CN109557554A - Laser radar and vehicle - Google Patents
Laser radar and vehicle Download PDFInfo
- Publication number
- CN109557554A CN109557554A CN201811463788.4A CN201811463788A CN109557554A CN 109557554 A CN109557554 A CN 109557554A CN 201811463788 A CN201811463788 A CN 201811463788A CN 109557554 A CN109557554 A CN 109557554A
- Authority
- CN
- China
- Prior art keywords
- galvanometer
- laser radar
- laser
- light
- transmitting light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of laser radars.Laser issues transmitting light, generates reflected light at the object of transmitting light in the environment；Detector detects reflected light, thereby determines that the distance of the object；Galvanometer reflexes to the object for light is emitted；First driver drives the part of galvanometer to rotate around first axle, so that transmitting light scans in a first direction；Second driver drives rotating entirely around second axis for galvanometer, so that transmitting light scans in a second direction different from the first direction.Based on the technical solution, laser radar is scanned using transmitting light of the single galvanometer to same laser, compared with the prior art in multi-thread radar significantly reduce the quantity of laser, volume is smaller, cost is lower.In addition, the present invention provides the vehicles including this laser radar.
Description
Technical field
This application involves laser radars, and in particular to the laser radar with one-dimensional mechanical galvanometer, and it is integrated with this
The vehicle of one laser radar.
Background technique
Vehicle can be configured as to be operated with autonomous mode, wherein vehicle is being intervened with little or no driver
In the case of pass through environment sensing navigate.This autonomous vehicle may be configured to detect the environmental information about vehicle periphery
One or more sensors, such as laser radar.
Laser radar has laser and detector, and detector can detect by laser sending and anti-by reflective object
The laser penetrated, the flight time by measuring laser can determine the distance of reflective object.The quick and repetition using laser radar
Ground scans certain area, can obtain the continuous real time information of the distance of whole reflective objects in the region.In conjunction with distance, swash
" point cloud " data of the pattern for reflecting various reflective objects, position and movement can be generated, by dividing in light orientation and time of measuring
Data that analysis " should put cloud ", can assist or realize the autonomous operation of vehicle.
The prior art provides the laser radar of various structures.For example, solid-state laser radar is swept using MEMS 2-D vibration mirror
Laser is retouched, has many advantages, such as that compact-sized, scanning speed is fast, but is limited to the restriction of semiconductor technology, the cost of MEMS galvanometer
It is very high, limit the application of solid-state laser radar.Multiple wire system laser radar is multiple using forming a line on vertical direction
Laser rotates the scanning of multiple lasers realizations in the horizontal direction, cost due to assembly technology complexity using rotational structure
It is high, and there is the problems such as volume is big, harness is limited, performance is difficult to meet the needs of growing.
Therefore, be intended to provide in practice it is a kind of take into account low cost, small size, high performance brand new laser radar.
Summary of the invention
The present invention is directed to overcome the defect of the laser radar of the prior art, one kind is provided and takes into account low cost, small size, Gao Xing
The completely new laser radar of energy, and the vehicle including the laser radar.
In the first aspect of the present invention, a kind of laser radar is provided, comprising: laser issues transmitting light, emits light
Reflected light is generated at object in the environment；Detector detects reflected light, thereby determines that the distance of the object；Galvanometer,
Transmitting light is reflexed into the object；First driver drives the part of galvanometer to rotate around first axle, so that transmitting light
It scans in a first direction；With the second driver, rotating entirely around second axis for galvanometer is driven, so that transmitting light is not
The second party for being same as first direction scans up.Based on the technical solution, laser radar is using single galvanometer to same laser
Transmitting light be scanned, compared with the prior art in multi-thread radar significantly reduce the quantity of laser, have it is significant more
Small volume, to reduce the cost of laser radar.
Optionally, first axle is arranged in the plane of galvanometer, and second axis passes through the plane of galvanometer, first axle with acute angle
Line is perpendicular to second axis.Based on the technical solution, galvanometer of the invention be one-dimensional galvanometer, compared with the prior art in two dimension
For galvanometer, the first driver and the second driver can be set relatively independently, to reduce configuration and maintenance difficulties.
Optionally, galvanometer is fixed on galvanometer bracket, and the second driver is attached to galvanometer bracket, and drives it around second
Axis rotation.Based on the technical solution, the second driver is attached to galvanometer bracket, compared with the existing technology in utilize rotational structure
Entire laser radar is rotated, the volume and weight of rotational structure can be significantly reduced, reduces the energy consumption of the second driver, and can be improved
It controls precision.
Optionally, the galvanometer includes the interconnecting piece of frame section, vibration section and connection framework portion and vibration section；Wherein,
Frame section is fixed to galvanometer bracket, and the first driver drives vibration section to rotate around first axle relative to frame section, also, even
The bending part of socket part extends inwardly between frame section and vibration section.Based on the technical solution, galvanometer of the invention is in fact
Mechanical galvanometer can be process by the metal sheet of such as titanium alloy, relative to based on being obtained by semiconductor technology
MEMS galvanometer, the mechanical galvanometer handling ease are low in cost.
Optionally, the first driver is electromagnet, is fixed to galvanometer bracket, and magnet is arranged on vibration section；In electromagnetism
Alternating current is passed through in iron, driving vibration section is up and down reciprocatingly rotated with first frequency relative to galvanometer plane, keeps emergent light opposite
The scanning up and down between positive first angle and negative first angle in horizontal plane.Based on the technical solution, galvanometer does not carry electricity
Stream or by the coil of electric current, galvanometer is not influenced by Joule heat, has stable structure and reliable scan performance.
