CN112616318A - Laser radar and autopilot device - Google Patents

Laser radar and autopilot device Download PDF

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Publication number
CN112616318A
CN112616318A CN202080004043.0A CN202080004043A CN112616318A CN 112616318 A CN112616318 A CN 112616318A CN 202080004043 A CN202080004043 A CN 202080004043A CN 112616318 A CN112616318 A CN 112616318A
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China
Prior art keywords
laser
transceiver module
region
mirror
lidar
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CN202080004043.0A
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Chinese (zh)
Inventor
李坤仪
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Suteng Innovation Technology Co Ltd
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Suteng Innovation Technology Co Ltd
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Publication of CN112616318A publication Critical patent/CN112616318A/en
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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
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A lidar (100) and an autopilot apparatus (200), wherein the lidar (100) comprises a transceiver component (1) and a MEMS micro-mirror (2); the receiving and transmitting assembly (1) comprises at least two first receiving and transmitting modules (11) arranged along a first direction, the first receiving and transmitting modules (11) are used for transmitting emergent laser and receiving echo laser, and the echo laser is returned after the emergent laser is reflected by an object in a first detection area; the MEMS micro-mirror (2) is used for reflecting the emergent laser emitted by each first transceiving module (11) and then emitting the reflected laser to the first detection area, and is also used for reflecting the echo laser and then emitting the reflected laser to the corresponding first transceiving module (11); the at least two first detection regions are arranged along the first direction, an overlapping region is arranged between the at least two first detection regions, the overlapping region comprises a region of interest, and the resolution of the region of interest is higher than that of other regions. The lidar (100) may provide a higher resolution for the region of interest than for other regions.

Description

Laser radar and autopilot device
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a laser radar and an automatic driving device.
Background
The laser radar is a radar system for detecting characteristic quantities such as the position, the speed and the like of a target object by laser, and the working principle of the radar system is that a transmitting module firstly transmits emergent laser for detection to the target, then a receiving module receives echo laser reflected from the target object, and after the received echo laser is processed, relevant information of the target object, such as parameters of distance, direction, height, speed, attitude, even shape and the like, can be obtained.
The laser radar based on Micro-Electro-Mechanical System (MEMS) Micro-mirror technology has the advantages of fast response, good reliability, high ranging resolution, and the like. When the emitting module emits the emergent laser and the emergent laser is incident on the MEMS micro-mirror (also called a vibrating mirror), the emergent laser deflects on the surface of the MEMS micro-mirror. Along with the vibration of the MEMS micro-mirror, the emergent laser can cover a certain range of field angle, and a detection area corresponding to the range of the field angle is scanned, so that the distance information of the surface of the target object is obtained.
In the prior art, the integral field angle of the MEMS laser radar is enlarged by splicing a plurality of detection areas; however, the detection resolution within the whole field angle range of the MEMS laser radar is the same and uniform, and the requirement for resolution differentiation in different areas of the whole field angle cannot be satisfied.
Disclosure of Invention
In view of the foregoing defects in the prior art, an embodiment of the present invention provides a laser radar and an automatic driving device, which can implement differential detection of different areas.
The embodiment of the invention adopts a technical scheme that: providing a lidar comprising a transceiver component and a MEMS micro-mirror;
the receiving and transmitting assembly comprises at least two first receiving and transmitting modules arranged along a first direction, the first receiving and transmitting modules are used for transmitting emergent laser and receiving echo laser, and the echo laser is returned after the emergent laser is reflected by an object in a first detection area;
the MEMS micro-mirror is used for reflecting the emergent laser emitted by each first transceiver module and then emitting the reflected laser to the first detection area, and is also used for reflecting the echo laser and then emitting the reflected laser to the corresponding first transceiver module;
the at least two first detection regions are arranged along a first direction, an overlapping region is arranged between the at least two first detection regions, the overlapping region comprises a region of interest, and the resolution of the region of interest is greater than that of other regions.
Optionally, the transmission frequency and the transmission timing sequence of the first transceiver module are adjustable, the resolution of the region of interest is controlled by adjusting the transmission frequency of at least one first transceiver module, and the position and the size of the region of interest are controlled by adjusting the transmission timing sequence of at least one first transceiver module.
Optionally, by adjusting the transmitting frequency of at least one first transceiver module, the resolution of the non-overlapping area in the first detection area is smaller than or equal to the resolution of the non-interested area in the overlapping area.
Optionally, the transceiver module includes two first transceiver modules;
when each first transceiver module emits emergent laser to a non-overlapping area of a detection area, the emission frequency of the first transceiver module is f;
when each first transceiver module emits emergent laser to a non-interested region of an overlapping region of a detection region of the first transceiver module, the emission frequency of the first transceiver module is 0.5 f;
when each first transceiver module emits emergent laser to the interested region of the overlapping region of the detection region, the emission frequency is f.
Optionally, the transceiver module includes two first transceiver modules;
when each first transceiver module emits emergent laser to a non-overlapping area of a detection area, the emission frequency of the first transceiver module is f;
when each first transceiver module emits emergent laser to a non-interested region of an overlapping region of a detection region of the first transceiver module, the emission frequency of the first transceiver module is f;
when each first transceiver module emits emergent laser to the interested region of the overlapping region of the detection region, the emission frequency is greater than f.
Optionally, the laser radar further includes a first turning mirror, the outgoing laser beams emitted by at least two of the first transceiver modules are all emitted to the first turning mirror, and light spots on the first turning mirror are at least partially overlapped, the first turning mirror is used for reflecting the outgoing laser beams emitted by the first transceiver module and then emitting the reflected laser beams to the MEMS micro-mirror, and is also used for reflecting the echo laser beams reflected by the MEMS micro-mirror and then emitting the reflected laser beams to the corresponding first transceiver module.
Optionally, the laser radar further includes at least one second transceiver module arranged along the first direction, where the second transceiver module is configured to transmit outgoing laser and receive echo laser, and the echo laser is laser returned after the outgoing laser is reflected by an object in a second detection area;
the MEMS micro-mirror is used for reflecting the emergent laser emitted by the second transceiver module and then emitting the reflected laser to the second detection area, and is also used for reflecting the echo laser and then emitting the reflected laser to the corresponding second transceiver module;
the second detection regions are arranged outside the first detection region, and at least one of the second detection regions is arranged in sequence along a first direction.
