CN109581407A - Laser radar - Google Patents
Laser radar Download PDFInfo
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- CN109581407A CN109581407A CN201811463787.XA CN201811463787A CN109581407A CN 109581407 A CN109581407 A CN 109581407A CN 201811463787 A CN201811463787 A CN 201811463787A CN 109581407 A CN109581407 A CN 109581407A
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- Prior art keywords
- laser
- module
- scanning
- laser radar
- driver
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Classifications
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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
- G01S17/88—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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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)
- 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 comprising: laser emitting module is configured to generate emergent light；Laser scanning module, for changing the emergent light from laser emitting module spatial orientation and by emergent light towards ambient enviroment guide, laser scanning module includes: the first scanning submodule, changes the spatial orientation of the emergent light from laser emitting module along first direction；Second scanning submodule, its spatial orientation for changing the emergent light from laser emitting module in a second direction, wherein, first scanning submodule includes galvanometer and the first driver, first driver drives a part of galvanometer to vibrate around first axle, second scanning submodule includes the second driver, and the second driver drives first scan submodule and rotate around second axis.The present invention also provides a kind of vehicles comprising foregoing laser radar, vehicle can carry out at least semi-autonomous operation based on the environmental data from laser radar.
Description
Technical field
The present invention relates to a kind of laser radar, it is particularly applied to the motor vehicles at least operated with semi-autonomous mode
In, for knowing the azimuth-range information of one or more objects in ambient enviroment.
Background technique
Motor vehicles can be configured as with autonomous mode or semi-autonomous mode operation, wherein vehicle have seldom or
There is no navigation in the case where driver's intervention to pass through environment.The motor vehicles may include being configured to detect about vehicle periphery
The one or more sensors of the information of environment, such as laser radar.
Laser radar can scan ambient enviroment by quickly and repeatedly emitting laser beam, reflect surrounding ring to obtain
Pattern, position and " point cloud " data of movement of one or more objects in border.Specifically, the reflection of one or more objects
The distance on surface determines in the following way: laser radar emits laser beam to ambient enviroment and receives by ambient enviroment
Object the reflected light that is reflected of reflecting surface, pass through the time of return for calculating the launch time point and reflected light of laser beam
Time delay between point determines the range information of the reflecting surface in ambient enviroment.Meanwhile laser radar can determine description
The angle information of the spatial orientation of laser beam.The angle information of the range information of reflecting surface and laser beam is combined,
Produce the three-dimensional map of the point cloud data including scanned ambient enviroment.
The prior art provides the laser radar of various structures.It arranges on vertical direction for example, multi-line laser radar uses
Multiple lasers, utilize rotational structure to rotate multiple lasers.Multi-line laser radar is due to structure bulky, with high costs, resistance to
The problems such as property is not good enough long, performance is difficult to meet the needs of growing.Another solid-state laser radar by using quantity compared with
Few laser and Scan Architecture, which combines, realizes laser beam in the scanning of view field space, in the side such as cost and adjustable viewing field angle
Face provides many advantages.
Existing solid-state laser radar mostly uses MEMS 2-D vibration mirror scanning laser.MEMS 2-D vibration mirror surrounds first simultaneously
Scan axis and the vibration of the second scan axis, emergent light is scanned in the first direction and a second direction.But due to
The first scan axis and the second scan axis of MEMS 2-D vibration mirror are respectively positioned in the plane of mirror structures, are swept via 2-D vibration mirror
There are apparent distortion phenomenons for point cloud caused by retouching.Referring to Fig. 1, point cloud shows in a first direction gradually to be received from the bottom up
Narrow shape.In practice, this cloud distortion will lead to various problems.For example, being regarded with multiple solid-state laser radars
When splicing, need to carry out splicing to the point clouds of different laser radars, in order to cover complete visual field, different point clouds it
Between must not be not provided with biggish overlapping region (such as along lower part of first direction).On the one hand, the utilization efficiency quilt of point cloud data
It reduces, on the other hand, is also accompanied by the overlapping region laser energy density in cloud beyond the risk of safety range of human eye.