Optionally, the second driver is stepper motor, and output shaft is attached to galvanometer bracket；Stepping is driven with alternating current
Motor drives galvanometer bracket, around the output shaft of stepper motor or so reciprocating rotation, to make emergent light relative to perpendicular with second frequency
Face the lateral probe movement between positive second angle and negative second angle directly.Based on the technical solution, stepper motor is small in size, control
Precision processed is high, is suitable for obtaining small size, high performance laser radar.
Optionally, first frequency is the resonant frequency of vibration section, also, first frequency is greater than 100 times of second frequency.Base
In the technical solution, vibration section vibrates under resonant frequency, can reduce the energy consumption of the first driver.Moreover, first frequency is significant
Greater than second frequency, fine and close scan line can be obtained in the horizontal direction, improve detection accuracy.For example, first frequency can be with
It is 600Hz, second frequency can be 5Hz, as a result, when emergent light from left to right run-down, can form 120 scannings
Line.Other different scan frequencies can be arranged in those skilled in the art based on the teachings of the present invention, each fall within guarantor of the invention
Protect range.
Optionally, the first measurement module includes light source and line detector, and light source emits light via the vibration section of galvanometer
Line detector is reflexed to, light source and line detector are mounted on the galvanometer bracket, online by detection transmitting light irradiation
Property detector on position measurement transmitting light scanning angle in a first direction.It, can in real time and not based on the technical solution
Measure the scanning angle of transmitting light in a first direction with being disturbed.
Optionally, the second measurement module includes encoder and code-disc, and encoder is fixed relative to stepper motor, code-disc installation
On galvanometer bracket, the position measurement by detection code-disc relative to encoder emits the scanning angle of light in a second direction.
Based on the technical solution, the scanning angle of transmitting light in a second direction can be measured in real time and uninterruptedly.
Optionally, galvanometer is by reflected light back to detector.Based on the technical solution, the optical path of transmitting light and reflected light is extremely
It is partially overlapped, it is possible thereby to improve detection accuracy, and reduces the volume of laser radar.
Optionally, the first reflecting mirror is arranged between galvanometer and laser, to change the transmission direction of transmitting light；Third is anti-
It penetrates mirror to be arranged between galvanometer and detector, with the transmission direction of the reflected light.Based on the technical solution, using reflecting mirror
Fold optical path, the significant volume for reducing optical texture.
Optionally, the setting of the second reflecting mirror is between galvanometer and the first reflecting mirror and between galvanometer and third reflecting mirror；
The transmissive portion transmission transmitting light of second reflecting mirror, does not change the transmission direction of the transmitting light, also, the second reflecting mirror is anti-
Part reflective light is penetrated, the transmission direction of the reflected light is changed.Based on the technical solution, using second reflecting mirror reality
Existing coaxial optical path design, further reduces the volume of optical texture, and improve detection accuracy.
Optionally, laser radar includes the first laser device and second laser of neighbouring setting, the transmitting of first laser device
The scanning path portion of the transmitting light of the scanning track and second laser of light it is interspersed.It, can be with based on the technical solution
The quantity for encrypting scan line, improves the detection accuracy of laser radar.
Optionally, laser radar includes shell, and shell limits closed internal chamber, accommodates laser, detector, vibration
Mirror, the first driver and the second driver；Also, the form of shell allows to emit light and reflected light extends there through.Based on the skill
The internal component of art scheme, shell protection laser radar exempts to be affected by, and avoids external optical from negatively affecting sharp
The operation of optical radar, and the plug-in of beauty is provided.
In the second aspect of the present invention, a kind of vehicle is provided comprising laser radar as described above, to a ring
Border is scanned, and generation environment data；Vehicle further includes controller, is configured that and receives the environment number from laser radar
According to；Determine that the information of the object in environment, the information indicate at least one of the following based on the environmental data: described right
Type, pattern, position or the motion state of elephant；Based on information control vehicle start and stop, steering, speed change or issue signal.Base
In the technical solution, in the case where little or no driver intervention, vehicle can be travelled automatically.
By reading described in detail below and suitably referring to attached drawing, other aspect, embodiment and implementations are for ability
It will become obvious for the those of ordinary skill of domain.
Detailed description of the invention
Fig. 1 shows the structural block diagram of laser radar according to the present invention；
Fig. 2 shows the perspective views of laser radar according to the present invention；
Fig. 3 shows the perspective view of the light channel structure of laser radar according to the present invention；
Fig. 4 shows the perspective view of the Scan Architecture of laser radar according to the present invention；
Fig. 5 shows the galvanometer of laser radar according to the present invention and the rear perspective view of electromagnet；
Fig. 6 shows the galvanometer of laser radar according to the present invention and the perspective view of position measurement device；
Fig. 7 shows the perspective view of laser radar according to the present invention and its laser projection face of generation.
Appended drawing reference:
1 laser, 73 line detector
2 detector, 8 second driver
3 galvanometer, 81 stepper motor
31 vibration section, 9 second measurement module
32 interconnecting piece, 91 code-disc
321 girder, 92 encoder
322 first auxiliary girder X vibrating shafts
324 second auxiliary girder Y rotation axis
33 frame section L1 emit light
331 first half portion L2 reflected lights
332 second half portion P0 main circuit boards
4 optical texture P1 laser circuit boards
41 first reflecting mirror P2 detector circuit plates
42 first the first measuring circuit plates of lens P3
43 second the second measuring circuit plates of reflecting mirror P4
431 slit H0 main supports
44 the first optical brackets of lens H1
45 third reflecting mirror the second optical brackets of H2
5 Scan Architecture H3 galvanometer brackets
6 first driver H4 mounting plates
61 electromagnet W shells
62 magnet W1 upper housings
63 reflective trenches W2 lower cases
7 first measurement module O forms
71 light source B matrix devices
72 deviation mirrors
Specific embodiment
Below with reference to the accompanying drawings the present invention is described referring to various embodiments.Although according to the optimal mode for realizing the object of the invention
Describe the present invention, but it will be understood by those skilled in the art that without departing from the spirit or scope of the present invention, Ke Yijian
Various modifications are realized in these introductions.