Optionally, the laser radar further includes at least one fourth turning mirror, the fourth turning mirror and the second transceiver module are arranged in a one-to-one correspondence manner, and each fourth turning mirror is configured to reflect outgoing laser light emitted by the second transceiver module corresponding to the fourth turning mirror, and then the reflected outgoing laser light is incident on the MEMS micro-mirror, and is further configured to reflect echo laser light reflected by the MEMS micro-mirror, and then the reflected outgoing laser light is incident on the corresponding second transceiver module.
Optionally, laser radar still includes two at least second mirrors and two at least third mirrors (33) of turning back turn back, the second mirror of turning back turn back the third mirror with first receiving and dispatching module one-to-one sets up, every first receiving and dispatching module transmission emergent laser passes through in proper order the mirror is turned back to the second and the reflection of third mirror is turned back the directive first mirror of turning back.
Optionally, the quantity of first receiving and dispatching module is two, first receiving and dispatching module set up in the both sides of second receiving and dispatching module, laser radar still include with two that first receiving and dispatching module corresponds two the mirror is returned to the second and two the mirror is returned to the third, two it links to each other to be the angle between the mirror is returned to the third.
Optionally, the back sides of the two second turning mirrors are provided with mounting limiting surfaces.
The embodiment of the invention also provides automatic driving equipment which comprises a driving equipment body and the laser radar, wherein the laser radar is arranged on the driving equipment body.
The embodiment of the invention has the beneficial effects that: different from the situation in the prior art, in the laser radar provided in the embodiment of the present invention, by providing at least two first transceiver modules, an overlapping area is formed between first detection areas of the at least two first transceiver modules, and a resolution of the overlapping area is greater than or equal to a non-overlapping area of the first detection areas; in addition, the overlapping area can comprise an interested area, the resolution of the interested area is higher than the resolution of other areas, and the resolution, the position and the size of the interested area can be adjusted by controlling and adjusting the transmitting frequency and the transmitting time sequence of the first transceiver module; the method and the device realize differential detection of different regions, realize detection of higher resolution ratio by adjusting the position and the size of the region of interest of a region and an object which are concerned more, and meet the requirements of intelligent detection of the laser radar.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1a is a block diagram of a lidar provided by an embodiment of the present invention;
FIG. 1b is a schematic view of a scanning field of view of a lidar provided by an embodiment of the present invention;
FIG. 2 is a block diagram of a lidar constructed in accordance with another embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a comparison between the transmission timing before the adjustment of the transmission frequency and the transmission timing after the adjustment of the first transceiver module responsible for scanning the field of view 1 according to an embodiment of the present invention;
FIG. 4 illustrates two view field point cloud schematics with overlapping regions implemented by an embodiment of the invention;
FIG. 5 is a schematic diagram showing a comparison between the transmission timing before the adjustment of the transmission frequency and the transmission timing after the adjustment of the first transceiver module responsible for scanning the field of view 1 according to another embodiment of the present invention;
FIG. 6 illustrates two field of view point cloud schematics with overlapping regions implemented by another embodiment of the present invention;
fig. 7 shows a block diagram of a lidar provided in accordance with yet another embodiment of the present invention;
FIG. 8a is a block diagram of a lidar provided by yet another embodiment of the present invention;
FIG. 8b is a block diagram of a lidar constructed according to yet another embodiment of the present invention;
FIG. 8c is a schematic view of the scanning field of view of the lidar of FIG. 8 of the present invention;
FIG. 8d shows a schematic view of the scanning field of view of a lidar in another embodiment of the invention;
fig. 9 is a block diagram illustrating a lidar according to another embodiment of the present invention;
fig. 10 is a block diagram illustrating a lidar according to yet another embodiment of the present invention;
FIG. 11 is a schematic diagram of a laser radar with an upper cover removed according to an embodiment of the present invention;
FIG. 12 is a top view of a lidar provided in accordance with an embodiment of the present invention with the cover removed;
fig. 13 is a schematic diagram illustrating an optical path of a laser radar according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram illustrating the second turning mirror 32 in the laser radar according to an embodiment of the present invention;
fig. 15 is a schematic structural view illustrating a portion where the second turning mirror 32 is installed in the laser radar according to an embodiment of the present invention;
fig. 16 is a schematic view showing an assembly of the second turning mirror 32 in the laser radar according to the embodiment of the present invention;
fig. 17 is a schematic structural diagram of an autopilot apparatus provided by an embodiment of the invention;
fig. 18 is a schematic structural diagram of an autopilot apparatus according to another embodiment of the present invention.
The reference numbers in the detailed description are as follows:
the laser radar device comprises a laser radar 100, a transceiving component 1, an MEMS micro-mirror 2, a base 3, an installation block 5, a baffle 51, a positioning hole 52, a first transceiving module 11, a first folding mirror 31, a second transceiving module 12, a second folding mirror 32, a third folding mirror 33, a reflecting surface 331, an installation limiting surface 332, a positioning column 333, a fourth folding mirror 34, an automatic driving device 200 and a driving device body 201.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" or "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1a, the lidar 100 includes a transceiver module 1 and a MEMS (Micro-Electro-Mechanical System) micromirror 2. The transceiving component 1 comprises at least two first transceiving modules 11 arranged along a first direction, the first transceiving modules 11 are used for emitting emergent laser and receiving echo laser, and the echo laser is laser returned after the emergent laser is reflected by an object in a first detection area. The MEMS micro-mirror 2 is configured to reflect the emitted laser beam emitted by each first transceiver module 11 and emit the reflected laser beam to the first detection area, and is also configured to reflect the reflected laser beam and emit the reflected laser beam to the corresponding first transceiver module 11. The at least two first detection regions are arranged along a first direction, an overlapping Region is arranged between the at least two first detection regions, the overlapping Region comprises a Region of Interest (ROI), and the resolution of the ROI Region is greater than that of other regions.
Each first transceiving module 11 comprises a transmitting module and a receiving module which are correspondingly arranged, the transmitting module is used for transmitting emergent laser, the receiving module is used for receiving echo laser, and the echo laser is returned after the emergent laser is reflected by an object in the first detection area.
