CN106443699B - A kind of multi-composite type laser radar apparatus and corresponding scan method - Google Patents
A kind of multi-composite type laser radar apparatus and corresponding scan method Download PDFInfo
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- CN106443699B CN106443699B CN201610815124.4A CN201610815124A CN106443699B CN 106443699 B CN106443699 B CN 106443699B CN 201610815124 A CN201610815124 A CN 201610815124A CN 106443699 B CN106443699 B CN 106443699B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of multi-composite type laser radar apparatus and its scan methods, radar mounting structure including base and above base, it further include multiple laser ranging components, time calculating unit, MCU main control component and communication interface, laser ranging component are set on radar mounting structure；Laser ranging component includes multiple groups laser emitter and multiple groups laser pickoff, every group of laser emitter includes multiple transmitting units in same vertical plane, the laser emitting angle that multiple transmitting units emit respectively successively deviates predetermined drift angle along vertical direction, laser pickoff described in every group includes multiple receiving units in same vertical plane, is respectively used to receive the laser signal that corresponding transmitting unit issues.The configuration of the present invention is simple is novel, feature-rich, can scan the three-dimensional information of tested surrounding objects, to monitor in real time to ambient enviroment, give full play to the effect of collected point cloud data.
Description
Technical field
The present invention relates to laser radar technique application field more particularly to advanced driving assistance systems, Unmanned Systems
And mobile robot, UAV keep away anti-barrier and a kind of multi-composite type laser radar apparatus of navigation and corresponding scanning side
Method.
Background technique
Advanced driving assistance system (Advanced Driver Assistant System), abbreviation ADAS are to utilize peace
Loaded on the miscellaneous sensor on vehicle, environmental data inside and outside first time collecting cart carries out quiet, dynamic object distinguishes
The technical processing such as knowledge, detecting and tracking, so as to allow driver to discover the danger that may occur in the most fast time, with
Arouse attention and improve the active safety technologies of safety.The sensor that ADAS is used mainly has camera, radar, laser and surpasses
Sound wave etc. can detect light, heat, pressure or other for monitoring the variable of vehicle condition, be usually located at the front and back insurance of vehicle
On thick stick, side-view mirror, control stick inside or windshield.The ADAS technology of early stage works as vehicle based on mainly alarming with passive type
When detecting potential danger, it can sound an alarm and motorist is reminded to pay attention to abnormal vehicle or road conditions.For newest ADAS
For technology, active intervention is also very common.
Existing scanning laser radar is generally fabricated to this height, and structure is complex, some be then volume and quality all compared with
Greatly, be unfavorable for laser radar driving assistance system, Unmanned Systems and mobile robot, UAV avoidance with
The application of navigation field.
Summary of the invention
In view of this, it is necessary to provide a kind of structure is simple and novel, it is feature-rich, realize that the multiple groups of 3 D stereo scanning are closed
Formula radar device and its corresponding scan method.
A kind of multi-composite type laser radar apparatus, the radar mounting structure including base and above base further include
Multiple laser ranging components, time calculating unit, MCU main control component and communication interface, the laser ranging component are set to thunder
Up on mounting structure, the MCU main control component is connected by communication interface with time calculating unit；The laser ranging component
Including multiple groups laser emitter and multiple groups laser pickoff, laser emitter described in every group includes multiple expelling plates, each transmitting
Plate has multiple transmitting units in same vertical plane, the laser that multiple transmitting units in each expelling plate emit respectively
Shooting angle successively deviates α ° of predetermined drift angle along vertical direction, and laser pickoff described in every group includes being in same vertical plane
Multiple receiving units, be respectively used to receive the laser signal that corresponding transmitting unit issues, laser emitter described in every group
Multiple expelling plates are circumferentially to arrange in divergence expression, and two neighboring expelling plate deflects predetermined angular, and the deflection is pre-
Determining angle is 0.1-33 °, and multiple receiver boards of laser pickoff described in every group are circumferentially to arrange in divergence expression, phase
Adjacent two receiver boards deflect predetermined angular, and the deflection predetermined angular is 0.1-33 °.