It summarizes
Fig. 1 shows the structural block diagram of radar according to the present invention.Radar includes laser 1 and detector 2, laser 1
The laser of impulse form is continuously issued with specific frequency (for example, 125kHz), wavelength is, for example, 905nm.Transmitting light projection arrives
At object (for example, building, pedestrian, vehicle, traffic sign etc.) at a certain distance from being located at, and generate reflected light.Detector 2
It can receive the reflected light.Laser pulse is issued by measuring and calculating and receives the time difference △ t between reflection light pulse, acquisition pair
As the distance d=C △ t/2 of distance lasers 1 (C is the light velocity).
Radar includes galvanometer 3, and galvanometer 3 can receive the transmitting light from laser 1, and is reflected and projected to be measured
In space；On the other hand, galvanometer 3 can receive the reflected light of the object in space to be measured, and is reflected and project spy
Survey device 2.By using galvanometer 3, coaxial optical path design may be implemented, that is, in the external circuits part from galvanometer 3 to space to be measured
In, the optical path for emitting light and reflected light essentially coincides.In from galvanometer 3 to the inside light path part of laser 1 and detector 2,
Suitable optical texture 4 can be designed to guide transmitting light and reflected light, to meet specific structure and optical demands.
Radar further includes Scan Architecture 5, for scanning transmitting light, self-excitation in future in both vertically as well as horizontally both direction
The planar projection light that the dotted projection light of light device 1 is changed into, so as to the detected object within the scope of greater room.Such as Fig. 1 institute
Show, except galvanometer 3, Scan Architecture 5 includes the first driver 6 and the second driver 8.First driver 6 can drive galvanometer 3
It is up and down reciprocatingly rotated within the scope of certain angle around vibrating shaft X, vibrating shaft X is horizontally extending, thus, it is possible to generate
The one-dimensional scanning light that vertical direction scans up and down；Further, the second driver 8 can drive galvanometer 3 around rotation axis Y certain
Left and right reciprocating rotation in angular range, rotation axis Y extend along the vertical direction, thus, it is possible to which the scanning up and down in vertical direction is transported
The lateral probe movement movement of horizontal direction is superimposed on the basis of dynamic, thus by one-dimensional scanning light be further converted into two-dimensional scanning light.
Scan Architecture 5 further includes the first measurement module 7 and the second measurement mould of the deflection angle for real-time measurement galvanometer 3
Block 9.During scanning, the first measurement module 7 measures the deflection angle α of 3 Relative Vibration axis X of galvanometeri；Second measurement module 9 is surveyed
Measure deflection angle β of the galvanometer 3 relative to rotary shaft Yi.Pass through angle combinations (αi,βi) it can determine that a certain moment laser radar issues
Transmitting light beam specific orientation.As described above, by measuring and calculating in each orientation (αi,βi) under transmitting light and receive light when
Between it is poor, each orientation (α can be obtainedi,βi) under object distance di, thus, it is possible to obtain the visual field model for indicating laser radar
Point cloud (the α of three-dimensional environment information in enclosingi,βi,di).Processor can receive the cloud, and is analyzed and handled, thus
Realize specific function.For example, by laser radar be applied to automatic driving vehicle in the case where, car-mounted computer can receive and
The point cloud data from laser radar is analyzed, the object situation of vehicle periphery is obtained, thus generates specific control strategy, is controlled
The functions such as vehicle turned to, speed change, start and stop, to realize the intelligent driving without driver's intervention.
The embodiment of laser radar according to the present invention is described in detail below with reference to Fig. 2 to Fig. 7.
Optical texture
Laser radar includes the optical texture for guiding transmitting light and reflected light in the inside of radar installations.Fig. 3 is shown
The main component of optical texture, for the sake of clear, the component other than optical texture is omitted in general view of the Fig. 3 compared to Fig. 2.
Laser 1 is electrically connected to laser circuit board P1, and the circuit carried on laser circuit board P1 is suitable for driving laser 1.Detection
Device 2 is electrically connected to detector circuit plate P2, and the circuit carried on detector circuit plate P2 is suitable for receiving and transmission comes from detector 2
Output signal.Both laser circuit board P1 and detector circuit plate P2 are set parallel to each other, and are vertically terminated in the same side
The electric components such as processor, memory, I/O interface can be carried to main circuit board P0, on main circuit board P0.Main circuit board P0 can be with
It being electrically connected with laser circuit board P1, detector circuit plate P2, processor can control 1 pulsed illumination of laser as a result, and
The output signal from detector 2 is handled, the point cloud data of characterization three-dimensional environment situation is generated and export.
For convenience of description, define coordinate system herein with reference to the position of circuit board P0, including vertical direction V perpendicular to one another,
Front-rear direction F and transverse direction T.Circuit board P0 arranges that laser is electric in the plane that vertical direction V and transverse direction T is limited
F extends forward along the longitudinal direction by road plate P1, detector circuit plate P2.