The MEMS micro-mirror 2 comprises a mirror surface which vibrates in a reciprocating manner, and laser and echo laser are emitted through mirror surface reflection; the emergent laser is reflected by the vibrating mirror surface and the coaxially returned echo laser is received, so that the first detection area is scanned. The MEMS micro-mirror 2 can be a two-dimensional MEMS micro-mirror, which can be scanned in a rotation manner at a certain mechanical angle in the horizontal and vertical directions, the laser emitted from the first transceiver module 11 passes through the two-dimensional MEMS micro-mirror 2 and then is scanned in a line scanning manner, and the horizontal and vertical angles of the scanning field are determined by the scanning mechanical angle of the two-dimensional MEMS micro-mirror 2.
As shown in fig. 1b, the first detection regions (field of view 1 and field of view 2) formed by the plurality of first transceiver modules 11 through the MEMS micro-mirrors 2 have overlapping regions, and the resolution of the overlapping regions may be different from that of the non-overlapping regions; the plurality of first detection regions are arranged along the first direction, so that the field angle of the whole laser radar 100 along the first direction is enlarged, and the horizontal field angle is enlarged if the laser radar 100 is horizontally arranged; and the overlapping region comprises an ROI (region of interest), the resolution of the ROI is higher than that of other regions, and the requirement of realizing high-resolution detection on the ROI is met. Laser radar 100 can also effectively detect other regions while realizing carrying out high resolution to ROI region detection, satisfies laser radar differentiation and intelligent detection demand, improves the utilization ratio of system.
Because the field angles formed by the first transceiving modules 11 have an overlapping area, the detection omission caused by the gap between the field angles is avoided, and the detection reliability is not influenced. The first detection regions formed by the first transceiver modules 11 may be overlapped in the horizontal direction, that is, the first detection regions have overlapping regions in the horizontal direction; the first detection regions formed by the first transceiver modules 11 may also overlap in the vertical direction, that is, the first detection regions have an overlapping region in the vertical direction.
In some embodiments, the transmission frequency and the transmission timing of the first transceiver module 11 are adjustable, the resolution of the region of interest is controlled by adjusting the transmission frequency of at least one first transceiver module 11, and the position and the size of the region of interest are controlled by adjusting the transmission timing of at least one first transceiver module 11.
The resolution, the position and the size of the ROI are adjustable, so that the ROI is dynamically adjusted; lidar 100 may adjust the ROI area in real time according to changes in the surrounding environment or movement of an object of interest. Illustratively, the ROI area is generally centered in the overall field of view at an initial instant; when the surrounding environment of the laser radar changes, such as the situation that the laser radar enters a turning intersection and focuses more on the inner side of a turning field, the position of the ROI area can be adjusted, such as the situation that the laser radar enters an expressway and focuses more on the position far away from the front, and the emission frequency and size of the ROI area can be adjusted; when the object of interest moves, the position and the emission frequency of the ROI area can be adjusted, and real-time tracking of the moving object is achieved.
Taking two first transceiver modules 11 as an example, the description of the adjustment of the overlap region and the ROI region is performed.
As shown in fig. 2, in some embodiments, the transceiver module 1 of the lidar 100 includes two first transceiver modules 11. When the laser radar 100 is assembled, the positions and angles of the first transceiver module 11 and the MEMS micro-mirror 2 are adjustable, so that the angles and angle ranges of the emitted laser light emitted by the first transceiver module 11 are different, that is, the field ranges of the first detection area covered around the laser radar are different; by adjusting the relative positions of the two first transceiver modules 11 and the angle of the MEMS micro-mirror 2, an overlapping area can be formed between the two first detection areas, and the size of the overlapping area can be adjusted. The positions of the two first transceiver modules 11 and the angles of the MEMS micromirrors 2 that satisfy the size of the overlapping area may be designed in advance and then assembled according to the positions and angles that have been designed in advance.
How to include the ROI region in the overlap region, the resolution of the ROI region is higher than the resolution of other regions, there are several ways:
1. the transmitting frequencies of the two first transceiving modules 11 are the same, and because the overlapping area can be scanned by the two first transceiving modules 11 at the same time, the resolutions of the overlapping areas can be linearly overlapped, the resolution of the overlapping areas can be improved; the resolution of the entire overlapping area is therefore greater than the resolution of the non-overlapping area; the method can realize the key detection of the ROI, but cannot adjust the time and the position of the ROI, and the position and the size of the ROI are fixed;
2. the transmitting frequency and the transmitting time sequence of the first transceiving module 11 are adjustable, the resolution of the ROI area can be controlled by adjusting the transmitting frequency of at least one first transceiving module 11, and the transmitting frequency of at least one first transceiving module 11 is increased when the ROI area is scanned, so that the resolution is higher than the resolution of other areas. Meanwhile, the transmission time sequence of the first transceiver module 11 is adjustable, and the position and the size of the ROI area are controlled by adjusting the transmission time sequence of at least one first transceiver module 11.
Illustratively, in a laser radar 100, the transceiver module 1 includes two first transceiver modules 11, and the two first transceiver modules 11 are identical. Taking the first transceiver module 11 corresponding to the view field 1 as an example, as shown in fig. 3, a schematic diagram of comparison between before and after adjustment of the transmission timing and the transmission frequency of the first transceiver module 11 is shown. As shown in fig. 4, it is a schematic diagram of the resolution of the whole view field formed by overlapping the view fields 1 and 2 corresponding to the two first transceiver modules 11. When the first transceiver module 11 emits the outgoing laser to the non-overlapping area, the emission frequency is f; when the first transceiver module 11 emits the outgoing laser to the non-ROI region of the overlapped region, the emission frequency is 0.5 f; when the first transceiver module 11 emits the outgoing laser to the ROI of the overlap region, the emission frequency is f. The emission time sequence and the emission frequency of the laser emitted by the first transceiver module 11 corresponding to the view field 2 are the same as those of the first transceiver module 11 corresponding to the view field 1. When the first transceiver module 11 corresponding to the view field 1 and the first transceiver module 11 corresponding to the view field 2 transmit outgoing laser to the non-ROI region of the overlapping region, the transmission times of the two first transceiver modules 11 are staggered, that is, between two adjacent outgoing laser pulses transmitted by the first transceiver module 11 corresponding to the view field 1, the first transceiver module 11 corresponding to the view field 2 transmits one outgoing laser pulse.
