator of fast gear is raised the price dish driving（It can be the motor shaft of stepper motor）；The rotary shaft 50 of casing 10 or base 18
Can be exactly the output shaft of motor, or between only one of which gear.
Casing 10 afterbody of linear laser emitter 1 may also set up arc line shaped tooth bar 53, the tooth driving with drive shaft 51
Wheel engagement, is driven in the way of rack-and-pinion and rotates to an angle, such as Fig. 5（b）；Afterbody may also set up arc line shaped volute tooth, with
One motor-driven worm gear engagement, is driven in the way of worm and gear and rotates to an angle, the benefit of worm and gear be self-locking with
Big retarding ratio.
Linear laser emitter 1 also can pass through cam 54（Eccentric wheel）The mode of rotation plus spring 55 extension recovery is made past
Multiple（Swing）Motion, such as Fig. 5（c）.
Linear laser emitter 1 also can drive reciprocating, such as Fig. 5 by way of crank 56 connecting rod 57（d）, figure
In depict casing 10 by move back and forth after two positions.
Linear laser emitter 1 is up and down reciprocatingly（Swing）Motion also can be controlled by the break-make of electromagnet 58, such as Fig. 5
（e）, electromagnet 58 is arranged on the side in the bottom left and right sides of casing（Or both sides are all arranged）, electromagnet 58 adhesive during energising
The iron block of casing 10 bottom, during power-off, linear laser emitter is retracted by spring 55；Or electromagnet 58 is arranged on wire
The top of laser beam emitting device, such as Fig. 5（f）, electromagnet 58 energising when adhesive linear laser emitter above iron block（Plate）
60, fall after rise because Action of Gravity Field wire laser beam emitting device rotates during electromagnet 58 power-off.Electromagnet 58 adhesive iron block 60 is made an uproar
Sound, can be not directly contacted with adhesive（It is separated by a bit clearance distance）, side arranges the elastomer such as spring or rubber 61, hinders iron
Block 60 and the collision of electromagnet 58.
Whole rotating mechanism also is located in casing 10.
Rotating mechanism or reciprocating motion（Swing mechanism）There are a lot of schemes, this is some simple exemplary scenario, one
Individual rotating mechanism or swing mechanism can design a lot of schemes for the technical staff of machinery industry, should not be by rotating machine
The change of structure or swing mechanism is considered as the new improvement of the present invention.
The drive part of rotary shaft 50 can also be provided at the one end in the left and right two ends of linear laser emitter 1, another
End is with the support shaft of the fixing rotation of bearing.
Described linear laser emitter 1 may be provided on the top cover of the vehicles, or uses fixed support（Push rod）
Prop, or also comprise the elevating mechanism of a linear laser emitter 1（Adjustable linear laser emitter 1 is in traffic work
Height on tool）.In addition to the aeroperformance of the vehicles, casing 10 or framework（Refer to the part not being contained in casing 10）Meet
Wind（Or leak out）One side shape should meet aerodynamic design.Dress is launched for the linear laser being carried in elevating mechanism
Put and need the level inclination of direction can add motor-driven angle rotation adjuster adjustment angle by level meter before and after lifting
Or hung by way of mechanical gyroscope, no matter elevating lever top tilts or the angle of lifting is different, a whole set of linear laser is sent out
Injection device 1 is all towards front lower place fixed position.
Elevating lever can be arranged on the A post of automobile（Or B, C post）Interior, can be arranged in a post one side, elevating lever itself
In inverted "L" shaped；Or be arranged in two posts of both sides（The drive shaft of elevating mechanism 9 extends to opposite side from side, or both sides
All there is the motor of synchronous rotary）, elevating lever itself be in " n " shape, also can single pole " T " shape, from generator case or luggage case
Interior lifting（Can will be as thin as possible for this bar, Min. does not affect visual field）；The linear laser emitter 1 of the present invention also can single pole
The " T " shape one side being arranged on automobile, is not necessarily positioned on axis, and elevating lever itself is with teeth or screw thread, and elevating mechanism 9 is
Motor-driven gear or screw rod can be as microscope dressers（Or camera lens）The mode of lifting lifts the height of linear laser transmitting apparatus 1
Degree.