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 at least provide one kind to take into account low cost, small size, high performance laser radar.
According to the first aspect of the invention, a kind of laser radar is provided comprising: laser emitting module is configured to
Generate emergent light；Laser scanning module, it is described out for changing the spatial orientation and general of the emergent light from laser emitting module
It penetrates light to guide towards ambient enviroment, the laser scanning module includes: the first scanning submodule, is come from along first direction change
The spatial orientation of the emergent light of laser emitting module；Second scanning submodule, changes come from Laser emission mould in a second direction
The spatial orientation of the emergent light of block, wherein the first scanning submodule includes galvanometer and the first driver, first driving
Device drives a part of the galvanometer to vibrate around first axle, and the second scanning submodule includes the second driver, and described the
First scanning submodule described in two driver drives is rotated around second axis.
Laser radar according to the present invention provides the first scanning submodule and the second scanning submodule of separation.With it is existing
The structure of 2-D vibration mirror is compared in technology, and the second axis of the first axle of the first scanning submodule and the second scanning submodule is not
Setting in the same plane, effectively prevents the distortion of point cloud caused by 2-D vibration mirror.
Further, the second axis is parallel to the direction extension that the emergent light is incident to the laser scanning module.
Due to such setting, point cloud chart picture caused by laser radar according to the present invention can be avoided significant deformation, in form
On closer to multiple wire system laser radar point cloud chart picture, point cloud quality be improved.
Further, the second scanning submodule includes bracket, and the first scanning submodule is installed to the bracket, institute
It states bracket and is attached to second driver, second driver drives the first scanning submodule to enclose via the bracket
It is rotated around second axis.
Further, the first scanning submodule includes galvanometer and the first driver, described in the first driver driving
A part of galvanometer is vibrated around first axle.
Further, the laser radar includes laser pick-off module, is configured as receiving and detect corresponding to emergent light
, reflected light by object reflections one or more in ambient enviroment.
Preferably, the laser radar includes mounting structure, and the laser emitting module is fixed to the mounting structure, institute
It states laser scanning module part and is rotatably attached to the mounting structure, the first scanning described in second driver drives
Module is rotated relative to the laser emitting module.
Preferably, the laser pick-off module is fixed to the mounting structure, first described in second driver drives
Scanning submodule is rotated relative to the laser pick-off module.
The second driver only needs that less component is driven to rotate as a result, so as to select lower-powered driver,
To reduce energy consumption, and realize miniaturization, the lightweight of laser radar.Also, due to laser emitting module and laser pick-off mould
Block is as the stationary part in laser radar, and the connection between laser emitting module, laser pick-off module and mounting structure is more
Stablize, helps to improve the service life of laser radar and the stability of laser optical path.
Further, the galvanometer includes magnet, and first driver is electromagnet, magnetism of the magnet in electromagnet
The lower driving galvanometer of effect is rotated around first axle.
Preferably, second driver is stepper motor, and the output shaft of the stepper motor is attached to the bracket.It is logical
Control driving current is crossed, it can the accurately revolving speed of stepper motor control and steering.
According to the second aspect of the invention, the present invention provides a kind of vehicles comprising foregoing laser radar；It holds
Row portion；Processor is configured that and receives the environmental data from the laser radar；Target is determined based on the environmental data
Information, wherein the target information indicates at least one of the following: type, size, shape, position or the movement of object；
Based on target information control vehicle start and stop, steering, speed change or issue signal.
Detailed description of the invention
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, in which:
Fig. 1 shows the point cloud chart picture as caused by 2-D vibration mirror according to prior art；
Fig. 2 shows the structural schematic diagrams of the laser radar of an exemplary embodiment according to the present invention；
Fig. 3 shows the laser scanning module of laser radar according to the present invention in perspective view；
Fig. 4 shows the first scanning submodule of laser radar according to the present invention (from rear side) in perspective view
Block；
Fig. 5 shows the point cloud chart picture as caused by laser radar according to the present invention；And
Fig. 6 shows the overall structure diagram of the laser radar of an exemplary embodiment according to the present invention.