As shown in fig. 4, the resolution of the non-overlapping regions of field 1 and field 2 is assumed to be x; the overlapped area is scanned by the two first transceiver modules 11 respectively, meanwhile, the emission frequency of the non-ROI area of the overlapped area is 0.5f, the emission time of the two first transceiver modules 11 is staggered, and the resolution of the non-ROI area in the overlapped area is also x; the ROI is also in the overlap region, and therefore, the two first transceiver modules 11 scan the ROI, and the transmission frequency of the ROI is f, and the resolution of the ROI reaches 2 ×.
Taking the first transceiving module 11 corresponding to the field of view 1 as an example, in the scanning process, the emitted laser is reflected by the vibrating two-dimensional MEMS micro-mirror and then scanned, and the emitted laser scans the field of view 1 according to a preset path. Optionally, the emitted laser scans in the field of view 1 sequentially from left to right and from top to bottom. When the laser beams are emitted from T0 to T1 to scan the non-overlapping area of the view field 1, the first transceiver module 11 transmits the laser beams completely, that is, the transmitting frequency of the first transceiver module 11 is f; when the laser beam is T1-T2, the laser beam is emitted to scan the non-ROI area of the overlapped area of the view field 1, the emission time interval of the first transceiver module 11 is increased, and the emission frequency is halved, namely the emission frequency of the first transceiver module 11 is 0.5 f; when the laser beam is emitted from the ROI region of the laser scanning field of view 1 at T2 to T3, the first transceiver module 11 transmits the laser beam fully, that is, the transmission frequency of the first transceiver module 11 is f; the detection resolution in the ROI area is improved, and the resolution of the ROI area is higher than the resolution of other areas. When the outgoing laser enters the overlapping region for scanning, the emitting time sequence of the first transceiver module 11 can be controlled, and the dynamic changes of the size, position and the like of the ROI region can be adjusted. For example, as shown in fig. 4, when the outgoing laser beam emitted by the first transceiver module 11 corresponding to the field of view 1 scans to the 4 th line of the overlapping region, the outgoing laser beam enters the ROI region, and the emitting frequency of the first transceiver module 11 is changed from 0.5f to f. If the ROI needs to be expanded upward, the emitting frequency of the first transceiver module 11 is changed from 0.5f to f when the laser beam is emitted and scanned to the 2 nd or 3 rd line of the overlap region; similarly, if the ROI needs to be reduced downward, the emitting frequency of the first transceiver module 11 is changed from 0.5f to f when the emitting laser scans to the 5 th line of the overlapped region. Similarly, the ROI area can be enlarged and reduced in the column direction. By controlling the transmission timing sequence of the first transceiving module 11, the size of the ROI can be adjusted at will, and the ROI does not exceed the size of the overlapped area at most. Meanwhile, the position of the ROI may also be adjusted by controlling the transmission timing of the first transceiver module 11. For example, as shown in fig. 4, if the ROI needs to move upward, the emission frequency of the laser emitted from the first transceiver module 11 is changed from 0.5f to f when scanning to the 3 rd line, and the emission frequency is changed from f to 0.5f when scanning to the 5 th line. Similarly, the up, down, left and right positions of the ROI area can be adjusted. It is to be understood that the scanning order of the emergent laser light in the field of view 1 is not limited, and the emergent laser light may be scanned from bottom to top, from right to left, or in any other manner.
In some embodiments, the resolution of the non-overlapping region in the first detection region may be made less than or equal to the resolution of the non-ROI region in the overlapping region by adjusting the transmission frequency of the at least one first transceiver module 11. The final effect is that the most important ROI area in the whole view field is scanned with the highest resolution, and the resolution of the non-ROI area in the secondary important overlapping area in the whole view field can be set according to the detection requirement. When the resolution of the non-ROI area of the overlapped area is the same as that of the non-overlapped area, the resolution of the whole field of view is divided into two stages; as described in the foregoing embodiment, the emission frequency of the first transceiver module 11 corresponding to the field of view 1 to emit the outgoing laser light to the non-overlapping region is f, the emission frequency of the outgoing laser light to the non-ROI region of the overlapping region is 0.5f, and the emission frequency of the outgoing laser light to the ROI region is f. At this time, the resolution of the ROI region in the entire field of view is 2x, and the resolution of the other regions other than the ROI region is x.
Or the resolution of the non-ROI area of the overlapped area is larger than that of the non-overlapped area and smaller than that of the ROI area, so that the resolution of the whole field of view is divided into three levels. Illustratively, in a laser radar 100, the transceiver module 1 includes two first transceiver modules 11, and the two first transceiver modules 11 are identical. Taking the first transceiver module 11 corresponding to the view field 1 as an example, as shown in fig. 5, a schematic diagram of comparing the transmission timing and the transmission frequency of the first transceiver module 11 before and after adjustment is shown. As shown in fig. 6, it is a schematic diagram of the resolution of the whole view field formed by overlapping the view fields 1 and 2 corresponding to the two first transceiver modules 11. When the first transceiver module 11 emits the outgoing laser to the non-overlapping area, the emission frequency is f; when the first transceiver module 11 emits the outgoing laser to the non-ROI region of the overlapped region, the emission frequency is f; when the first transceiver module 11 emits the outgoing laser to the ROI of the overlap region, the emission frequency is 2 f. The emission time sequence and the emission frequency of the laser emitted by the first transceiver module 11 corresponding to the view field 2 are the same as those of the first transceiver module 11 corresponding to the view field 1. When the first transceiver module 11 corresponding to the view field 1 and the first transceiver module 11 corresponding to the view field 2 emit the outgoing laser to the non-ROI region of the overlapping region, the emission times of the two first transceiver modules 11 are staggered. As shown in fig. 6, if the resolution of the non-overlapping region of the field of view 1 and the field of view 2 is assumed to be x, the resolution of the non-ROI region in the overlapping region is 2x, and the resolution of the ROI region reaches 4 x. It is understood that, in other embodiments, when each first transceiver module 11 emits the outgoing laser to the ROI of the overlapping region of the detection region, the emission frequency may be other values greater than f, so that the resolution of the ROI is greater than that of other regions.