If elevating mechanism support（Push rod）Prop, this support may also be configured to electronic（Or hydraulic pressure or air pressure）Lifting
Support, when as the antenna or elevation mast of electric up-down in galloping, in order to beat far in laser signal
（100 meters about）When, clearly differentiate the point on point or the barrier on road in image-forming module, in order to widen between LN point
Linear laser emitter can be gone out significantly to lift raising at light by distance.The antenna of electric up-down or elevation mast have maturation
Technology, but motor-driven lifting when preferably with code-disc or cellular type（Counted with photoelectric tube or mechanical switch）Clockwork spring（Volume
Around）This space-efficient mode is it is known that the height of linear laser emitter, or can directly be risen by detection switch and be down to
Big height（Fixed value）, decline also by switch detection.As Fig. 6,7, mast can in run at a low speed when put down lodging in car
On top（It is easy to reduce running resistance, reduce overall height and be easy to into garage etc.）, when running at high speed, mast passes through one or two（Two
Each one of side）Push up 92 jack-up, push rod 92 can be electric or pneumatic or hydraulic-driven, such as Fig. 6, also can be if Fig. 7 is to subtract greatly
The gear of speed ratio drives the gear 91 of mast foot（Local tooth）, mast foot also has a projection 95, in the limiting altitude of mast
When withstand（Little）The C post of automobile or rear back timber, mast no longer falls backward.Mast can be one ("T"-shaped), may also be " n " shape
Two（For without prejudice to skylight）.
One platform-type lifting platform rising overally or declining can also be set in vehicle roof（Frame）, linear laser
Emitter is arranged on lifting platform（Frame）Top（Or under hang over top）, such as Fig. 8, lift motor（Band shell）96 drive one
Individual screw mandrel 93, screw mandrel 93 far-end is polished rod, by the side of bearing 97 fixed value lifting platform, is arranged on lifting proximally by driving
The nut 94 of platform opposite side promotes lifting platform（Frame）Rise or fall, the benefit of this elevating mechanism is linear laser emitter
1 direction is without change, and carries auto-lock function.
So-called digital imagery module predominantly includes camera, digital imagery components and parts（CCD or CMOS array）, input defeated
Go out circuit, digital signal processing module（DSP）The camera system integrating Deng part, typical application such as camera, optics mouse
Target imaging and processing system, camera system of mobile phone etc., camera preferably with wide-angle camera, before image-forming module
End also can arrange optical filtering, polarizer, certainly also optical filtering, polarizer can be integrated in image-forming module（After camera）, this
Individual numeral image-forming module also can arrange multiple at grade, and each one of such as left and right, to extend visual angle.Digital imagery module
It is not necessarily positioned on vehicles shell, also can perforate on shell（Window）, imaging device is to vehicle interior indentation
One segment distance.Camera lens, in order to dust-proof, can arrange the good glass of translucency（Or resin）Piece blocks, or is kept off with optical filtering, polarizer
Ash, in order to avoid the light-illuminating of opposite car cause over-exposed, also can install so-called infrared section before or after camera lens
Only optical filter, this optical filter may also be employed window mode（Open or close）Or lifting or translation mode, typically use in night,
I.e. optical filter is removed by daytime, and be moved in the evening.
Imaging device 2 can arrange multiple, such as one focal length 21, a wide-angle, and medium and long distance adopts focal length, nearby
With wide-angle, focal length camera 21（Imaging device）It is arranged on height near chassis, wide-angle is arranged near automobile half high position.For
Improve the speed of imaging device processing data（Frame/per second）, can be at a distance（About 100 meters）, middle distance（About 50 meters）, near
Place（10 meters about）, be respectively provided with an imaging device, each imaging device follow the tracks of respectively process distant place, middle distance, nearby three
The situation of change of section laser rays, because the scope of laser line imaging can based on experience value, be delimited substantially on photosensitive sensor,
And because fixing distance（Such as 50 meters）There is fixing visual angle β, in the distance between the projection R and Q RQ of imaging sensor be
Fixing, and laser only can be in below R point in the point of irradiation L on barrier in the projection P point of imaging sensor, points out from R
Move to Q point, until cross Q point to continue to disappear downwards or in moving process（Less than visual angle or removal monitoring road scope）,
So DSP can mainly process R to Q point（Line）Between a less imaging sensor monitor area, certainly, in order to take into account
Depression in the gradient of road and monitoring road, or because the image space that the shake in vehicle traveling process causes moves
Dynamic, need to suitably increase the altitude range of a little R points, less data processing amount ensures speed（The imaging interval time）.
Existing high resolution CCD or CMOS（Mainly CMOS）Imaging sensor single pixel size dimension about several
Individual micron（Stacking-type CMOS on mobile phone can accomplish 1 micron at present）If, in 100 meters of remote imaging（Assume to swash
Light goes out 1.6 meters of height at light, 0.3 meter of height at imaging device, and focal length is about 36 centimetres）, by calculating, swash such as at 97
Light runs into the barrier of projection, the only upper length moving about 3 pixels of its image space（About 14 microns）, at 95, laser rays is met
To raised barrier, the only upper length moving about 5 pixels of its image space（About 23 microns）, at 90, laser rays runs into projection
Barrier, the only upper length moving about 10 pixels of its image space（About 48 microns）, in order to ensure the laser rays on barrier
Can offer an explanation on an imaging sensor with the laser rays on ground, need to take a little measures, such as increase the focal length of imaging device,
Increasing imaging device and linear laser emitter go out the distance at light, and especially linear laser emitter goes out the height at light
Linear laser emitter is raised by degree with lowering or hoisting gear, here it is aforesaid increase lifting dress for linear laser emitter 1
The reason put.