Specific embodiment
In being described below of various exemplary structures according to the present invention, with reference to attached drawing, attached drawing forms the present invention
A part, and be wherein shown in which that the various exemplary dresses of each aspect of the present invention can be practiced by way of diagram
It sets, system and environment.It should be appreciated that can use component without departing from the scope of the invention, exemplary means, being
Other specific arrangements of system and environment, and structure and function modification can be carried out.
Fig. 2 shows the structural schematic diagrams of the laser radar of an exemplary embodiment according to the present invention.In order to more clear
Chu's property shows that light channel structure according to the present invention, the components such as shell, optical device bracket of laser radar are concealed.
Laser radar includes laser emitting module 1, laser pick-off module 2 and laser scanning module 3.Laser emitting module 1
The continuous emergent light L1, the emergent light L1 for issuing impulse form enters surrounding's ring of motor vehicles via laser scanning module 3
Border.Emergent light L1 is projected at the reflecting surface of the object in ambient enviroment, and generates reflected light L2.Reflected light L2 is via laser
Scan module 3 returns to inside laser radar, and is received and detected by laser pick-off module 2.By measuring and calculating issue laser pulse with
It receives the time difference △ t between reflected light L2 pulse, can be obtained the distance d=C △ t/2 of reflecting surface (C is the light velocity).
Laser radar further includes main circuit board P0, and laser radar includes main circuit board P0, can carry place on main circuit board P0
Manage the electric components such as device, memory, I/O interface.Laser emitting module 1 is electrically connected to transmitting module circuit board P1, transmitting module
The circuit carried on circuit board P1 is suitable for driving laser emitting module 1.Laser pick-off module 22 is electrically connected to receiving module circuit
The circuit carried on plate P2, receiving module circuit board P2 is suitable for receiving and output signal of the transmission from laser pick-off module 22.
Both transmitting module circuit board P1 and receiving module circuit board P2 are set parallel to each other, and are vertically connected to main electricity in the same side
Road plate P0.Processor can control 1 pulsed illumination of laser emitting module as a result, and handle from laser pick-off module 22
Output signal generates and exports the point cloud data of characterization ambient enviroment.
For convenience of description, define coordinate system herein with reference to the position of circuit board P0, including longitudinal direction V perpendicular to one another,
Front-rear direction F and transverse direction T.Circuit board P0 arranges in the plane that longitudinal direction V and transverse direction T are limited, transmitting module
F extends forward along the longitudinal direction by circuit board P1, receiving module circuit board P2.
Laser emitting module 1 includes laser generator 11, generates emergent light L1 along transmission path.With specific frequency
(for example, 125kHz) continuously issues the laser of impulse form.The emergent light L1 has the wavelength of about 905nm.Laser emission
Module 1 further includes the first reflection device 12 and diversing lens 13.Along the emergent light of transmission path onwards transmission on front-rear direction F
L1 is reflected at the first reflection device 12 and is deflected, and diversing lens 13 are upward through on longitudinal direction V.Transmitting is saturating
Mirror 13 can have optical power, for collimating the emergent light L1 generated by laser generator 11, to reduce the emergent light L1's
Divergence.
Laser radar may also include Transflective device 4, such as send out along the transmission path setting laser of emergent light L1
It penetrates between module 1 and laser scanning module 3.Transflective device 4 may include transmission region 41 and reflecting region 42.It is emitted
The emergent light L1 that mirror 13 collimates passes through transmission region 41 via transmission path and reaches laser scanning module 3.