Preferably, each group laser emitter and each group laser pickoff are respectively arranged with optical lens, the laser
Signal passes through the optical center of the optical lens；Quantity and arrangement mode and the hair of the receiving unit in laser pickoff
The quantity and arrangement mode that unit is penetrated in laser emitter are consistent, and each transmitting unit and receiving unit front end are respectively equipped with micro-
Lens.
Preferably, described α ° is 5-10 °, and the laser ranging component is to be terminated on the radar mounting structure admittedly.
Preferably, on two neighboring expelling plate two transmitting units of same cis-position staggered successively along vertical direction it is predetermined
Angle, θ °, the Laser emission subtended angle of whole transmitting units in laser emitter described in every group are (n-1) * θ °+(m-1) * α °, n
For expelling plate quantity, m is transmitting unit quantity, and the θ is 1-3 °, and described α ° is 5-10 °；Laser pickoff described in every group
The arrangement mode of multiple receiver boards, to deflect predetermined angular, the arrangement mode of be staggered predetermined angular and multiple expelling plates, deflection predetermined
Angle, the predetermined angular that is staggered are identical, and the base further includes driving device, and the MCU main control component passes through driving device control
Laser ranging component rotation processed, to carry out rotary scanning.
Preferably, Laser emission plate and laser receiver board described in every group are equipped with expelling plate included angle regulating mechanism, the multiple
The deflection angle of Laser emission plate is adjusted by expelling plate included angle regulating mechanism, and laser pickoff described in every group is equipped with laser pick-off
The deflection angle of plate included angle regulating mechanism, the multiple laser receiver board is adjusted by receiver board included angle regulating mechanism.
It preferably, further include encoder, wireless communication assembly and rotary speed controling unit, the encoder passes through communication interface
It is connected with MCU main control component, the encoder includes photoelectric sensor, coding disk and angular coding unit, the coding disk
Equipped with band reflective structure zero-bit instruction section and multiple reflective triggering sections, it is wide that the zero-bit instruction section width is greater than reflective triggering section
Degree, each reflective triggering section it is of same size and between interval it is identical, for sense corresponding in laser ranging component rotation
Reflective triggering section is measured to monitor the position of laser emitter and multiple groups laser pickoff.
Preferably, the wireless communication assembly and rotary speed controling unit are connected by communication interface with MCU main control component,
Control for the starting of rotational structure, stopping and rotation speed.
Preferably, the time calculating unit is connected with MCU main control component, for calculate the time, control sequential and
Calculating apart from angle.
Preferably, the multiple groups laser emitter circumferentially equidistantly distributes, the position of the multiple groups laser pickoff
It is corresponding with the position of multiple groups laser emitter.
And a method of it is scanned based on such as above-mentioned multi-composite type laser radar apparatus, the method includes
Following steps:
Start laser ranging component transmitting by the MCU main control component and receives laser signal；
The laser ranging component persistently emits and receives by the reflected laser signal of surrounding objects, is transmitted to the time
Computing unit；
The time calculating unit receives a series of pulse signals and carries out preliminary treatment, then the data of preliminary treatment are transmitted to
MCU main control component；
The MCU main control component is handled and is exported to the data received.
Above-mentioned multi-composite type laser radar apparatus and corresponding scan method, laser radar structure is simple and novel, in utilization
The structure for stating laser ranging component can scan whole objects of surrounding, compact-sized, simple and novel, feature-rich, can scan
The three-dimensional information of tested surrounding objects gives full play to the effect of collected point cloud data to monitor in real time to ambient enviroment.
For example, having very big booster action to control loop when being applied to drive, it can measure in ambient enviroment and own in real time
The information such as distance, position and the speed of barrier realize safer driving experience.
Detailed description of the invention
Fig. 1 is the multi-composite type laser radar apparatus solid-state laser radar arrangement schematic diagram of the embodiment of the present invention.
Fig. 2 a is the expelling plate structural schematic diagram of the multi-composite type laser radar apparatus of the embodiment of the present invention.
Fig. 2 b is the receiver board structural schematic diagram of the multi-composite type laser radar apparatus of the embodiment of the present invention.
Fig. 3 a is four expelling plates combination of the multi-composite type laser radar apparatus solid-state laser radar of the embodiment of the present invention
Structural schematic diagram.
Fig. 3 b is four receiver boards combination of the multi-composite type laser radar apparatus solid-state laser radar of the embodiment of the present invention
Structural schematic diagram.