As shown in figure 3, laser 1 is arranged as emitting transmitting light L1 forward.Before laser 1 is arranged in first reflecting mirror 41
Side, with transmitting light L1 at 45 degree angles, the guidance of the first reflecting mirror 41 emits light L1 and turn 90 degrees partially as a result, make its along the vertical direction V to
Upper transmission.Transmitting light L1 is transmitted upwards successively by the first lens 42, the second reflecting mirror 43, then arrives at the vibration section of galvanometer 3
Reflecting surface at 31.Second reflecting mirror 43 is provided with the slit 431 of perforation, allows to emit light L1 and passes through second not reflectedly
Reflecting mirror 43.First lens 42 are arranged between the first reflecting mirror 41 and the second reflecting mirror 43, and the optical axis of the first lens 42 passes through
Slit 431, thus, it is possible to assemble and deflect transmitting light L1 so that it is accurately passed through slit 431.The deflecting action of first lens 42 can
Installation is simplified to reduce the requirement to installation accuracy to offset the deviation of the transmitting light L1 due to caused by installation error
Technique.
Galvanometer 3 is angularly arranged with transmitting light L1, such as at 45 degree of angles, is just passed generally forwards to guide and emit light L1
It transports in space to be measured.As discussed in greater detail below, the vertical vibrating with galvanometer 3 and horizontal rotation, transmitting light L1 will be in two-dimensional square
It scans up.Emit light L1 and generates reflected light L2 through the object reflection in environment.The reflection being radiated on the reflecting surface of galvanometer 3
Light L2 deflects certain angle by galvanometer 3, and reflecting surface (the upper table of the second reflecting mirror 43 is exposed to along roughly vertical downwardly direction
Face) on.Second reflecting mirror 43 and vertical direction V is at 45 degree of angles, and the second reflecting mirror 43 can guide reflected light L2 rearward as a result,
Transmission.Due to the 431 area very little of slit on the second reflecting mirror 43, most of reflected light L2 is reflected.Reflected light L2 is backward
It propagates and successively arrives at detector 2 by the second lens 44, third reflecting mirror 45.The setting of third reflecting mirror 45 in circuit board P1 and
Between P2, and it is vertical with the second reflecting mirror 43, and so that reflected light L2 be guided to continue to deflect, making it, V is transmitted upwards along the vertical direction
To detector 2.Second lens 44 are arranged between the second reflecting mirror 43 and third reflecting mirror 45, and the second lens 44 can make to dissipate
Reflected light L2 converge to detector 2.
As described above, the first reflecting mirror 41, the first lens 42, the second reflecting mirror 43, galvanometer 3, the second lens 44 and third
Reflecting mirror 45 forms optical texture, this optical texture can be advantageously carried out coaxial optical path, and take into account the compactedness of structure.Tool
For body, in the optical path from the second reflecting mirror 43 via galvanometer 3 to exterior space, emit light L1 and reflected light L2 almost coaxial
Setting, this helps to eliminate optical parallax present in paraxonic optical path, improves the precision of laser ranging, and simplifies structure design.
In addition, the first reflecting mirror 41 folds the optical path of transmitting light L1, the optical path of 45 folding reflected light L2 of third reflecting mirror can be greatly
Reduce the occupied space of optical texture 4, and allow 2 disposed adjacent of laser 1 and detector, is easy to be electrically connected to same main circuit
Plate P0.
In addition, in conjunction with referring to figs. 2 and 3 the first reflecting mirror 41, the first lens can be supported using the first optical bracket H1
42, the mounting plate 11 of the second reflecting mirror 43 and installation laser 1, the first optical bracket H1 and the first reflecting mirror 41, second are anti-
It penetrates mirror 43 and mounting plate 11 cooperates, form hollow closing shell, the loss of transmitting light L1 is effectively reduced.Similarly, it can adopt
The second lens 44, third reflecting mirror 45 and the detector circuit plate P2 for installing detector 2 are supported with the second optical bracket H2, the
Two optical bracket H2 and the second lens 44, third reflecting mirror 45 and circuit board P2 cooperation, form hollow closing shell, effectively drop
The loss of low light reflectivity L2.
The present invention can be using one or more lasers 1 and detector 2.The implementation of Fig. 3 exemplifies two 1 Hes of laser
Two detectors 2.Be arranged side by side two lasers 1 on mounting plate 11, the transmitting light L1 of the two can in forward direction shape
It is at an acute angle.Two beams emit light L1 and its respective reflected light L2 to be transmitted by above-mentioned optical texture 4, and two beam reflected light L2 finally divide
Two detectors 2 that Di Da be disposed side by side on detector circuit plate P2.Due to the transmitting light L1 of two lasers 1 formed it is sharp
Angle, the part that laser projection face made of each self-produced scanning will have overlapping.By the level that the acute angle and galvanometer 3 is arranged
The relationship of sweep speed, the point cloud that two lasers 1 can be made respectively to generate are interspersed in above-mentioned lap, to rise
To cipher round results, point Yun Midu is improved.It may be noted that the width of the slit 431 on the second reflecting mirror 43 is positioned to allow for two beams hair
It penetrates light L1 while passing through.Although the implementation of diagram exemplifies two lasers and two detectors, in unshowned implementation
In example, more preferably cipher round results can be realized, these do not show using three, four or the laser and detector of other quantity
Embodiment out each falls within protection scope of the present invention.
Scan Architecture
Fig. 4 shows the Scan Architecture 5 of laser radar, for will the dotted transmitting optical scanning from laser 1 at two dimension
Projection surface, such as Fig. 7 best image.