Laser scanning module 3 can change the spatial orientation of emergent light L1 in one or more directions, by dotted emergent light
L1 is changed into the planar projection light being distributed on two-dimensional surface, so as to realize within the scope of greater room to ambient enviroment
Detection.Emergent light L1 occurs diffusing reflection at the reflecting surface of one or more objects of ambient enviroment and forms reflected light
L2.For reflected light L2 partially along RX path return laser light scan module 3, laser scanning module 3 is changeable from described anti-
It penetrates the spatial orientation of light L2 and guides reflected light L2 towards Transflective device 4 along RX path.Reflected light L2 can transmitted
It is reflected again in the reflecting region 42 of reflection device 4, and then continues on RX path and reach laser pick-off module 2.
Laser pick-off module 2 may include laser detector 21, for receiving and detecting the one or more by ambient enviroment
The reflected light L2 of object reflection transmitted along RX path.Laser detector 21 is, for example, the avalanche photodide of planar array type
(APD).Laser pick-off module 2 may also include receiving lens 23 and the second reflection device 22.Since emergent light L1 is at one or more
Diffusing reflection occurs at the reflecting surface of a object, there can be biggish divergence along the reflected light L2 that RX path transmits.It connects
Optical power can be had by receiving lens 23, for focusing reflected light L2, improved reflected light L2 and received ratio.Along RX path in front and back
The reflected light L2 transmitted backward on F is reflected at the second reflection device 22 and is deflected, and on longitudinal direction V upwards
It transmits and reaches laser detector 21.
The laser scanning module 3 of laser radar according to the present invention is described in detail referring to Fig. 3.Laser scanning module 3
Including the first scanning submodule 31 and the second scanning submodule 32.First scanning submodule 31 is along first direction (such as vertical side
To) change emergent light L1 spatial orientation, second scanning submodule 32 in a second direction (such as horizontal direction) change come self-excitation
The spatial orientation of the emergent light L1 of optical transmitter module 1.
First scanning submodule 31 may include the galvanometer 311 with reflecting surface, by the plate of metal (such as titanium alloy)
Material is process.As shown in figure 3, galvanometer 311 includes vibration section 311a, interconnecting piece 311b and frame section 311c.Vibration section 311a
For circle, frame section 311c is connected to via interconnecting piece 311b at the both ends of a diameter.The direction of the diameter limits
First axle (or vibration axis X).Interconnecting piece 311b may include along the girder of diametrical direction extension and in girder and frame
The auxiliary girder bendingly extended between frame portion 311c.Under the support of interconnecting piece 311b, vibration section 311a can be around vibration axis X
Reciprocating rotation (or " vibration ") within the scope of certain angle relative to frame section 311c.Due to the presence of the auxiliary girder of bending, even
The entire length of socket part 311b is able to length, to significantly reduce the stress at the crosspoint of girder and girder and auxiliary girder
It concentrates, facilitates the fatigue behaviour for improving galvanometer 311, prolong the service life.
First scanning submodule 31 may also include the first driver 312, and the vibration section 311a of galvanometer 311 can drive first
Vibration axis X vibration is surrounded under the driving of dynamic device 312, it is possible thereby to scan within the scope of certain angle on longitudinal direction V
Light L1 is penetrated, scanning angle is for example within the scope of 10~40 °, and preferably 20 °.First driver 312 can be electromagnet, while
Magnet 311d (Fig. 4) is set on the back (opposite side of reflecting surface) of vibration section 311a.When the electricity for being passed through alternation in electromagnet
When stream, the magnetic field of direction alternation is generated, magnet 311d is by the attraction or repulsive force by alternation, to drive vibration section
311a is around vibration axis X vibration.By the amplitude and frequency of the electric current in setting electromagnet, it is proper that vibration section 311a may be implemented
Fortunately it vibrates under its resonant frequency (such as 600Hz), is vibrated to be realized with lesser energy consumption.