Fig. 4 is the multi-composite type laser radar apparatus rotary laser radar circuit principle logic diagram of the embodiment of the present invention.
Fig. 5 is the multi-composite type laser radar apparatus rotary laser radar arrangement schematic diagram of the embodiment of the present invention.
Fig. 6 a is four expelling plates combination of the multi-composite type laser radar apparatus rotary laser radar of the embodiment of the present invention
Structural schematic diagram.
Fig. 6 b is four receiver boards combination of the multi-composite type laser radar apparatus rotary laser radar of the embodiment of the present invention
Structural schematic diagram.
Fig. 7 is that the multi-composite type laser radar apparatus rotary laser radar complex expelling plate deflection angle of the embodiment of the present invention is shown
It is intended to.
Fig. 8 is the multi-composite type laser radar apparatus rotary laser radar coding disk structural schematic diagram of the embodiment of the present invention.
Specific embodiment
Below with reference to specific embodiments and the drawings, the present invention is described in detail.
Fig. 1, Fig. 2 a and Fig. 2 b are please referred to, is the multi-composite type laser radar apparatus of the first embodiment of the invention, is
Solid-state laser radar installations 100 comprising base 10 and the radar mounting structure 20 above base, further include multiple laser
Ranging component 30, time calculating unit 40, MCU main control component 50 and communication interface, the laser ranging component 30 are set to thunder
Up on mounting structure 20, the radar mounting structure 20 be equipped with pcb board, the MCU main control component 50 by communication interface with
Time calculating unit 40 is connected and is set on pcb board 21；The laser ranging component 30 includes multiple groups laser emitter 31 and more
Group laser pickoff 32, laser emitter 32 described in every group include multiple expelling plates 34, and each expelling plate 34 has in same
Multiple transmitting units 311 of vertical plane, the laser emitting angle that multiple transmitting units 311 in each expelling plate 34 emit respectively
Degree successively deviates α ° of predetermined drift angle along vertical direction, and laser pickoff 32 described in every group includes more in same vertical plane
A receiving unit 321 is respectively used to receive the laser signal that corresponding transmitting unit 311 issues.
Preferably, each group laser emitter 31 and each group laser pickoff 32 are respectively arranged with optical lens 33, institute
State the optical center that laser signal passes through the optical lens 33；Quantity and row of the receiving unit 321 in laser pickoff 32
Column mode is consistent in the quantity and arrangement mode of laser emitter 31 with the transmitting unit 311, before each transmitting unit 311
End is respectively equipped with lenticule 36, such as collimation lens；The multiple groups laser emitter 31 circumferentially equidistantly distributes, the multiple groups
The position of laser pickoff 31 is corresponding with the position of multiple groups laser emitter；Preferably, each transmitting unit front end is equipped with micro-
Mirror 36, with expansion of laser light launch angle.
Preferably, multiple expelling plates 34 of laser emitter 31 described in every group are circumferentially to arrange in divergence expression
, two neighboring expelling plate 34 deflects predetermined angular, and the deflection predetermined angular is 0.1-33 °, laser pickoff described in every group
32 multiple receiver boards 35 are circumferentially to arrange in divergence expression, and two neighboring receiver board 35 deflects predetermined angular, institute
Stating deflection predetermined angular is 0.1-33 °, and described α ° is 5-10 °, and the deflection predetermined angle can select between 0.1-33 °, according to
Different places purposes difference selects suitable angle, achieves the goal, and the laser ranging component 30 is to terminate in the radar peace admittedly
On assembling structure 20.
Preferably, the laser emitter 31 includes multiple expelling plates 34, and the same expelling plate 34 is equipped with multiple sharp
Light emitting unit 311, the two neighboring laser emission element 311 is along α ° of vertical direction deflection angle；The laser pick-off
Device 32 includes multiple receiver boards 35, and the same receiver board 35 is equipped with multiple laser pick-off units 321, described two neighboring sharp
Light receiving unit 321 deflects α ° of angle along vertical direction, and α ° of institute is 5-10 °, more preferably 6-8 °.Laser emission described in every group
Plate 34 and laser receiver board 35 are equipped with expelling plate included angle regulating mechanism, and the deflection angle of the multiple Laser emission plate 34 passes through hair
The adjusting of plate included angle regulating mechanism is penetrated, laser pickoff 32 described in every group is equipped with laser receiver board included angle regulating mechanism, the multiple
The deflection angle of laser receiver board 35 is adjusted by receiver board included angle regulating mechanism.It is connect by multiple Laser emission plates 34 and laser
It receives the two neighboring laser ranging component in the horizontal direction of plate 35 and deflects predetermined angular, form multi-thread laser acquisition of different shapes
Region achievees the purpose that realize solid-state laser radar.