Scan Architecture 5 includes galvanometer 3, is formed by the sheet fabrication of metal (such as titanium alloy).As shown in figure 4, galvanometer 3
Including vibration section 31, interconnecting piece 32 and frame section 33.Vibration section 31 is circle, via interconnecting piece at the both ends of a diameter
32 are connected to frame section 33.The direction of the diameter limits vibrating shaft X.Frame section 33 is symmetrical about vibrating shaft X, can be divided into and be located at
The first half portion 331 and the second half portion 332 of the two sides vibrating shaft X.Interconnecting piece 32 positioned at the every side in vibration section 31 includes girder
321, the first auxiliary girder 322 and the second auxiliary girder 323.Girder 321 extends along vibrating shaft X, linear；First auxiliary girder 322 and second
Auxiliary girder 323 substantially extends along the direction of Vertical Vibrating moving axis X, tortuous.One end of girder 321 is connected to the circle of vibration section 31
One end of week, the other end and the first auxiliary girder 322 and the second auxiliary girder 323 connects.First auxiliary girder 322 and the second auxiliary girder 323 are about vibration
Moving axis X is symmetrical, and the other end of respective separate girder 321 is connected to corresponding first half portion 331 or the second of frame section 33
Half portion 332.As a result, under the support of interconnecting piece 32, vibration section 31 can surround vibrating shaft X relative to frame section 33 at certain angle
Spend reciprocating rotation (can referred to as " vibrate ") in range.
As shown in figure 3, the clearance space of perforation is limited between vibration section 31 and frame section 33, the first auxiliary girder 322 and second
Each of auxiliary girder 323 has the bending part extended in clearance space.By adjusting the length of bending part, girder 321
The parameters such as the width of width, the first auxiliary girder 322 and the second auxiliary girder 323, adjustable vibration section 31 have suitable resonant frequency,
Such as 600Hz, and suitable vibration angle range, such as 5~30 °, preferably 10 °.In addition, due to being provided with the bending
The entire length in portion, interconnecting piece 32 is able to length, to significantly reduce in girder 321, the first auxiliary girder 322 and the second auxiliary girder
Stress at 323 crosspoints is concentrated, and is facilitated the fatigue behaviour for improving galvanometer 3, is prolonged the service life.
On the one hand, the vibration section 31 of galvanometer 3 can surround vibrating shaft X (such as Fig. 4 institute under the driving of the first driver 6
Show) vibration, it is possible thereby to the scanning transmitting light within the scope of certain angle in the vertical direction, scanning angle is for example at 10~60 °
In range, preferably 20 °.It can be bonded the reflecting mirror for reflection laser on vibration section 31, vibration section 31 also can be set
A surface have reflecting properties.First driver 6 can be electromagnet 61, while in the back of vibration section 31 (reflection table
The opposite side in face) on be arranged magnet 62.When being passed through the electric current of alternation in electromagnet 61, the magnetic field of direction alternation, magnetic are generated
Body 62 by by the attraction of alternation or exclude power, thus drive vibration section 31 around vibrating shaft X vibration.By the way that electromagnet is arranged
The amplitude and frequency of electric current in 61 may be implemented vibration section 31 and vibrate under its resonant frequency (such as 600Hz) just, thus
It is realized and is vibrated with lesser energy consumption.
Fig. 5 shows the backside perspective view of galvanometer 3.Two cylindrical magnets 62 are symmetrically disposed in the back of vibration section 31
Portion, the quality of magnet 62, the distance in the center of circle apart from vibration section 31 are adjustable, to realize the resonance of vibration section 31.Two
A electromagnet 61 is oppositely arranged, for generating symmetrical magnetic field.In order to cause stable vibration, two magnets 62 are in synchronization
It is subjected to contrary, the identical magnetic force of size.For this purpose, the magnetism of two magnets 62 can be set on the contrary, two electromagnet 61
It is magnetic identical；Alternatively, the magnetism that two magnets 62 can be set is identical, the magnetism of two electromagnet 61 is opposite.
On the other hand, galvanometer 3 can turn under the driving of the second driver 8 entirely around rotation axis Y is (as shown in Figure 4)
Dynamic, it is possible thereby to the scanning transmitting light within the scope of certain angle in the horizontal direction, scanning angle is being for example 20~180 °
In angular range, it is more preferably 40~90 °, more preferably 48 °.Second driver 8 can be stepper motor 81, be driven by control
Streaming current, can the accurately revolving speed of stepper motor control 81 and steering.Stepper motor 81 is by control output in certain angle model
Enclose interior reciprocating rotation.As shown in figure 4, electromagnet 61, the galvanometer 3 as the first driver 6 are mounted on galvanometer bracket H3.Step
The upper end of galvanometer bracket H3 is attached into the output shaft of motor 81, to drive galvanometer bracket H3 and the equal components of galvanometer 3 thereon
It rotates together.As a result, the vibration section 31 of galvanometer 3 is also around rotation axis Y reciprocating rotation.
Therefore, the vibration section 31 of galvanometer 3 around vibrating shaft X vibration while, around rotation axis Y rotate, vibrating shaft X and
The center point of the rotation axis Y in vibration section 31 intersects vertically, as shown in Figure 4.In use, the edge vibrating shaft X can be set to be parallel to
The horizontal direction on ground extends, therefore, the vibration motion of galvanometer 3 scanning laser in the vertical direction；Meanwhile rotation axis can be set
Y extends along the vertical direction perpendicular to ground, therefore, the rotational motion of galvanometer 3 scanning laser in the horizontal direction obtains as a result,
Two-dimensional scanning light.
As described above, to obtain three dimensional point cloud, need to measure galvanometer 3 in real time relative to vibration neutral position
Deflection angle α and relative to rotation neutral position deflection angle β.Fig. 6 shows the first measurement module for measurement angle α
7 and for measurement angle β the second measurement module 9, wherein eliminating other components.It is zero that galvanometer 3 in Fig. 6, which is in angle [alpha],
And the neutral position not vibrated and rotate that angle beta is zero.