Fig. 4 shows the backside perspective view of the first scanning submodule 31.Two cylindrical magnet 311d are symmetrically arranged
The back of 311a in vibration section, the quality of magnet 311d, the distance in the center of circle apart from vibration section 311a are adjustable, so as to reality
The resonance of existing vibration section 311a.Two electromagnet are oppositely arranged, for generating symmetrical magnetic field.In order to cause stable vibration,
Two magnet 311d are subjected to contrary, the identical magnetic force of size in synchronization.For this purpose, two magnet 311d can be set
Magnetism on the contrary, the magnetism of two electromagnet is identical；Alternatively, magnetic identical, two electromagnetism of two magnet 311d can be set
Magnetism it is opposite.
Referring back to Fig. 3, the second scanning submodule 32 may include galvanometer bracket 322, and first scans the first of submodule 31
Driver 312 and galvanometer 311 are installed to the galvanometer bracket 322.Second scanning submodule 32 further includes the second driver 321,
Second driver 321 drives the first scanning submodule 31 around second axis (or rotation axis via galvanometer bracket 322
Y it) rotates.Second driver 321 can be stepper motor, can accurately stepper motor control by controlling driving current
Revolving speed and steering.Reciprocating rotation of the stepper motor by control output within the scope of certain angle.The output shaft of stepper motor couples
To the upper end of galvanometer bracket 322, thus the galvanometer 311 and electricity that drive galvanometer bracket 322 and be mounted on the galvanometer bracket 322
The components such as magnet rotate together.As a result, the vibration section 311a of galvanometer 311 can enclose under the driving of the second driver 321
It is rotated around pivot center Y, it is possible thereby to scan projection light within the scope of certain angle in the horizontal direction, scanning angle for example exists
In the range of 10~360 °, preferably 20~180 °, more preferably 40~90 °, more preferably 48 °.
Therefore, the vibration section 311a of galvanometer 311 is rotated while around vibration axis X vibration around pivot center Y.
Pivot center Y is parallel with the direction that incident light L1 is incident to galvanometer 311.Axis X and pivot center Y are vibrated in vibration section 311a
The center point intersect vertically, as shown in Figure 3.In use, vibration axis X can be set to prolong along the horizontal direction for being parallel to ground
It stretches, therefore, the vibration motion of galvanometer 311 scanning laser in the vertical direction；Meanwhile pivot center Y can be set along perpendicular to ground
The vertical direction in face extends, the rotational motion of galvanometer 311 scanning laser in the horizontal direction, thus to obtain two-dimensional scanning light.
With reference to Fig. 5, point cloud chart picture caused by laser radar according to the present invention is shown.Laser thunder according to the present invention
Up to the first scanning submodule 31 for providing separation and the second scanning submodule 32.Galvanometer 311 is driven by the first driver 312
Vibration section 311a along vibration axis X vibration, first scanning submodule 31 along first direction change come from laser emitting module 1
Emergent light L1 spatial orientation.The vibration section 311a of galvanometer 311 is driven to turn along pivot center Y by the second driver 321
Dynamic, the second scanning submodule 32 changes the spatial orientation of the emergent light L1 from laser emitting module 1 in a second direction.Due to turning
Shaft line Y is not in plane defined by the 311a of vibration section and parallel with the direction that incident light L1 is incident to galvanometer 311, effectively
Point cloud distortion caused by 2-D vibration mirror in the prior art is avoided, so that putting cloud caused by laser radar according to the present invention
Image morphologically closer to the point cloud chart picture of multiple wire system laser radar, is put cloud quality and is significantly improved.
With reference to the overall perspective of Fig. 6, laser radar includes mounting structure, such as main support H0, first support H1, second
Bracket H2 and mounting plate H3, for installing the laser emitting module laser scanning module and laser pick-off module of laser radar.
As shown in fig. 6, V extends main support H0 along the longitudinal direction, it is inverted U-shaped framework architecture.Main circuit board P0 is from rear
It is bolted to main support H0.