Specifically, refering to Fig. 3 a and Fig. 3 b, the laser emitter 31 being made of four expelling plates 34, wherein each expelling plate
34 are designed with four transmitting units 311, and the transmitting unit 311 on the same expelling plate 34 is on the same vertical plane, each
The mutual angle of transmitting unit 311 is set as 8 °；It is in each transmitting in divergence expression plane that four expelling plates 34, which are in, simultaneously
Angle between plate is set as 10 °, is in a sector, same row of the laser receiver board 35 as Laser emission plate 34
Column, as shown in Figure 3b；The laser signal that transmitting unit 311 is launched described in each expelling plate passes through optical lens 33, this 16
Shu Jiguang is distally shot again by the optical lens optical center, this 16 beam laser signal can form a scanning surface, to week
The object enclosed is scanned monitoring；Theoretically settable unlimited number of expelling plate 34 is arranged unlimited more on each expelling plate 34
A transmitting unit 311, so that it may realize scanning range comprehensive, without dead angle, all objects around radar all be monitored, this reality
Apply that the expelling plate of reasonable number can be arranged in example according to actual needs and transmitting unit reaches required job requirement, to economize on resources,
It does not cause to waste.
Preferably, the time calculating unit 40 is connected by communication interface 601 with MCU main control component 50, based on
Evaluation time, control sequential and the calculating apart from angle, communication mode be I2C bus or spi bus, it is without being limited thereto.
Specifically, the method being scanned based on above-mentioned solid-state laser radar 100, comprising the following steps:
Start the transmitting of laser ranging component 30 by the MCU main control component 50 and receives laser signal；Swashed by multiple groups
The laser signal that optical transmitting set 31 is issued is reflected back laser radar to external radiation, when the laser signal encounters barrier, this
When the laser signal received by multiple groups laser pickoff 32, the laser pickoff 32 believes light while receiving laser signal
Number it is converted to pulse signal, which is admitted to time calculating unit 40 again, and time calculating unit 40 receives a system
Primary Calculation is carried out while column pulse signal and is converted into various data, hereafter gives various data by communications interface transmission
MCU main control component 50 after MCU main control component 50. receives data, is further processed the data received and defeated
Out.
Fig. 5, Fig. 6 a, Fig. 6 b and Fig. 8 are please referred to, for second of embodiment multi-composite type laser radar apparatus of the invention, is
A kind of rotary laser radar installations 200, the present embodiment and solid state example structure are substantially similar, and the main distinction swashs with being
Optical radar device 200 uses rotary scanning, and the embodiment of the present invention base 10 further includes driving device 11, the MCU master control
Component processed controls laser ranging component 30 by driving device 11 and rotates, to carry out rotary scanning；Rotary laser radar installations
200 further include encoder 70, wireless communication assembly 80 and rotary speed controling unit 90, and the revolving speed control assembly 90 is set to base 10
Interior, the encoder 70 is connected by communication interface with MCU main control component 50, and the encoder 70 includes photoelectric sensor
72, coding disk 71 and angular coding unit 73, the coding disk 71 are equipped with band reflective structure zero-bit instruction section 711 and multiple reflective
Section 712 is triggered, zero-bit instruction 711 width of section is greater than reflective 712 width of triggering section, and each reflective triggering section 712 is wide
Spend it is identical and between interval it is identical, sense reflective triggering section 712 for corresponding when laser ranging component 30 rotates with prison
Survey the position of laser emitter 31 and multiple groups laser pickoff 32.The radar mounting structure 20 is equipped with pcb board, wireless telecommunications group
Part 80 is set on pcb board, and the wireless communication assembly 80 and rotary speed controling unit 90 pass through communication interface and MCU main control component
60 are connected, the control for the starting of the rotational structure, stopping and rotation speed.