Certainly also image-forming module position can be reduced, close to ground, but dust is larger at ground, and imaging device is had
Devastating impact, the camera lens being originally arranged on the image-forming module of automotive front is also required to often clean, and can install one before camera lens
Individual swab, such as the deflection cylinder of lifting or wiper sample or brush, brush（Bristle or swipe）With flexible material, in order to avoid
Camera lens is caused with big injury；Or refill before camera lens one flat plate dress glass, for keeping off ash, and clean easy and resistance to
Mill.
Imaging on CMOS or CCD pixel point for the linear laser line is not a simple straight line, and such as highway is in certain
Slope（Middle height, both sides are low）, by rotating or shake that the linear laser that sends presents is circular arc line, at image information
During reason, such line segment also should be able to be considered as that cooperative target is identified in knowledge base, comprises rugged on road,
The line segment that can be allowed by automatic Pilot in the velocity interval of automobile deviates scope, etc. these numerical value need to by repeatedly testing,
Set up in the knowledge base of automatic Pilot.Even laser, still has ill-defined situation after imaging, distance is more remote more serious
（Line segment is wider）It is also desirable to the noise reduction being responded, smooth, binary conversion treatment etc., how to obtain more accurate distance value, can lead to
Cross the imaging features of the laser rays building each fixed range, take into account weather condition（Brightness）, extract related empirical value, obtain
Approximate barycenter（Line）Set up in knowledge base.In addition can shake in vehicle traveling process, but the stabilization in image procossing is
Through there being mature technology（As camera）, and during car body shake, image-forming module and linear laser emitter are synchronization jitter.Now
Focal length camera camera lens be typically made up of multi-disc optical lens it is impossible to simply according to similar triangles calculate（Meter above
Calculation mode is simply to illustrate that principle）, have certain proportionate relationship（Relevant with the focal length of camera, multiplication factor）, this ratio
When the data that can be provided according to camera supplier in practical application or measurement regular length, obtained empirical data adds
To calculate.For smooth road, different distance, the line segment of the linear laser projection projected position on image-forming module
It is fixing, but works as Uneven road, during before being in upward slope or the starting point of the descending or unfixed ramp of the gradient, projected position is just
Can deviate.
The laser line length that the linear laser of same linear laser emitter 1 transmitting projects in different distances is not
With the longer laser rays of distance is also longer, can arrange a virtual frame in imaging original paper, in order to represent the width of vehicle, be similar to
The trapezoidal frame of width of the carbody is shown on present backsight back-up video, deformation outside this frame for the laser rays can be neglected
Slightly it is of course possible to outside measurement frame laser rays deformation whether directed edge inframe movement trend, if it has, barrier is described
It is possible to meeting and vehicle collision, vehicle just should slow down or early warning；It is exactly to set up vehicles for the vehicles
Projection frame in direction of advance.
Further：Can the both sides of wire laser beam emitting device respectively according to two sets towards vehicle nearby two lateral boundaries outside
A wordline laser emitting head（Or the linear laser emitter expanding greatly angle with）, for detecting that vehicle nearby has not
Someone, animal and other object move in the quick track to this car, or can only shift to an earlier date what anticipation turned round by Ackermann steer angle
Whether track has obstacle.
Whole system of the present invention not only installs the front towards the vehicles, also can be towards the rear of the vehicles（Auxiliary
Reversing or early warning backward）Or the left and right towards the vehicles（Or before left front, right, left back, right after）Direction, auxiliary is overtaken other vehicles or is turned
Curved.Also can be in the side of automobile (on such as car body both sides or reflector bracket（Place can not be rotated）Vertically install towards front
Linear laser, to represent the width of automobile, and by irradiating, and detects the both sides of image-forming module to determine front either with or without thing
（Or people, animal or aerial branch）Enter in the track of vehicle travels, equally for the sake of reliability, also can be attached in vehicle chassis
Closely launch forwards parallel to chassis（Parallel ground or forward upward or covering wheel front lower place）Laser rays, by imaging or
Reflection（Range finding or only detection signal）Mode detect preceding object further.