First support H1 is bolted from below to main support H0, and extends forwards, emits mould for fixed laser
Transmitting module mounting plate P1, the first reflection device 12, diversing lens 13 and the Transflective device 4 of block 1.
V is bolted in the top of first support H1 second support H2 along the longitudinal direction, for solid laser pick-off module 2
Receiving module mounting plate P2, receiving lens 23 and the second reflection device 22.Second support H2 is located at the intermediate empty of main support H0
In, and be bolted to main support H0.It is steady to form triangle by main support H0, first support H1 and second support H2 as a result,
It is solidly connected.
Mounting plate H3 is bolted from top to main support H0, is extended forward perpendicular to main support H0, is used to support
The all parts of laser scanning module 3.Specifically, stepper motor is installed to the upside of mounting plate H3.The output shaft of stepper motor
Across mounting plate H3.Scan module circuit board P3 can be installed to the downside of mounting plate H3.Main support H0, first support H1,
Two bracket H2 and mounting plate H3 can surround space, and the setting of galvanometer bracket 322 is connected to stepping in the space, and in upper end
The output shaft of motor.Galvanometer bracket 322 is configured to the components such as support galvanometer 311, electromagnet, these components are as a whole in step
Into being rotated by for motor.
Above-mentioned setting according to the present invention, laser emitting module 1 and laser pick-off module 2 are respectively fixedly connected with to first
Frame H1 and second support H2.Laser emitting module 1, laser pick-off module 2 and its mounting structure constitute static in laser radar
Part.Stepper motor drives the component including laser scanning modules 3 such as galvanometer bracket 322, galvanometer 311, electromagnet relative to packet
The stationary part rotation for including laser emitting module 1 and laser pick-off module 2, constitutes the motion parts in laser radar.As a result,
Stepper motor only needs that less component is driven to rotate, so as to select lower-powered stepper motor, so that energy consumption is reduced,
And realize miniaturization, the lightweight of laser radar.Also, since laser emitting module 1 and laser pick-off module 2 are used as laser
Stationary part in radar, the connection between laser emitting module 1, laser pick-off module 2 and mounting structure is more stable, helps
In the stability in the service life and laser optical path for improving laser radar.
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, satellite.Laser radar can be fixed to matrix device B (such as vehicle, aircraft etc.)
On, laser radar can go out two-dimensional laser projection face with forward projects.As described above, the laser projection face is by coming from single laser
The laser of device horizontal and vertical direction scanning motion and generate.In an embodiment of the present invention, laser radar is in level side
To scan frequency can be 5Hz, can be 600Hz in the scan frequency of vertical direction, the tranmitting frequency of laser can be
125KHz.In addition, the horizontal scan angle (visual field) of laser radar can be ± 24 °, angular resolution can be 0.2 °；Vertically
Scanning angle can be ± 10 °, and angular resolution can be 0.2 °.By taking matrix device B is road vehicle as an example, two shown in
When the laser projection face contact of dimension is to objects such as pedestrian, front vehicles, laser radar can produce relevant to the object cloud
Data handle the point cloud data using the processor being integrated in road vehicle, can identify the type of the object, pattern,
Position, movement information, and further accordingly generate control signal, control vehicle make corresponding start and stop, steering, speed change etc. behaviour
Make, and/or issues signal for passenger or remote server.Driving or autonomous is assisted thus, it is possible to realize using the laser radar
It drives.
Further characteristic of the invention can be found in the explanation of claim, attached drawing and attached drawing.Above in specification
In the feature mentioned and feature combination and further in Detailed description of the invention and/or individually in the accompanying drawings shown in feature and feature group
It closes and is applied not only to the combination pointed out respectively, be also used in other combinations or be used alone, and without prejudice to the scope of the present invention.In figure
It is not explicitly shown and explains but present and can be generated of the invention from by details of construction by the combination of individual feature
Thus details becomes is included and is disclosed.Therefore, all features without the independent claims being originally formed is thin
What section and feature combination should also be considered as being disclosed.