Preferably, multiple expelling plates 34 in laser emitter 31 described in every group are arranged in parallel or are circumferentially in
Divergence expression arrangement, the two neighboring expelling plate 34 in divergence expression arrangement architecture along the circumferential direction deflects predetermined angular, described
Deflecting predetermined angular is 0.1-33 °, and two transmitting units 311 of same cis-position are along vertical direction on two neighboring expelling plate 34
Predetermined angle theta ° is staggered successively, the Laser emission subtended angle of whole transmitting units 311 in laser emitter 31 described in every group is (n-
1) * θ °+(m-1) * α °, n is expelling plate quantity, and m is transmitting unit quantity, and the θ is 1-3 °, and described α ° is 5-10 °.In figure
By taking four transmitting units 311 of band on four expelling plates 34, each expelling plate 34 as an example, i.e. n=4, m=4, laser pick-off described in every group
The arrangement mode of multiple receiver boards 35 of device 32, the arrangement side for deflecting predetermined angular, be staggered predetermined angular and multiple expelling plates 34
Formula deflects that predetermined angular, the predetermined angular that is staggered are identical, and the base 10 further includes driving device 11, the MCU main control component
50, which control laser ranging component 30 by driving device 11, rotates, to carry out rotary scanning.
Specifically, it please refers to such as Fig. 7, what multiple transmitting units 311 in each expelling plate 34 as shown in the figure emitted respectively
Laser emitting angle successively deviates α ° of predetermined drift angle, i.e. second transmitting unit and the first transmitting unit along vertical direction along vertical
Straight angular separation is just α °, and vertically angle is just 2 α ° for third transmitting unit and the first transmitting unit, and third emits
Vertically angle is just 3 α ° for unit and the first transmitting unit；Two transmittings of same cis-position on two neighboring expelling plate 34
Unit 311 staggers successively predetermined angle theta ° along vertical direction, i.e., first transmitting unit of first expelling plate and second
The angle of first transmitting unit of expelling plate is θ, first transmitting unit and the third expelling plate of first expelling plate
The angle of first transmitting unit is 2 θ, first hair of first transmitting unit of first expelling plate and the 4th expelling plate
The angle for penetrating unit is 3 θ；, the Laser emission subtended angle of whole transmitting units 311 in laser emitter 31 described in every group is (n-
1) * θ °+(m-1) * α °, n is expelling plate quantity, and m is transmitting unit quantity；By taking four expelling plates as an example, 16 transmitting units with
4 groups can be divided into, the deflection angle of first group of transmitting unit is respectively 0,8,16,24 degree, these angles are with respect to the horizontal plane (to hang down
Directly in the plane of shaft) made of angle, second group is 2,10,18,26 degree, and third group is 4,12,20,28 degree, and the 4th group is
6,14,22,30 degree.
Specifically, the coding disk 71 is used to monitor the position of laser signal, to control sequential, calculate the time and sentence
Disconnected direction of rotation etc.；The zero-bit instruction section 711 and reflective triggering section 712 are designed with reflective structure, are not necessarily to external power supply,
The reflective structure is coated with reflectorized material, can also be with self-luminous；The settable multiple reflective triggering degree 712 of encoder disk 71,
The quantity of reflective triggering degree 712 can be set according to the demand of required angular resolution, if required angular resolution is high, just
The more reflective triggering section 712 of more setting quantity, if angular resolution is of less demanding, so that it may which it is few that quantity is set
Reflective triggering section 712, can flexible choice.