It should be noted that the two first transceiving modules 11 may not be identical, as long as the two first transceiving modules 11 can form an overlapping region by overlapping the fields of view, and form a high-resolution ROI region in the overlapping region by controlling the transmission frequency and the transmission timing. The two identical first transceiving modules 11 are arranged, so that on one hand, the mass production is facilitated in the production and manufacturing process, and the product processing, manufacturing and assembling processes are simplified; on the other hand, the control system is simplified, and the adjustment of the ROI area is convenient to realize.
In the foregoing embodiments, two first transceiver modules 11 are taken as an example for illustration, and the laser radar 100 may also include three or more first transceiver modules 11. Similarly, the overlapping between the first detection regions of the first transceiver modules 11 and the adjustment of the ROI region in the overlapping region are similar to the two first transceiver modules 11, and are not described herein again.
As for the optical structure of the laser radar 100, as shown in fig. 7, the laser radar 100 further includes a first folding mirror 31, the laser beams emitted by the two first transceiver modules 11 both emit to the first folding mirror 31, and the light spots on the first folding mirror 31 are at least partially overlapped, the first folding mirror 31 is configured to reflect the laser beams emitted by the first transceiver modules 11 and then emit the reflected laser beams to the MEMS micro-mirror 2, and is further configured to reflect the echo laser beams reflected by the MEMS micro-mirror 2 and then emit the reflected laser beams to the corresponding first transceiver modules 11. The first turning mirror 31 may employ a plane mirror, a cylindrical mirror, an aspherical curvature mirror, or the like. The first turning mirror 31 is arranged to receive the emergent lasers emitted by the two first transceiving modules 11, so that light spots of the two beams of emergent lasers are at least partially overlapped and emit to the MEMS micro-mirror 2 at the same angle, the two beams of emergent lasers are reflected by the MEMS micro-mirror 2 and then emit outwards to form two first detection areas which are at least partially overlapped, and the laser radar 100 can scan the ROI area with high resolution; meanwhile, the first folding mirror 31 folds the light paths of the emergent laser and the echo laser of the first transceiving module 11, so that the volume of the laser radar 100 is reduced; and the first transceiver module 11 can be arranged at the rear side of the MEMS micro-mirror 2, so that the shielding of the first transceiver module 11 on the emergent laser and the echo laser in front of the MEMS micro-mirror 2 is avoided, and the detection performance and reliability are improved.
In the above-described embodiment, the first transceiver module 11 included in the laser radar 100 is involved in scanning the ROI area. In some embodiments, lidar 100 may further include a second transceiver module 12 for expanding the field angle. As shown in fig. 8a, the laser radar 100 further includes a second transceiver module 12 disposed along the first direction on the basis of the first transceiver module 11, where the second transceiver module 12 is configured to emit outgoing laser and receive echo laser, and the echo laser is laser returned after the outgoing laser is reflected by an object in the second detection area. The MEMS micro-mirror 2 is configured to reflect the emitted laser beam emitted by the second transceiver module 12 and emit the reflected laser beam to the second detection area, and is also configured to reflect the reflected laser beam and emit the reflected laser beam to the corresponding second transceiver module 12. Each second transceiver module 12 also includes a transmitting module and a receiving module that are correspondingly arranged, the transmitting module is used for transmitting outgoing laser, and the receiving module is used for receiving echo laser, which is laser returned after the outgoing laser is reflected by an object in the second detection area. The second detection region is disposed outside the first detection region along the first direction.
As shown in fig. 8c, the first detection regions (field of view 1 and field of view 2, respectively) formed by the plurality of first transceiver modules 11 through the MEMS micro-mirror 2 have an overlapping region, the overlapping region includes an ROI region, and the resolution of the ROI region is greater than the resolution of other regions, so as to meet the scanning requirement for the important detection region. A second detection area (field of view 3) formed by a second transceiver module 12 is located outside the field of view 1, and the field of view 3 is connected with the field of view 1. At this time, the overall view field of the laser radar 100 is formed by overlapping and splicing the view field 1, the view field 2 and the view field 3, the view field angle of the laser radar 100 in the first direction is enlarged, and the surrounding area can be comprehensively detected with a large view field angle under the condition that the ROI area can be detected with high resolution; the requirement that the laser radar carries out differentiation detection on surrounding areas is met, and intelligent detection is achieved.
It should be noted that, in order to avoid a gap between the view field 1 and the view field 3, which results in the missed detection of the laser radar 100 on the gap region, the edges of the view field 1 and the view field 3 may be partially overlapped, thereby preventing a blind area of the missed detection, and improving the detection accuracy.
In other embodiments, a plurality of second transceiver modules 12 may be disposed along the first direction, for example, 2, 3, and 4 … … emitted laser beams emitted by the plurality of second transceiver modules 12 are respectively emitted to a plurality of corresponding second detection regions, and the plurality of second detection regions are sequentially arranged along the first direction. The second transceiver modules 12 are preferably arranged in even number and are symmetrically arranged; the second detection regions corresponding to the second transceiver module 12 are symmetrically disposed outside the first detection region along the first direction.
For example, the second transceiver modules 12 are symmetrically arranged inside the first transceiver module 11, and the first transceiver module 11 is disposed outside the second transceiver module 12, as shown in fig. 8b, 2 second transceiver modules 12 are symmetrically arranged inside the first transceiver module 11.
As shown in fig. 8d, two second transceiving modules 12 form a field of view 3 and a field of view 4; the field of view 3 is positioned at the outer side of the field of view 1 and is connected with the field of view 1; the field of view 4 is located outside the field of view 2 and borders the field of view 2. The whole view field of laser radar 100 is formed after the view field 1, the view field 2, the view field 3 and the view field 4 are overlapped and spliced, the ROI area has high-resolution detection, meanwhile, the view field of the whole view field in the first direction is large, comprehensive detection can be realized, and the requirements of laser radar differentiation and intelligent detection are met.
In some embodiments, as shown in fig. 9, the laser radar 100 further includes at least two second folding mirrors 32 and at least two third folding mirrors 33, the second folding mirrors 32, the third folding mirrors 33 and the first transceiver modules 11 are arranged in a one-to-one correspondence, and the laser emitted by each first transceiver module 11 is reflected by the second folding mirrors 32 and the third folding mirrors 33 in sequence and then is emitted to the first folding mirrors 31.