Claims (9)
1. a kind of laser radar, characterized in that it comprises:
Laser emitting module is configured to generate emergent light；
Laser scanning module, for changing the emergent light from laser emitting module spatial orientation and by the emergent light direction
Ambient enviroment guidance, the laser scanning module include:
First scanning submodule, changes the spatial orientation of the emergent light from laser emitting module along first direction；
Second scanning submodule, changes the spatial orientation of the emergent light from laser emitting module in a second direction,
Wherein, the first scanning submodule includes galvanometer and the first driver, and first driver drives the galvanometer
A part is vibrated around first axle, and the second scanning submodule includes the second driver, described in second driver drives
First scanning submodule is rotated around second axis.
2. laser radar as described in claim 1, which is characterized in that the second axis is parallel to the emergent light and is incident to
The direction of the laser scanning module extends.
3. laser radar as claimed in claim 1 or 2, which is characterized in that the second scanning submodule includes bracket, described
First scanning submodule is installed to the bracket, and the bracket is attached to second driver, second driver via
The bracket drives the first scanning submodule to rotate around second axis.
4. laser radar as claimed in claim 1 or 2, which is characterized in that the laser radar includes laser pick-off module,
It is configured as receiving and detecting reflected lights corresponding to emergent light, by object reflections one or more in ambient enviroment.
5. laser radar as claimed in claim 1 or 2, which is characterized in that the laser radar includes mounting structure, described to swash
Optical transmitter module is fixed to the mounting structure, and the laser scanning module part is rotatably attached to the mounting structure,
First scanning submodule described in second driver drives is rotated relative to the laser emitting module.
6. laser radar as claimed in claim 4, which is characterized in that the laser pick-off module is fixed to the installation knot
Structure, the first scanning submodule described in second driver drives are rotated relative to the laser pick-off module.
7. laser radar as claimed in claim 1 or 2, which is characterized in that the galvanometer includes magnet, first driver
For electromagnet, the magnet drives galvanometer to rotate around first axle under the magnetic action of electromagnet.
8. laser radar as claimed in claim 1 or 2, which is characterized in that second driver is stepper motor, the step
Output shaft into motor is attached to the bracket.
9. a kind of vehicle comprising:
Laser radar, claim 1 to any one of as described in；
Enforcement division；
Processor is configured that
Receive the environmental data from the laser radar；
Target information is determined based on the environmental data, wherein the target information indicates at least one of the following: object
Type, size, shape, position or movement；
Based on target information control vehicle start and stop, steering, speed change or issue signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811463787.XA CN109581407A (en) | 2018-12-03 | 2018-12-03 | Laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811463787.XA CN109581407A (en) | 2018-12-03 | 2018-12-03 | Laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109581407A true CN109581407A (en) | 2019-04-05 |
Family
ID=65926880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811463787.XA Pending CN109581407A (en) | 2018-12-03 | 2018-12-03 | Laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109581407A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109826A (en) * | 2021-03-26 | 2021-07-13 | 北京工业大学 | Multi-degree-of-freedom omnibearing laser radar |
| 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 |
| CN117146711A (en) * | 2023-10-30 | 2023-12-01 | 中国科学院自动化研究所 | Large-range dynamic laser reconstruction method, system and equipment based on double-galvanometer system |
-
2018
- 2018-12-03 CN CN201811463787.XA patent/CN109581407A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113109826A (en) * | 2021-03-26 | 2021-07-13 | 北京工业大学 | Multi-degree-of-freedom omnibearing laser radar |
| CN117146711A (en) * | 2023-10-30 | 2023-12-01 | 中国科学院自动化研究所 | Large-range dynamic laser reconstruction method, system and equipment based on double-galvanometer system |
| CN117146711B (en) * | 2023-10-30 | 2024-02-13 | 中国科学院自动化研究所 | Large-range dynamic laser reconstruction method, system and equipment based on double-galvanometer system |
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