Specifically, in the present embodiment, laser emitter 31 described in every group includes expelling plate 34, laser pickoff described in every group
32 include that receiver board 35, Laser emission plate 34 and laser receiver board 35 are arranged along the perpendicular divergence expression of laser acquisition region direction
Column, two neighboring expelling plate angle is that θ is 2 °, and the mutual angle of transmitting unit 311 of each expelling plate 34 is by taking θ is 8 ° as an example
Illustrate the performance of the present embodiment.Such as Fig. 6 a, laser ranging component 30 is provided with four expelling plates 34, and each expelling plate 34 is set
There are four transmitting unit 311, each expelling plate 34 is arranged along the perpendicular divergence expression of laser acquisition region direction, two neighboring hair
Penetrating plate angle degree is 2 °, same arrangement of the laser receiver board 35 as Laser emission plate 34, as shown in Figure 6 b.Each hair
The angle penetrated between unit 311 is 8 °, and when emitting laser, 16 beam laser can be divided into four groups, it is 0 that first group of laser is angled, 8,
16,24 degree, these angles be with respect to the horizontal plane (perpendicular to the plane of shaft) made of angle.Second group is 2,10,18,26
Degree, third group is 4,12,20,28 degree, and the 4th group is 6,14,22,30 degree, and the laser beam of transmitting can be formed in vertical plane to be scanned
Plane, when radar mounting structure 20 rotates, the laser which issues can form a 3 D stereo and sweep
Retouch face.Unlimited number of transmitting unit 311 is arranged, just in theoretically settable unlimited number of expelling plate 34 on each expelling plate 34
Scanning range comprehensive, without dead angle can be achieved, all objects around radar are all monitored, the present embodiment can be according to practical need
The expelling plate and transmitting unit for seeking setting reasonable number reach required job requirement, to economize on resources, do not cause to waste.
Referring to Fig. 4, being the present embodiment rotary laser radar circuit principle logic diagram, MCU main control component 50 is to sharp
Optical transmitting set 31 issues transmitting laser command, and the Laser emission plate 31 just launches outward out laser signal, when there is laser signal
When encountering barrier and being reflected back, laser signal has converted optical signals into pulse letter while reception by laser pickoff 32
Number, the angular coding unit 73 and rotary speed controling unit 90 control revolving speed, the pulse signal be admitted to time calculating unit into
It is sent into MCU main control component 50 after row processing by communication interface, MCU main control component 50 handles the various data received
And export data information, reach monitoring surrounding objects and dynamically acts on.
Specifically, the method being scanned based on above-mentioned rotary laser radar installations 200, comprising the following steps:
The MCU main control component 50 issues instruction control driving device 11 and rotates, and driving device 11 passes through wireless telecommunications
80 control radar mounting structure 20 of component begins to rotate, and rotary speed controling unit 90 is used for the revolving speed of control radar mounting structure,
Laser ranging component 30 set on radar mounting structure 20 is with rotation；Swash in the rotatably control of MCU main control component 50 simultaneously
The transmitting of ligh-ranging component 30 and laser signal is received, from the laser signal that multiple groups laser emitter 31 is issued to external radiation, when
The laser signal encounters barrier and is reflected back laser radar, and the laser signal is received by multiple groups laser pickoff 32 at this time, institute
It states laser pickoff 32 and has converted optical signals into pulse signal while receiving laser signal, which is admitted to again
Time calculating unit 40, progress primary Calculation is converted into various while time calculating unit 40 receives a series of pulse signals
Hereafter various data are passed through communications interface transmission to MCU main control component 50 by data, MCU main control component 50 receives number
According to later, degree evidence is further processed and exports.
Above-mentioned multi-composite type laser radar apparatus and corresponding scan method, wherein radar arrangement is simple and novel, utilizes spy
Whole objects around the structural scan of other laser ranging component, there is very big booster action to control loop, can be real-time
The information such as the distance of all barriers, position and speed in ambient enviroment are measured on ground, realize safer driving experience, more
Laser radar technique is applied in life well.
It should be noted that the invention is not limited to above embodiment, creative spirit according to the present invention, this field
Technical staff can also make other variations, and the variation that these creative spirit according to the present invention are done should all be included in this hair
It is bright it is claimed within the scope of.
Claims (10)
1. a kind of multi-composite type laser radar apparatus, the radar mounting structure including base and above base, feature exist
In further including multiple laser ranging components, time calculating unit, MCU main control component and communication interface, the laser ranging group
Part is set on radar mounting structure, and the MCU main control component is connected by communication interface with time calculating unit；The laser
Ranging component includes multiple groups laser emitter and multiple groups laser pickoff, and laser emitter described in every group includes multiple expelling plates,
Each expelling plate has multiple transmitting units in same vertical plane, and multiple transmitting units in each expelling plate are sent out respectively
The laser emitting angle penetrated successively deviates α ° of predetermined drift angle along vertical direction, and laser pickoff described in every group includes in same
Multiple receiving units of vertical plane are respectively used to receive the laser signal that corresponding transmitting unit issues, laser described in every group
Multiple expelling plates of transmitter are circumferentially to arrange in divergence expression, and two neighboring expelling plate deflects predetermined angular, institute
Stating deflection predetermined angular is 0.1-33 °, and multiple receiver boards of laser pickoff described in every group are circumferentially in divergence expression
Arrangement, two neighboring receiver board deflects predetermined angular, and the deflection predetermined angular is 0.1-33 °.