Due to the volume limitation of the second transceiving modules 12, the light inlet and outlet ports of two adjacent second transceiving modules 12 cannot be close enough, two beams of emergent laser emitted by two adjacent second transceiving modules 12 cannot be fully overlapped on the first folding mirror 31, the size of the ROI formed in the overlapping region is limited, and the detection requirement cannot be well met. Therefore, the first transceiver modules 11 are symmetrically disposed outside the second transceiver module 12, the laser beams emitted from each first transceiver module 11 are reflected by the second turning mirror 32 and the third turning mirror 33 in sequence and then emitted to the first turning mirror 31, and the two laser beams are overlapped on the first turning mirror 31 after passing through respective optical paths in sequence. The position of the emergent laser emitted by the first transceiver module 11 to the first folding mirror 31 is adjusted by changing the positions and angles of the second folding mirror 32 and the third folding mirror 33, and the size of the overlapping area between the first detection areas is adjustable; the positions and angles of the second turning mirror 32 and the third turning mirror 33 which meet the size requirement of the overlapping area between the first detection areas can be designed in advance, and then the installation can be carried out according to the positions and angles which are designed in advance. Meanwhile, the volume occupied by the light path of the emergent laser emitted by the first transceiving module 11 is compressed through multiple reflection folding, and the overall volume of the laser radar 100 is reduced.
In some embodiments, as shown in fig. 10, the laser radar 100 further includes at least one fourth turning mirror 34, the fourth turning mirror 34 is disposed in one-to-one correspondence with the second transceiver module 12, and each fourth turning mirror 34 is configured to reflect outgoing laser light emitted by the corresponding second transceiver module 12 and then enter the MEMS micro-mirror 2, and is further configured to reflect echo laser light reflected by the MEMS micro-mirror 2 and then enter the corresponding second transceiver module 12. The fourth turning mirror 34 may employ a plane mirror, a cylindrical mirror, an aspherical curvature mirror, or the like. The fourth turning mirror 34 folds the light paths of the emergent laser and the echo laser of the second transceiver module 12, so that the volume of the laser radar 100 is reduced; and the second transceiver module 12 can be arranged at the rear side of the MEMS micro-mirror 2, so that the shielding of the second transceiver module 12 on the emergent laser and the echo laser in front of the MEMS micro-mirror 2 is avoided, and the detection performance and reliability are improved.
It should be noted that, when the number of the second transceiver modules 12 is 2 or more than 2, the plurality of second transceiver modules 12 may be the same or not identical, and only the second detection area formed by the plurality of second transceiver modules 12 can meet the detection requirement of the laser radar 100. Preferably, the plurality of second transceiver modules 12 are all the same; on one hand, the production and manufacturing process is convenient for mass production, and the processing, manufacturing and assembling processes of the product are simplified; on the other hand, the control system is simplified, and the laser radar 100 is intelligently controlled.
It should be noted that the first transceiver module 11 and the second transceiver module 12 may be the same or different. The first transceiving module 11 and the second transceiving module 12 are different, the transmitting power, the transmitting frequency adjustable range and the like of the transmitting module of the first transceiving module 11 can be improved, the receiving efficiency, the detection sensitivity and the like of the receiving module of the first transceiving module 11 are improved, the ROI (region of interest) in the first detection areas of at least two first transceiving modules 11 can have higher resolution and longer detection distance, when the whole view field of the laser radar 100 covers a larger view field angle range, the detection capability of the ROI has obvious advantages, and high-requirement detection is met. The first transceiving module 11 and the second transceiving module 12 are the same, so that on one hand, in the production and manufacturing process, mass production is facilitated, and the processing, manufacturing and assembling processes of products are simplified; on the other hand, system design and control are simplified, and intelligent control of laser radar 100 is facilitated.
The emission modules mentioned in the above embodiments may each include a laser module, an emission driving module, and an emission optical module. A laser module for emitting outgoing laser light; the emission driving module is connected with the laser module and is used for driving and controlling the laser module to work; the emission optical module is arranged on a light path of the emergent laser emitted by the laser module and is used for collimating the emergent laser. The emission optical module can adopt collimation modules such as an optical fiber and spherical lens group, an independent spherical lens group, a cylindrical lens group and the like.
The receiving modules mentioned in the above embodiments may each include a detector module, a receiving driving module, and a receiving optical module. The receiving optical module is arranged on the light path of the echo laser reflected by the MEMS micro-mirror and is used for converging the echo laser; the detector module is used for receiving the echo laser converged by the receiving optical module; the receiving driving module is connected with the detector module and used for driving and controlling the detector module to work. The receiving optical module may employ a ball lens, a ball lens group, or a cylindrical lens group, etc.
In addition, the laser radar 100 may further include a control and signal processing module, such as a Field Programmable Gate Array (FPGA), an FPGA and a transmission driving module, for performing transmission control of the emitted laser. The FPGA is also connected with a clock pin, a data pin and a control pin of the receiving driving module respectively to receive and control the echo laser.
As shown in fig. 11-13, in a specific example, the laser radar 100 employs a transceiver module having coaxial transmission and reception, wherein an emitting laser emitted by a laser module in the transceiver module is collimated by a transmitting optical module and then emitted through a beam splitter module, an echo laser returned after detecting a target is emitted into the transceiver module, the echo laser is deflected by the beam splitter module and emitted to a receiving optical module, and the receiving optical module converges the echo laser and then is received by a detector module.