First measurement module 7 includes light source 71 and line detector 73, and the two may be provided on the first measuring circuit plate P3,
First measuring circuit plate P3 and main circuit board P0 electrical connection.Light source 71 issues forward light beam, and light beam turns via what 45 degree of angles were arranged
It is turned to mirror 72, then propagates to the back side of vibration section 31 downwards.As shown in figure 5, the back side of vibration section 31 is provided with linear
Reflective trenches 63, also, two electromagnet 61 are provided separately, and light beam is allowed to arrive at reflective trenches 63.Reflective trenches 63 as a result,
It can be made to propagate to the receiving area of line detector 73 with the reflected beams.Line detector 73 can be to connect with strip
Receive the photodiode array in region.In this configuration, when galvanometer 3 vibrates, between reflective trenches 63 and light beam
Angle will change with the variation of the vibration position of galvanometer 3, and correspondingly, the reflected beams of reflective trenches 63 fall in linear probing
Hot spot on device 73 will move up and down.Line detector 73 can detecte the change in location of hot spot, then extrapolate the angle of galvanometer 3
Spend the variation of α.It may be noted that the first measuring circuit plate P3 is fixed to the rear side of galvanometer bracket H3 (Fig. 6 is not shown), light source 71 and turn
It is mounted on to mirror 72 in the inner cavity of galvanometer bracket H3, therefore, each component of the first measurement module 7 will be with galvanometer bracket H3 and galvanometer
3 rotate around rotation axis Y together.Therefore, during the rotational motion of galvanometer 3, each component of the first measurement module 7 is relatively quiet
Only, therefore the rotational motion of galvanometer 3 will not interfere the measurement for angle [alpha].
Second measurement module 9 includes code-disc 91 and encoder 92.Code-disc 91 is fixed on galvanometer bracket H3, and (Fig. 6 is not shown, ginseng
See Fig. 2) upper surface, be provided with the multiple code channels being distributed uniformly and circumferentially on code-disc 91.Encoder 92 is then relative to step
It is fixedly installed into motor 81, is carried by the second measuring circuit plate P4, the second measuring circuit plate P4 can be with main circuit board P0 electricity
Connection.As shown in fig. 6, encoder 92 and code-disc 91 are oppositely arranged, the presence of the code channel of face can be detected, is then extrapolated
The rotational angle of code-disc 91.Since the galvanometer 3 on code-disc 91 and galvanometer bracket H3 rotates synchronously, encoder 92 can detect vibration
Mirror 3 surrounds the rotational angle β of rotation axis Y.Particularly, as shown in fig. 6, code-disc 91 is partial circle shape, extension angle and step
Rotational angle range into motor 81 is corresponding.In addition, code-disc 91 and the second measuring circuit plate P4, which are provided with, allows stepper motor 81
The through-hole that passes through of output shaft.
As described above, galvanometer 3 is one-dimensional mechanical galvanometer, and galvanometer 3 is in electromagnet 61 in Scan Architecture 5 of the invention
Driving under vibrate, while being rotated by stepper motor 81.It can be realized as a result, merely with single laser 3
Scanning on two-dimensional surface, compared with the prior art in multi-thread radar, number of lasers is less, may be implemented significant lower
Cost and power consumption.In addition, the MEMS galvanometer in compared with the prior art, mechanical galvanometer of the invention is simple to manufacture, is at low cost
It is honest and clean, and there is significant bigger optics receiving area, it can simplify optical texture and improve signal strength.Furthermore compared to existing
There is the 2-D vibration mirror in technology, the rotation axis Y of galvanometer of the invention is simultaneously not disposed in galvanometer plane, but V along the vertical direction
Setting, in this case, the horizontal direction of horizontal direction scanning closer to the multi-thread radar of laser radar scan, obtained
Point cloud is distribution in the horizontal direction, and there is no distortion, it is easier to analyze process points cloud, can significantly improve laser radar
Detection accuracy.
Mounting structure
Referring again to the overall perspective of Fig. 2, laser radar includes some column mounting structures to install various functional components.
As shown, main support H0 extends along the vertical direction, it is inverted U-shaped framework architecture.Main circuit board P0 is bolted from rear
To main support H0.First support H1 is bolted from below to main support H0, and extends forwards, is used to support laser peace
Loading board P1, the first reflecting mirror 41, the first lens 42 and the second reflecting mirror 43, as described above.Second support H2 is bolted
In the top of first support H1, it is used to support detector mounting plate P1, the second lens 44 and third reflecting mirror 45, such as institute above
It states.Second support H2 is located in the intermediate space of main support H0, and is bolted to main support H0.Main support H0, as a result,
One bracket H1 and second support H2 forms triangle and is bonded.In addition, mounting plate H4 is bolted from top to main support
H0 extends forward perpendicular to main support H0, also, stepper motor 81 is installed to the upside of mounting plate H4.Stepper motor it is defeated
Shaft passes through mounting plate H4.In addition, the second measuring circuit plate P4 can be installed to the downside of mounting plate H4.As shown in Fig. 2, main branch
Frame H0, first support H1, second support H2 and mounting plate H4 can surround space, and galvanometer bracket H3 is arranged in the space,
And the output shaft of stepper motor 81 is connected in upper end.Galvanometer bracket H3 is configured to support galvanometer 3, electromagnet 61, first is surveyed
Measure multiple components such as light source 71, deviation mirror 72 and the line detector 73 of module 7, the code-disc 81 of the second measurement module 8, these portions
Part being rotated by stepper motor 81 as a whole.The arrangement of mounting structure as described above can take into account structural stability
With the requirement of volume compact.
Fig. 7 shows the appearance of laser radar, with shell W, for accommodating laser radar internal junction shown in Fig. 2
Structure, can be out of, the rear of shell W is put into shell W chamber.Shell W includes knock-down upper housing W1 and lower case W2,
Settable radiating fin thereon, to radiate for laser radar.Allow laser lossless in addition, the front of lower case W2 is provided with
Consume the form O passed through.Shell W can protect laser radar and exempt to be affected by, and provide compact and beautiful shape.