For the ship of automatic Pilot, because there being the fluctuation of water wave, be projected in front is not just straight line, can
It is compared with the side-play amount that the height setting according to wave is certain；For train, because the relation of roadbed and track, projection line
It is not straight line, can be compared according to the virtual frame that the chassis height of permutation train and width are set up.
Claims (7)
1. a kind of sensor for automatic Pilot, is characterized in that arranging at least one on a vehicle towards front ground
Linear laser emitter (1), arranges at least one in vehicles front portion below or above linear laser emitter (1) place
Digital imagery module (2), digital imagery module (2) is mainly used in linear laser line (1) in vehicles front projection position
On projection line take on CCD the or CMOS photo-sensitive cell of image-forming module, described linear laser emitter (1) includes one
The base plate (16) of swing can be rotated back and forth around rotary shaft (50) certain angle, on base plate (16) at least provided with one layer simultaneously
Multiple point-like laser emitting heads (12) of row or the little a wordline laser emitting head (11) of subtended angle, by rotating back and forth swing, point
Shape laser beam emitting head (12) or the little a wordline laser emitting head (11) of subtended angle project making-breaking point or short on front projection face
The laser rays that line segment is constituted, what driving base plate (16) rotated back and forth swing is repeatedly the electricity that discontinuous power supply or forward and reverse interval power
Magnet (58) or motor, the subtended angle of a wordline laser emitting head (11) is each perpendicular to the face that the axis of the vehicles is located.
2. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting
Parallel or radial arrangement multiple point-like laser emitting head (12) that device (1) comprises or the little a wordline laser emitting head of subtended angle
(11) there is multilayer, on base plate (16), every layer towards different horizontal sextant angles for multilayer build-up.
3. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting
Also set up on the base plate (16) of device (1) casing (10) surround point-like laser emitting head (12) or subtended angle little one wordline swash
Light emitting head (11), casing (10) place of laser beam emitting head direction can open wide or arrange the panel of printing opacity.
4. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting
It is multiple that device (1) can be layered setting, each little towards farthest rotary oscillation angle of returning towards different horizontal sextant angles, laser
Head is point-like laser emitting head (12), towards linear laser emitter (1) the most nearby rotate back and forth swing angle big.
5. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting
Device (1) also carries upper and lower angular deflection mechanism, the linear laser court that linear laser device (1) is launched when rotating by deflection mechanism
Forwards different level angles.
6. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting
Device (1) also carries elevating mechanism, and elevating mechanism can adjust the height that linear laser emitter (1) is located on the vehicles.
7. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting
Device (1) installs level altitude on a vehicle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610932007.6A CN106403905A (en) | 2016-10-31 | 2016-10-31 | Sensor for automatic drive |
| PCT/CN2017/108441 WO2018077287A1 (en) | 2016-10-31 | 2017-10-30 | Sensor for automated driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610932007.6A CN106403905A (en) | 2016-10-31 | 2016-10-31 | Sensor for automatic drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106403905A true CN106403905A (en) | 2017-02-15 |
Family
ID=58012557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610932007.6A Pending CN106403905A (en) | 2016-10-31 | 2016-10-31 | Sensor for automatic drive |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106403905A (en) |
| WO (1) | WO2018077287A1 (en) |
Cited By (5)
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| WO2018077287A1 (en) * | 2016-10-31 | 2018-05-03 | 张舒怡 | Sensor for automated driving |
| WO2018077262A1 (en) * | 2016-10-31 | 2018-05-03 | 张舒怡 | Sensor for automatic drive |
| CN108831192A (en) * | 2018-09-07 | 2018-11-16 | 吉林大学 | Mechanical transport crossing anticollision driving trace guide line laser projection system and its control method |
| CN110645909A (en) * | 2019-08-16 | 2020-01-03 | 广州瑞松北斗汽车装备有限公司 | Vehicle body appearance defect detection method and detection system |
| CN112802094A (en) * | 2021-04-08 | 2021-05-14 | 顺为智能科技(常州)有限公司 | Method for detecting attitude of unmanned vehicle in tunnel |
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| EP1353144A2 (en) * | 2002-04-09 | 2003-10-15 | Itt Manufacturing Enterprises, Inc. | Multispectral active remote sensing without narrow-band optical filters |
| CN101875348A (en) * | 2010-07-01 | 2010-11-03 | 浙江工业大学 | Device for preventing faulty operation for using accelerator as brake by mistake based on computer vision |
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| WO2018077262A1 (en) * | 2016-10-31 | 2018-05-03 | 张舒怡 | Sensor for automatic drive |
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Also Published As
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| WO2018077287A1 (en) | 2018-05-03 |
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Application publication date: 20170215 |