The transceiver module adopts a combination mode of 4+2, 4 paths in the middle are second transceiver modules 12, and 2 paths are symmetrically arranged at the outer side and are first transceiver modules 11. The emergent laser of the middle 4 paths of second transceiving modules 12 is reflected by the fourth turn-back mirror 34 and then is incident on the MEMS micro-mirror 2, and then is reflected by the MEMS micro-mirror 2 and then is emitted to the outside for scanning; the field angle of the second detection area corresponding to each second transceiving module 12 is 25 ° × 25 °. The outgoing laser beams of the 2 paths of first transceiving modules 11 positioned on the two sides sequentially pass through the second folding mirror 32 and the third folding mirror 33 to be reflected twice and then shoot to the first folding mirror 31, the light spots of the two beams of outgoing laser beams are partially overlapped on the first folding mirror 31, the two beams of outgoing laser beams are reflected by the same first folding mirror 31 and then shoot to the MEMS micro-mirror 2, and the two beams of outgoing laser beams are reflected by the MEMS micro-mirror 2 and then are scanned towards outgoing laser beams; the field angle of the first detection area corresponding to each first transceiving module 11 is 25 ° × 25 °, and the field angle of the overlapping area is 20 ° × 25 °. The overall field angle of the lidar 100 is 130 ° × 25 °; as described above, in order to prevent missing inspection due to gaps between the fields of view, the fields of view and the edges of the fields of view overlap, and therefore the overall horizontal field angle of the laser radar 100 is less than 130 °, and illustratively, the actual overall field angle is 120 ° × 25 °.
In this embodiment, only the 20 ° -8 ° region in the overlapping region is selected as the ROI region, the transmitting frequencies of the first transceiver modules 11 at both sides are set to be reduced by one time in the transmitting frequency of the non-ROI region in the overlapping region, and the first transceiver modules 11 in the non-overlapping region and the ROI region both transmit normally; the angular resolution in only the ROI area is doubled, and differential detection on the whole field of view is realized.
As shown in fig. 13, the optical path indicated by the broken line is the optical path of the first transceiver module 11, and the optical path indicated by the solid line is the optical path of the second transceiver module 12. In order to simplify the drawings and facilitate understanding of the above schemes, only the central optical axis of the emitted laser is drawn in the light path diagrams. It is understood that the outgoing laser light itself has an emission angle, and thus the outgoing laser light has a certain spot diameter. Meanwhile, according to the principle that the light path is reversible, the central optical axis of the echo laser and the central optical axis of the emergent laser are overlapped, but the transmission directions are opposite.
In the present embodiment, the second turning mirror 32 and the fourth turning mirror 34 are disposed at the front ends of the light-emitting holes of the first transceiver module 11 and the second transceiver module 12, and are fixed on the base of the laser radar 100; the third turning mirror 33 is positioned between the two second transceiver modules 12 at the middle position, and the two third turning mirrors 33 are connected in an angle and fixed on the base; the first folding mirror 31 is positioned between the two fourth folding mirrors 34 at the middle position and is also fixed on the base; the MEMS micro-mirror 2 is positioned obliquely above the first folding mirror 31 and the fourth folding mirror 34, and the reflective surfaces of the first folding mirror 31 and the fourth folding mirror 34 face the reflective surface of the MEMS micro-mirror 2. The arrangement makes the internal optical devices compact, which is beneficial to compressing the volume of the laser radar 100.
In this embodiment, as shown in fig. 14, two third turning mirrors 33 are connected at an angle; the two third turning mirrors 33 are angled, and respectively receive the emergent lasers emitted by the two first transceiving modules 11 and emitted from the two sides in different directions, and reflect the emergent lasers to the first turning mirror 31 to meet the optical design requirement; meanwhile, the two third turning mirrors 33 are compact in structure and are connected in an angle to fix the structure, so that the light modulation difficulty in the whole assembly process is reduced.
Specifically, the two third fold mirrors 33 are designed to have an integral polyhedron structure, and have two angled reflecting surfaces 331 and a back mounting-limiting surface 332. Specifically, the cross section of the third turning mirror 33 is pentagonal, and has two reflecting surfaces 331 and three installation limiting surfaces 332 which are angled. The external angle between the two reflecting surfaces 331 is > 180. The bottom of the third turning mirror 33 is provided with two positioning posts 333. As shown in fig. 15, a mounting block 5 for mounting the third turning mirror 33 is provided on the base 3 of the laser radar 100, a baffle 51 is provided on the mounting block 5, and the baffle 51 has 3 surfaces which surround to form a space for accommodating the third turning mirror 33. The shape of the baffle 51 matches the shape of the three mounting stopper surfaces 332 of the third fold mirror 33. Two positioning holes 52 are formed in the mounting block 5 at positions corresponding to the positioning posts 333. When the third folding mirror 33 is mounted, the positioning posts 333 of the third folding mirror 33 are inserted into the positioning holes 52 of the mounting block 5, and the three mounting stopper surfaces 332 of the third folding mirror 33 are engaged with the stoppers 51, whereby the third folding mirror 33 is mounted, as shown in fig. 16. This kind of structural design, can fix a position the equipment fast, and the limit is accurate in two directions in the plane that is on a parallel with base 3, and the optical accuracy of two third reentrant mirrors 33 after the equipment is good, simplifies the equipment and transfers light.
Further, based on the laser radar 100, the embodiment of the present invention provides an autopilot device 200 including the laser radar 100 in the above embodiment, where the autopilot device 200 may be an automobile, an airplane, a ship, or other devices related to intelligent sensing and detection using a laser radar, the autopilot device 200 includes a piloting device body 201 and the laser radar 100 in the above embodiment, and the laser radar 100 is mounted on the piloting device body 201.
As shown in fig. 17, the autonomous driving apparatus 200 is an unmanned automobile, and the laser radar 100 is mounted on a side surface of the automobile body. As shown in fig. 18, the autonomous driving apparatus 200 is also an unmanned automobile, and the laser radar 100 is mounted on the roof of the automobile.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (12)

1. Lidar (100) characterized in that the lidar (100) comprises a transceiver component (1) and a MEMS micro mirror (2);
the receiving and transmitting assembly (1) comprises at least two first receiving and transmitting modules (11) arranged along a first direction, the first receiving and transmitting modules (11) are used for transmitting emergent laser and receiving echo laser, and the echo laser is returned after the emergent laser is reflected by an object in a first detection area;
the MEMS micro-mirror (2) is used for reflecting the emergent laser emitted by each first transceiver module (11) and then emitting the reflected laser to the first detection area, and is also used for reflecting the echo laser and then emitting the reflected laser to the corresponding first transceiver module (11);
the at least two first detection regions are arranged along a first direction, an overlapping region is arranged between the at least two first detection regions, the overlapping region comprises a region of interest, and the resolution of the region of interest is greater than that of other regions.
2. The lidar (100) of claim 1, wherein a transmission frequency and a transmission timing of the first transceiver module (11) are adjustable, wherein the resolution of the region of interest is controlled by adjusting the transmission frequency of at least one first transceiver module (11), and wherein the position and size of the region of interest is controlled by adjusting the transmission timing of at least one first transceiver module (11).
3. Lidar (100) according to claim 2, wherein the resolution of non-overlapping areas in the first detection region is smaller than or equal to the resolution of non-interest areas in the overlapping region by adjusting the transmission frequency of at least one first transceiver module (11).
4. Lidar (100) according to claim 3, wherein said transceiver assembly (1) comprises two first transceiver modules (11);
when each first transceiving module (11) emits emergent laser to a non-overlapping area of the detection area, the emitting frequency is f;
when each first transceiver module (11) emits emergent laser to a non-interested region of an overlapping region of a detection region, the emission frequency is 0.5 f;
when each first transceiver module (11) emits emergent laser to the interested region of the overlapping region of the detection region, the emission frequency is f.
5. Lidar (100) according to claim 3, wherein said transceiver assembly (1) comprises two first transceiver modules (11);
when each first transceiving module (11) emits emergent laser to a non-overlapping area of the detection area, the emitting frequency is f;
when each first transceiver module (11) emits emergent laser to a non-interested region of an overlapping region of a detection region, the emission frequency is f;
when each first transceiver module (11) emits emergent laser to the interested region of the overlapping region of the detection region, the emission frequency is larger than f.
6. The lidar (100) of claim 1, wherein the lidar (100) further comprises a first turning mirror (31), the outgoing laser beams emitted by at least two of the first transceiver modules (11) are both emitted to the first turning mirror (31), and the spots on the first turning mirror (31) are at least partially overlapped, the first turning mirror (31) is configured to reflect the outgoing laser beams emitted by the first transceiver modules (11) and then to enter the MEMS micro-mirrors (2), and is further configured to reflect the echo laser beams reflected by the MEMS micro-mirrors (2) and then to enter the corresponding first transceiver modules (11).
7. The lidar (100) of claim 6, wherein the lidar (100) further comprises at least one second transceiver module (12) disposed along the first direction, wherein the second transceiver module (12) is configured to transmit the outgoing laser and receive the echo laser, and the echo laser is returned after the outgoing laser is reflected by an object in the second detection region;
the MEMS micro-mirror (2) is used for reflecting the emergent laser emitted by the second transceiver module (12) and then transmitting the reflected laser to the second detection area, and is also used for reflecting the echo laser and then transmitting the reflected laser to the corresponding second transceiver module (12);
the second detection regions are arranged outside the first detection region, and at least one of the second detection regions is arranged in sequence along a first direction.
8. The lidar (100) of claim 7, wherein the lidar (100) further comprises at least one fourth turning mirror (34), the fourth turning mirror (34) is disposed in one-to-one correspondence with the second transceiver module (12), and each fourth turning mirror (34) is configured to reflect outgoing laser light emitted by the corresponding second transceiver module (12) and then to enter the MEMS micro-mirror (2), and is further configured to reflect the echo laser light reflected by the MEMS micro-mirror (2) and then to enter the corresponding second transceiver module (12).
9. The lidar (100) of claim 8, wherein the lidar (100) further comprises at least two second turning mirrors (32) and at least two third turning mirrors (33), the second turning mirrors (32), the third turning mirrors (33) and the first transceiver modules (11) are arranged in a one-to-one correspondence, and the emergent laser light emitted by each first transceiver module (11) is reflected by the second turning mirrors (32) and the third turning mirrors (33) in sequence and then emitted to the first turning mirrors (31).
10. The lidar (100) of claim 9, wherein the number of the first transceiver modules (11) is two, the first transceiver modules (11) are disposed on two sides of the second transceiver module (12), the lidar (100) further comprises two second turning mirrors (32) and two third turning mirrors (33) corresponding to the two first transceiver modules (11), and the two third turning mirrors (33) are connected in an angle.
11. Lidar (100) according to claim 10, wherein the back side of both said second return mirrors (32) is provided with mounting limiting surfaces.
12. An autopilot device (200) comprising a driving device body (201) and a lidar (100) of any of claims 1-11, the lidar (100) being mounted to the driving device body (201).
CN202080004043.0A 2020-01-03 2020-01-03 Laser radar and autopilot device Pending CN112616318A (en)

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CN112904899A (en) * 2021-04-25 2021-06-04 成都华航职业技能培训学校 Unmanned aerial vehicle flight trajectory perception device and unmanned aerial vehicle flight training system
WO2023284318A1 (en) * 2021-07-16 2023-01-19 上海禾赛科技有限公司 Detection method of laser radar, transmitting unit and laser radar
WO2023016386A1 (en) * 2021-08-09 2023-02-16 北京一径科技有限公司 Lidar system and vehicle
CN113721256A (en) * 2021-09-24 2021-11-30 探维科技(北京)有限公司 Angle splicing laser radar system
CN114170826A (en) * 2021-12-03 2022-03-11 地平线(上海)人工智能技术有限公司 Automatic driving control method and device, electronic device and storage medium
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CN114325741A (en) * 2021-12-31 2022-04-12 探维科技(北京)有限公司 Detection module and laser ranging system
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CN114419572B (en) * 2022-03-31 2022-06-17 国汽智控(北京)科技有限公司 Multi-radar target detection method and device, electronic equipment and storage medium
WO2023201742A1 (en) * 2022-04-22 2023-10-26 华为技术有限公司 Scanning method, detection device, and terminal
CN117368886A (en) * 2022-06-30 2024-01-09 深圳市速腾聚创科技有限公司 Laser emission module and laser radar
WO2024032279A1 (en) * 2022-08-10 2024-02-15 上海禾赛科技有限公司 Detection method of laser radar, and laser radar using same
CN115694652A (en) * 2022-11-03 2023-02-03 中国南方电网有限责任公司超高压输电公司广州局 Optical communication system and optical communication method
CN115792930A (en) * 2023-02-06 2023-03-14 长沙思木锐信息技术有限公司 Laser radar capable of orthogonal receiving and transmitting and scanning method and system thereof

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