Using example
Laser radar of the invention can be used in a variety of occasions for needing to know ambient environmental conditions, including but not limited to
The fields such as automatic driving vehicle, unmanned plane, industrial warehouse logistics guiding vehicle, intelligent robot, satellite.As shown in fig. 7, can incite somebody to action
Laser radar is fixed on matrix device B (such as vehicle, aircraft etc.), and laser radar can be gone out two-dimensional laser with forward projects and be thrown
Penetrate face.As described above, the laser projection face by the laser from single laser in the scanning motion in horizontal and vertical direction and
It generates.In an embodiment of the present invention, laser radar scan frequency in the horizontal direction can be 5Hz, in sweeping for vertical direction
Retouching frequency can be 600Hz, and the tranmitting frequency of laser can be 125KHz.In addition, laser radar horizontal scan angle (depending on
) it can be ± 24 °, angular resolution can be 0.2 °；Vertical sweep angle can be ± 10 °, and angular resolution can be
0.2°.By taking matrix device B is road vehicle as an example, the two-dimensional laser projection face contact shown in pedestrian, front vehicles, friendship
When the objects such as logical mark, building, laser radar can produce point cloud data relevant to the object, using being integrated in terrain vehicle
Processor in handles the point cloud data, can identify the type of the object, pattern, position, movement information, go forward side by side one
Step generates control signal accordingly, and control vehicle makes the operation such as corresponding start and stop, steering, speed change, and/or is passenger or long-range clothes
Business device issues signal.Thus, it is possible to realize auxiliary driving or autonomous driving using the laser radar.
Although various examples and embodiment has been disclosed, other examples and embodiment are for those skilled in the art
It will be apparent.Various disclosed examples and embodiment are rather than restrictive, true models for illustrative purposes
It encloses and spirit is indicated by appended claims.
Claims (15)
1. a kind of laser radar characterized by comprising
Laser issues transmitting light, generates reflected light at the object of transmitting light in the environment；
Detector detects reflected light, thereby determines that the distance of the object；
Transmitting light is reflexed to the object by galvanometer；
First driver drives the part of galvanometer to rotate around first axle, so that transmitting light scans in a first direction；With
Second driver, driving galvanometer are rotated entirely around second axis, so that transmitting light is being different from first direction
Second party scans up.
2. laser radar according to claim 1, which is characterized in that first axle is arranged in the plane of galvanometer, and second
Axis passes through the plane of galvanometer with acute angle, and first axle is perpendicular to second axis.
3. laser radar according to claim 1 or 2, which is characterized in that galvanometer is fixed on galvanometer bracket, the second driving
Device is attached to galvanometer bracket, and it is driven to rotate around second axis.
4. laser radar according to claim 3, which is characterized in that
The galvanometer includes the interconnecting piece of frame section, vibration section and connection framework portion and vibration section；
Wherein, frame section is fixed to galvanometer bracket, and the first driver drives vibration section to turn around first axle relative to frame section
It is dynamic, also, the bending part of interconnecting piece extends inwardly between frame section and vibration section.
5. laser radar according to claim 4, which is characterized in that
First driver is electromagnet, is fixed to galvanometer bracket, and magnet is arranged on vibration section；
Alternating current is passed through in electromagnet, driving vibration section is up and down reciprocatingly rotated relative to galvanometer plane with first frequency, made
The emergent light with respect to the horizontal plane scanning up and down between positive first angle and negative first angle.
6. laser radar according to claim 5, which is characterized in that
Second driver is stepper motor, and output shaft is attached to galvanometer bracket；
Stepper motor is driven with alternating current, drives galvanometer bracket reciprocal around output shaft of stepper motor or so with second frequency
Rotation, make emergent light relative to vertical plane the lateral probe movement between positive second angle and negative second angle.
7. laser radar according to claim 6, which is characterized in that
First frequency is the resonant frequency of vibration section, also, first frequency is greater than 100 times of second frequency.
8. laser radar according to claim 5, which is characterized in that
First measurement module includes light source and line detector, and the transmitting light of light source reflexes to linear spy via the vibration section of galvanometer
Device is surveyed, light source and line detector are mounted on the galvanometer bracket, through detection transmitting light irradiation in line detector
The scanning angle of position measurement transmitting light in a first direction.
9. laser radar according to claim 6, which is characterized in that
Second measurement module includes encoder and code-disc, and encoder is fixed relative to stepper motor, and code-disc is mounted on galvanometer bracket
On, the position measurement by detection code-disc relative to encoder emits the scanning angle of light in a second direction.
10. laser radar according to claim 1, which is characterized in that galvanometer is by reflected light back to detector.
11. laser radar according to claim 10, which is characterized in that
First reflecting mirror is arranged between galvanometer and laser, to change the transmission direction of transmitting light；
Third reflecting mirror is arranged between galvanometer and detector, with the transmission direction of the reflected light.
12. laser radar according to claim 11, which is characterized in that
Second reflecting mirror is arranged between galvanometer and the first reflecting mirror and between galvanometer and third reflecting mirror；
The transmissive portion transmission transmitting light of second reflecting mirror, does not change the transmission direction of the transmitting light, also, the second reflecting mirror
Reflective portion reflective light, change the transmission direction of the reflected light.
13. laser radar according to claim 1, which is characterized in that
Laser radar includes the first laser device and second laser of neighbouring setting, the scanning track of the transmitting light of first laser device
It is interspersed with the scanning path portion of the transmitting light of second laser.