2. multi-composite type laser radar apparatus as described in claim 1, which is characterized in that each group laser emitter and each
Group laser pickoff is respectively arranged with optical lens, and the laser signal passes through the optical center of the optical lens；The reception is single
Member laser pickoff quantity and arrangement mode and the transmitting unit laser emitter quantity and arrangement mode
Unanimously, each transmitting unit and receiving unit front end are respectively equipped with lenticule.
3. multi-composite type laser radar apparatus as described in claim 1, it is characterised in that described α ° is 5-10 °, the laser
Ranging component is to be terminated on the radar mounting structure admittedly.
4. multi-composite type laser radar apparatus as described in claim 1, which is characterized in that same suitable on two neighboring expelling plate
Two transmitting units of position stagger successively predetermined angle theta ° along vertical direction, whole transmittings in laser emitter described in every group
The Laser emission subtended angle of unit is that (n-1) * θ °+(m-1) * α °, n is expelling plate quantity, and m is transmitting unit quantity, and the θ is
1-3 °, described α ° is 5-10 °；The arrangement mode of multiple receiver boards of laser pickoff described in every group, is staggered at deflection predetermined angular
Predetermined angular and the arrangement mode of multiple expelling plates deflect that predetermined angular, the predetermined angular that is staggered are identical, and the base further includes driving
Dynamic device, the MCU main control component controls laser ranging component by driving device and rotates, to carry out rotary scanning.
5. multi-composite type laser radar apparatus as described in claim 3 or 4, which is characterized in that Laser emission plate described in every group
It is equipped with expelling plate included angle regulating mechanism with laser receiver board, the deflection angle of the multiple Laser emission plate passes through expelling plate angle
Regulating mechanism is adjusted, and laser pickoff described in every group is equipped with laser receiver board included angle regulating mechanism, the multiple laser receiver board
Deflection angle adjusted by receiver board included angle regulating mechanism.
6. multi-composite type laser radar apparatus as claimed in claim 4, which is characterized in that further include encoder, wireless telecommunications
Component and rotary speed controling unit, the encoder are connected by communication interface with MCU main control component, and the encoder includes light
Electric transducer, coding disk and angular coding unit, the coding disk are equipped with band reflective structure zero-bit instruction section and multiple reflective touchings
Send out section, zero-bit instruction section width is greater than reflective triggering section width, each reflective triggering section it is of same size and between
It is spaced identical, to sense reflective triggering section sharp to monitor laser emitter and multiple groups for corresponding when laser ranging component rotates
The position of optical receiver.
7. multi-composite type laser radar apparatus as claimed in claim 6, which is characterized in that the wireless communication assembly and revolving speed
Control unit is connected by communication interface with MCU main control component, for the starting of rotational structure, stopping and rotation speed
Control.
8. multi-composite type laser radar apparatus as described in claim 1, which is characterized in that the time calculating unit and MCU
Main control component is connected, for calculating time, control sequential and apart from the calculating of angle.
9. multi-composite type laser radar apparatus as claimed in claim 8, which is characterized in that the multiple groups laser emitter along
It is circumferentially equidistant from distribution, the position of the multiple groups laser pickoff is corresponding with the position of multiple groups laser emitter.
10. a kind of method being scanned based on the described in any item multi-composite type laser radar apparatus of such as claim 1-9,
It is characterized in that, the described method comprises the following steps:
Start laser ranging component transmitting by the MCU main control component and receives laser signal；
The laser ranging component persistently emits and receives by the reflected laser signal of surrounding objects, is transmitted to time calculating
Unit；
The time calculating unit receives a series of pulse signals and carries out preliminary treatment, then the data of preliminary treatment are transmitted to MCU
Main control component；
The MCU main control component is handled and is exported to the data received.
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