14. laser radar according to claim 1, which is characterized in that
Laser radar includes shell, and shell limits closed internal chamber, accommodates laser, detector, galvanometer, the first driver
With the second driver；Also, the form of shell allows to emit light and reflected light extends there through.
15. a kind of vehicle comprising:
Laser radar is scanned an environment as described in any one of claim 1 to 14, and generation environment data；
Controller is configured that
Receive the environmental data from laser radar；
Determine that the information of the object in environment, the information indicate at least one of the following based on the environmental data: described
Type, pattern, position or the motion state of object；
Based on information control vehicle start and stop, steering, speed change or issue signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811463788.4A CN109557554A (en) | 2018-12-03 | 2018-12-03 | Laser radar and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811463788.4A CN109557554A (en) | 2018-12-03 | 2018-12-03 | Laser radar and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109557554A true CN109557554A (en) | 2019-04-02 |
Family
ID=65868451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811463788.4A Pending CN109557554A (en) | 2018-12-03 | 2018-12-03 | Laser radar and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109557554A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110133619A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN110376566A (en) * | 2019-07-12 | 2019-10-25 | 深圳市镭神智能系统有限公司 | A kind of twin shaft scanning system |
| CN112014826A (en) * | 2019-05-28 | 2020-12-01 | 度逢株式会社 | Object detection device |
| WO2021030993A1 (en) * | 2019-08-16 | 2021-02-25 | 上海禾赛科技股份有限公司 | Lidar and emission device thereof |
| WO2021168849A1 (en) * | 2020-02-29 | 2021-09-02 | 深圳市速腾聚创科技有限公司 | Laser radar and method for scanning by using laser radar |
| WO2021258246A1 (en) * | 2020-06-22 | 2021-12-30 | 华为技术有限公司 | Radar system, mobile device and radar detection method |
| WO2022188318A1 (en) * | 2021-03-11 | 2022-09-15 | 深圳市速腾聚创科技有限公司 | Galvanometer control method and apparatus, computer-readable storage medium, and terminal device |
| CN116009009A (en) * | 2022-05-26 | 2023-04-25 | 湖南阿秒光学科技有限公司 | TOF laser measurement system, laser emission and receiving module and laser radar |
-
2018
- 2018-12-03 CN CN201811463788.4A patent/CN109557554A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110133619A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN110133619B (en) * | 2019-04-19 | 2021-07-02 | 深圳市速腾聚创科技有限公司 | Laser radar |
| CN112014826A (en) * | 2019-05-28 | 2020-12-01 | 度逢株式会社 | Object detection device |
| CN110376566A (en) * | 2019-07-12 | 2019-10-25 | 深圳市镭神智能系统有限公司 | A kind of twin shaft scanning system |
| WO2021030993A1 (en) * | 2019-08-16 | 2021-02-25 | 上海禾赛科技股份有限公司 | Lidar and emission device thereof |
| WO2021168849A1 (en) * | 2020-02-29 | 2021-09-02 | 深圳市速腾聚创科技有限公司 | Laser radar and method for scanning by using laser radar |
| CN114729991A (en) * | 2020-02-29 | 2022-07-08 | 深圳市速腾聚创科技有限公司 | Laser radar and scanning method of laser radar |
| WO2021258246A1 (en) * | 2020-06-22 | 2021-12-30 | 华为技术有限公司 | Radar system, mobile device and radar detection method |
| WO2022188318A1 (en) * | 2021-03-11 | 2022-09-15 | 深圳市速腾聚创科技有限公司 | Galvanometer control method and apparatus, computer-readable storage medium, and terminal device |
| CN116009009A (en) * | 2022-05-26 | 2023-04-25 | 湖南阿秒光学科技有限公司 | TOF laser measurement system, laser emission and receiving module and laser radar |
| CN116009009B (en) * | 2022-05-26 | 2023-06-30 | 湖南阿秒光学科技有限公司 | TOF laser measurement system, laser emission and receiving module and laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109557554A (en) | Laser radar and vehicle | |
| CN109557555A (en) | Scanning mirror and laser radar | |
| US20230341523A1 (en) | Scanner control for lidar systems | |
| CN109557556A (en) | Scan components and laser radar | |
| CN104221058B (en) | Scanning lens array equipped with universal joint | |
| JP4147947B2 (en) | Optical scanning device, object detection device using the same, and drawing device | |
| KR102474126B1 (en) | Lidar optical apparatus and lidar apparatus having same | |
| US20230314571A1 (en) | Detection apparatus, scanning unit, movable platform, and control method of detection apparatus | |
| JP2022159464A (en) | Ranging device | |
| CN110794382A (en) | Laser radar and detection method thereof | |
| JP2024045643A (en) | Scanning device, scanning device control method, program, recording medium, and distance measuring device | |
| US11567213B2 (en) | Dual shaft axial flux motor for optical scanners | |
| CN209842062U (en) | Laser radar and vehicle | |
| CN109581407A (en) | Laser radar | |
| CN209525457U (en) | Scan components and laser radar | |
| CN211402711U (en) | Laser radar | |
| CN210090676U (en) | Scanning mirror and laser radar | |
| JP2002071809A (en) | Scanner, scan method and non-contact type measuring device | |
| JP7152147B2 (en) | rangefinder | |
| US20220206123A1 (en) | Light scanning device and distance measuring device | |
| CN210626659U (en) | Laser radar and vehicle | |
| JP2022022390A (en) | Ranging device | |
| CN220105293U (en) | Obstacle avoidance sensor and mobile robot | |
| CN115461648B (en) | Biaxial axial flux motor for optical scanner | |
| US20230400587A1 (en) | Lidar resonator with dynamic force equilibrium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |