WO2021098365A1

WO2021098365A1 - Laser radar for moving device and method for using laser radar, and laser radar system

Info

Publication number: WO2021098365A1
Application number: PCT/CN2020/116082
Authority: WO
Inventors: 张瓯; 古平纯一
Original assignee: 杭州欧镭激光技术有限公司
Priority date: 2019-11-22
Filing date: 2020-09-18
Publication date: 2021-05-27

Abstract

A laser radar for a moving device and a method for using the laser radar, and a laser radar system. The laser radar for a moving device comprises: a radar body, the radar body emitting and receiving laser beams to detect a characteristic signal of an object to be measured; a communication module, the communication module comprising a wireless communication module, the laser radar implementing information interaction of the characteristic signal with a mobile terminal by means of the wireless communication module; and a housing, the laser body, the communication module, and a power source module being all disposed in the housing. The laser radar in the present application is independent in both physical structure and function, and performs remote information interaction with a conventional mobile terminal by means of a wireless communication module; a user can directly remotely adjust the laser radar by means of the mobile terminal; the laser radar in the present application is easy to operate, and can be remotely operated. The laser radar can be quickly, simply, and detachably mounted on a moving device or at a specific measurement position, and is simple to mount and convenient to arrange.

Description

A laser radar applied to mobile equipment and its use method and a laser radar system

Technical field

The invention relates to the field of radar, in particular to a laser radar applied to mobile equipment and a method of use thereof, and a laser radar system.

Background technique

my country is the world's largest producer and consumer of automobiles. The Internet of Vehicles market is huge, and vehicles have become an important part of cities. The Internet of Vehicles is another sign of future smart cities after the Internet and the Internet of Things. At the technical level, the Internet of Vehicles needs to first obtain various information through various sensors, such as radio frequency identification, infrared sensors, global positioning systems, laser scanners and other information sensing equipment, which can provide the basis for information exchange between cars. So as to realize intelligent identification, positioning, tracking, monitoring and management.

With the continuous development of vehicle equipment and computers, autonomous driving technology has become a hot research field, and autonomous driving technology is becoming more mature. Autonomous vehicles need to sense surrounding obstacles and the environment, so they need to add necessary sensing equipment to detect and sense. With its advantages in recognition, ranging and positioning, Lidar has begun to be widely used in autonomous driving technology. Compared with the recognition and processing of the image collected by the camera, the main advantages of lidar are long detection distance, high accuracy, strong anti-interference ability, strong real-time performance, and it is less affected by natural environment such as light, rain and snow in actual use, and it is adaptable. Strong and other advantages. In addition, lidar is widely used in fields such as intelligent mobile robots, autonomous driving, and unmanned aerial vehicles.

Lidar is a radar system that emits a laser beam to detect the position and speed of the measured object and emits a detection signal (laser beam) to the measured object, and then reflects the received signal from the target (the measured object echo) ) Compared with the transmitted signal, after proper processing, the relevant information of the measured object can be obtained, such as the distance, azimuth, height, speed, attitude, and even shape of the measured object. Perform detection, tracking and identification.

The technology used by lidar is Time of Flight (TOF). Specifically, it calculates the relative distance between the measured object and itself based on the turn-back time after the laser encounters an obstacle. The laser beam can accurately measure the relative distance between the edge of the contour of the object in the field of view and the device. This contour information forms a so-called point cloud and draws a 3D environment map with an accuracy of centimeters, thereby improving the measurement accuracy.

Lidar is classified according to whether there are mechanical rotating parts, including mechanical lidar and solid-state lidar. The mechanical lidar has a rotating part that controls the laser emission angle, while the solid-state lidar relies on electronic components to control the laser emission angle without mechanical rotating parts.

In the prior art, lidar products do not complete the work alone. It needs to be integrated to run in the entire system, which includes some electronic equipment and measurement systems. Therefore, under normal circumstances, users cannot use them directly, but need to understand multiple software and operate these software and hardware at the same time to complete a job.

Summary of the invention

In order to solve the above-mentioned problems in the prior art that the lidar needs to be integrated in a system with a complicated structure before it can be used, and the control operation is complicated and cumbersome.

According to the first aspect of the present invention, the present invention provides a laser radar applied to a mobile device, including:

A radar body, which emits and receives laser beams to detect characteristic signals of the object to be measured;

A communication module, the communication module includes a wireless communication module, and the lidar realizes the information exchange of the characteristic signal with the mobile terminal through the wireless communication module; and

The housing, the radar body and the communication module are both arranged in the housing.

Further, the wireless communication module is one or more of a low power consumption wide area network module, a Bluetooth module, a WiFi module, a cellular communication module, and a low power consumption local area network module.

Further, the characteristic signal includes one or more of shape, height, posture, position, moving direction, moving speed, and the relative distance between the measured object and the lidar.

Further, the communication module further includes a wired communication module, the wired communication module is used to set initial parameters for the radar body, the wireless communication module of the lidar is used to communicate with the wireless communication module of the mobile terminal Interactive and regulated by the mobile terminal.

Further, the wireless communication module is used to set initial parameters for the radar body, and to exchange information with the wireless communication module of the mobile terminal, and is controlled by the mobile terminal.

Further, the initial parameters include one of measurement range, work area, warning level, sensitivity of distance measurement, number of rotations, measurement conditions, angular field of view, scanning frequency, angular resolution, measurement accuracy, and range measurement adoption rate Or multiple.

Further, the control mode of the wireless communication module is one or more of adjusting the measuring distance, adjusting the working area, starting the lidar, and turning off the lidar.

Further, the lidar further includes a mounting structure for installing the lidar, the mounting structure is arranged in the housing or outside the housing, and the mounting structure is a magnetic member and/or an adsorbing member and/ Or clamping device.

Further, the mobile device is an automatic driving device and/or an unmanned aerial vehicle and/or an intelligent robot.

Further, the radar body is a mechanical lidar body or a solid-state lidar body.

Further, the radar body includes:

Laser transmitter, used to emit laser;

The reflector module is used to reflect the laser light emitted by the laser transmitter to the measured object, and to reflect the laser light reflected from the measured object back to the light receiver;

Light receiver, used to receive the laser light reflected from the object under test through the mirror module;

A rotating mechanism, the rotating mechanism includes a motor, and the motor drives the mirror module to rotate;

The rotation angle detection device includes a grating disk that is driven to rotate by the rotation mechanism and a sensor that obtains the rotation parameters of the grating disk, and the sensor sends the rotation parameters of the grating disk to a signal processing unit;

A control circuit, the control circuit includes a signal processing unit that receives and processes the initial parameter, the rotation parameter, and the characteristic signal;

A power supply module, which is electrically connected to the mirror module, the laser transmitter, the light receiver, the control circuit, the rotation mechanism, and the rotation angle detection device, respectively.

Further, the lidar includes a photoelectric element, the laser beam has a superimposing frequency, the information of the characteristic signal is added to the superimposing frequency in the form of a superimposed signal, and the photoelectric element receives the information of the characteristic signal.

According to the second aspect of the present invention, the present invention provides a lidar system, including:

Lidar as described in the above embodiment; and

A mobile terminal for regulating the lidar, the mobile terminal includes:

The control software used to control the lidar,

A wireless communication module for wireless communication with the wireless communication module of the lidar, and

monitor.

According to the third aspect of the present invention, the present invention provides a method for using laser radar as described in the above-mentioned embodiment, including the steps:

Installing the lidar on a mobile device through an installation structure; and

The lidar is controlled remotely through the control software in the mobile terminal.

Further, before the remote control of the lidar by the control software in the mobile terminal, the following steps are included:

Download control software on the mobile terminal; and

The mobile terminal is wirelessly connected to the lidar.

Compared with the prior art, the advantages of the present invention are:

1. The lidar in the prior art needs to be physically and functionally integrated into other systems with complex structures, and when in use, users need to understand and operate multiple irrelevant equipment and software at the same time to complete lidar detection, Track or identify work.

The lidar of the present application is independent in physical structure and function. It performs remote information interaction with conventional mobile terminals through a wireless communication module. The user can directly control the lidar remotely through the mobile terminal. The lidar of the present application The operation is simpler and can be controlled remotely.

2. The lidar in the prior art uses wired communication, which requires cables to be erected or digging cable trenches, and when installing the lidar, a communication line must be used to establish a data connection with other software or equipment. The wiring work is time-consuming. It is cumbersome, so the installation and use of lidar in the existing technology requires a lot of manpower and material resources, high cost, complex operation, long construction period, and too much limitation. When encountering some special application environments, such as mountains, lakes, forests, etc. In special geographical environments such as districts or mobile objects and other application environments where wiring is difficult, it will have a strong restriction on the wiring project of the wired network, and the scalability is poor. After the user has established a communication network, it is often due to the system’s problems. Need to add new equipment. If a wired method is used, re-wiring is required, which is troublesome for construction and may damage the original communication line.

This application adopts wireless communication to realize information interaction, no need to erect cables or dig cable trenches, which saves manpower and material resources. In addition, there is no need to use communication lines, so the cost is low, the installation and operation are simple, the engineering period is short, the adaptability is good, and wireless communication Compared with wired communication, the data transmission method is more widely adaptable, and it is hardly restricted by the geographical environment. In contrast, it has better scalability.

3. Since the lidar in the prior art uses wired communication to establish a connection relationship with other devices, different communication lines are provided between the lidar and other devices. If the position of the lidar is shifted, it may cause the communication line to fall off. There are also some devices for fixed installation of lidar in the prior art, but once installed, it would be tedious and time-consuming to disassemble the lidar.

The lidar of the present invention is provided with an installation structure, so that the lidar can be quickly, simply and detachably installed on a mobile device or at a specific measurement position, and the installation is simple and the arrangement is convenient.

Description of the drawings

FIG. 1 is a schematic diagram of the working principle of lidar according to an embodiment of the application;

Fig. 2 is a schematic longitudinal cross-sectional view of the working principle of the lidar according to an embodiment of the application;

FIG. 3 is a schematic structural diagram of a rotation mechanism and a rotation angle detection device of a lidar according to an embodiment of the application.

Reference signs:

111-first mirror, 112-second mirror, 113-third mirror, 114-laser transmitter, 115-light receiver, 116-rotating mechanism, 1171-grating disc, 1172-sensor, 13-shell Body, 20-wireless network, 31-display, 40-object under test.

Detailed ways

The advantages of the present invention will be described in detail below in conjunction with the drawings and specific embodiments.

The exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "a", "said" and "the" used in the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and/or" as used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, the word "if" as used herein can be interpreted as "when" or "when" or "in response to determination".

In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, not It is indicated or implied that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected", and "connected" should be interpreted broadly. For example, they can be mechanically connected or electrically connected, or two The internal communication between the elements may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms can be understood according to specific circumstances.

In the following description, the use of suffixes such as "module", "part" or "unit" used to indicate elements is only to facilitate the description of the present invention, and has no specific meaning in itself. Therefore, "modules" and "parts" can be mixed.

According to the first aspect of the present invention, as shown in FIG. 1, the present invention provides a laser radar, which is applied to a mobile device, and the mobile device is an automatic driving device and/or an unmanned aerial vehicle and/or an intelligent robot, etc., include:

Shell 13;

A radar body, which emits and receives a laser beam to detect the characteristic signal of the measured object 40, the radar body is arranged in the housing 13, and the laser beam has a superimposed frequency; and

A communication module, the communication module and the radar body are arranged in the housing 13, the communication module includes a wireless communication module, and the wireless communication module is an LPWAN module (Low Power Wide Area Network, low power wide area network module) , Such as lora module, NB-IOT module, ENOCEAN module, 6LoWPAN module, etc.), Bluetooth module, WiFi module, cellular communication module (such as 2G network module, 3G network module, 4G network module, 5G network module), low-power local area network One or more of the modules (such as ZigBee module, 433MHz wireless communication module, Z-WAVE module, NFC module, etc.), the lidar realizes the communication of the characteristic signal with the mobile terminal through the wireless communication module For information exchange, the laser beam has a superimposed frequency, and the information of the characteristic signal is added to the superimposed frequency in the form of a superimposed signal. The superimposed frequency includes the overall frequency of the new signal and its frequency components. Optionally, the lidar further includes a photoelectric element, and the photoelectric element receives the information of the characteristic signal. For example, the characteristic signal information detected by the lidar is transmitted through the wireless network 2020 and displayed on the display 31 of the mobile terminal. The wireless network 20 is a wireless network 20 implemented through a public mobile communication network (for example, 2G= GSM, second-generation communication network; 3G=CDMA, third-generation communication network; 4G=LTE, fourth-generation communication network; 5G network, fifth-generation mobile communication network), wireless local area network (referred to as WLAN, such as WiFi and Bluetooth) , Wireless Local Area Network (WRAN for short), Wireless Metropolitan Area Network (MAN for short), LPWAN (Low-Power Wide Area Network), low-power local area network (such as ZigBee, short-distance, low-power wireless based on IEEE802.15.4 standard) Communication technology). The wireless communication module of the lidar is used to set initial parameters for the radar body, and exchange information with the wireless communication module of the mobile terminal and receive adjustments of the mobile terminal, such as real-time adjustment of the measurement range, Adjust the working area, turn on the lidar, turn off the lidar, and so on. Wherein, the initial parameters of the lidar include measurement range (maximum measurement distance), working area, warning level, distance measurement sensitivity, rotation number, measurement conditions, angular field of view (vertical angle field of view and horizontal angle field of view) Preferably, the lidar of the present application can perform full-position measurement, that is, the vertical angle field of view and the horizontal angle field of view are both 360°), the scanning frequency (how many times the lidar scans in one second), and the angular resolution ( The angle step of two adjacent ranging points), measurement accuracy (the smallest amount of distance change perceived within one second), ranging adoption rate (how many ranging output times are performed within one second), etc. All the above-mentioned initial parameters can be adjusted later. Preferably, the initial parameters of the lidar in this application are implemented by the wireless communication module of the lidar to realize the setting and later adjustment of the initial parameters of the lidar by the mobile terminal. Among them, the meaning of real-time adjustment of the measurement range means that, for example, if the measurement range of the initial setting is 1 km, according to actual needs, the measurement range of the lidar is reduced to 500 meters. Those skilled in the art know that this is only The exemplified descriptions made to facilitate the understanding of the application are not intended to limit the application. In this application, with lidar as the center, different distance ranges are divided into different warning levels. For example, according to the relative distance between the lidar and the measured object, the warning levels are from light to heavy. Safety (e.g. 600-1000 meters), attention (e.g. 300-600 meters), danger (e.g. 200-300 meters), immediate stop (e.g. 10-100 meters), according to actual needs, the mobile terminal can control and set warnings in real time The relative distance range corresponding to the level. When the warning level is attention, danger, and stop immediately, the mobile terminal remotely controls the lidar to change the direction of movement to move to a safe area. Preferably, the warning level of the lidar of this application is displayed step by step, in other words, from safety to attention, then to danger, and finally to stop immediately. The sensitivity and real-time performance are good, and it can be used between the measured object and the lidar. At the beginning of the possibility of collision, the warning level feedback is given in time, so as to promptly remind the mobile terminal to adjust the lidar to prevent the mobile terminal from being caught by surprise and too late to adjust the lidar. For example, the working area can be set as a safe area, a warning area, an absolute prohibition area, etc., when the lidar is working in the safe area, the lidar does not make any prompts, or prompts the mobile terminal to be safe; When the lidar is working in a warning area, the lidar prompts the mobile terminal to prompt attention; when the lidar is working in an absolutely prohibited area, the lidar prompts the mobile terminal to prompt danger. The mobile terminal sends corresponding control instructions to the laser radar according to the prompt information sent by the laser radar, so that the laser radar moves into a safe area. The above work area division is merely an example for ease of understanding, and does not constitute any limitation on the present application. The characteristic signal of the measured object 40 includes shape, height, posture, position, moving direction, moving speed, the relative distance between the measured object 40 and the lidar, and the like. For example, in smart factories and smart warehouses, multiple automated guided vehicles (AGV, a mobile device) and autonomous driving and transportation devices (a mobile device) will operate at the same time. When two transport vehicles are driving towards each other, a decision must be made immediately to avoid a collision. In a general warehouse management system (WMS), the moving objects in these warehouses are managed. Especially in warehouses where workers and transportation vehicles are mixed, countries have established strict working standards and established safety management mechanisms. In view of these problems, the present invention is provided. By detecting the forward direction of each mobile device in many transportation vehicles, it transmits a characteristic signal that can determine its forward direction. For example, the characteristic signal is the forward direction and the forward direction of each mobile device. /Or the distance and/or position and/or moving speed between the mobile devices, etc., multiple characteristic signals are transmitted to the photoelectric element of the lidar in the form of superimposed signals added to the superimposed frequency through the laser beam. Then the lidar transmits the information of the multiple characteristic signals to the mobile terminal through the communication module. Subsequently, the lidar adjusts the lidar according to the information of the received characteristic signals to avoid interference between mobile devices installed with the lidar. collision. The mobile terminal is a mobile phone, a notebook computer, a tablet computer, a car computer, a handheld computer, a personal digital assistant (Personal Digital Assistant, PDA), a portable media player (Portable Media Player, PMP), a navigation device, a wearable device, and a smart device. Bracelet, pedometer, etc.

Optionally, in some embodiments of the present application, the communication module further includes a wired communication module, and the wired communication module is used to set initial parameters for the radar body. The wireless communication module of the lidar is used to exchange information with the wireless communication module of the mobile terminal and is controlled by the mobile terminal. In other words, the initial parameters of the lidar of the present application are initially set through the wired communication module of the lidar, and the later adjustment of the lidar is carried out wireless remote control through the wireless communication module of the lidar.

Wherein, the radar body is a mechanical lidar body or a solid-state lidar body. It is worth noting that the specific structure of the radar body (mechanical lidar body or solid-state lidar body) is not limited in this application, as long as the above-mentioned objective can be achieved, it is included in the content of the present invention.

Exemplarily, as shown in Figure 2-3, the mechanical lidar body includes:

The reflector module is used to reflect the laser light emitted by the laser transmitter 114 to the measured object 40, and to reflect the laser light reflected from the measured object 40 back to the light receiver 115, for example, as shown in FIG. 2 As shown, the reflector module includes a first reflector 111, a second reflector 112, and a third reflector 113. Specifically, the present application does not limit the specific model of the reflector module, as long as it can achieve the above-mentioned purpose. , Are included in the content of this application;

The laser transmitter 114 is used to reflect the laser light through the reflector module. For example, as shown in FIG. 2, the laser transmitter 114 reflects the laser light through the first reflector 111 and the second reflector 112;

The light receiver 115 is used to receive the laser light reflected from the measured object 40 through the reflector module. For example, as shown in FIG. 2, the light receiver 115 receives the laser light that passes through the first reflector 111 and the third reflector 113. The laser light reflected from the measured object 40;

The rotating mechanism 116, the rotating structure includes a motor, and the motor drives the mirror module to rotate. For example, as shown in FIG. 2, the rotating structure drives the first mirror 111 and the third mirror 113 to rotate Specifically, this application does not limit the specific structure and model of the motor, as long as it can achieve the above objectives, it is included in the content of this application;

The rotation angle detection device includes a grating disk 1171 that is rotated by the rotating mechanism 116 and a sensor 1172 that obtains the rotation parameters of the grating disk 1171, and the sensor 1172 sends the rotation parameters of the grating disk 1171 to the control circuit;

A control circuit, the control circuit includes a signal processing unit, the signal processing unit receives and processes the initial parameter, the rotation parameter, and the characteristic signal, and then, the lidar moves to the mobile via a wireless communication module The terminal (for example, a mobile phone) sends one or more of the initial parameters, the rotation parameters, and the characteristic signals, and then the mobile device (for example, an automatic driving device) sends corresponding signals to the lidar through wireless communication. Remote control instructions;

A power supply module, which is electrically connected to the laser transmitter 114, the light receiver 115, the control circuit, the rotation mechanism 116, the rotation angle detection device, and the communication module, respectively . Preferably, the power supply module includes a DC power supply module and/or an external power interface for connecting the lidar with external AC power.

Optionally, in an embodiment of the present invention, the lidar further includes a mounting structure for installing the lidar, and the mounting structure is provided in the housing 13 or outside the housing 13, and Specifically, this application does not limit the specific structure and model of the motor, as long as it can achieve the above-mentioned purpose, it is included in the content of this application. Exemplarily, the mounting structure is a magnetic member (such as a magnet) arranged in the casing 13 or outside the casing 13, and/or a suction member (such as a suction cup) arranged outside the casing 13 ), and/or, a clamping device (such as a clip) provided outside the housing 13. Through the installation structure, the lidar of the present invention can be directly installed on mobile devices (for example, autonomous driving equipment and/or unmanned aerial vehicles and/or intelligent robots) or installed in a fixed measurement position, which is simple to use and convenient to arrange. Area-aware radar.

Lidar as described in the above embodiment; and

A mobile terminal for regulating the lidar, the mobile terminal includes:

The control software used to control the lidar,

A display 31 for displaying one or more of the initial parameters, the rotation parameters, and the characteristic signals sent by the lidar through the wireless communication module.

According to the third aspect of the present invention, the present invention provides a method for using lidar, which includes the steps:

Installing the lidar on a mobile device through a mounting structure, where the mounting structure is a magnetic member and/or an adsorption member and/or a clamping device; and

The lidar is controlled remotely through the control software in the mobile terminal. The lidar provided by this patent can be quickly arranged in a desired location, and the lidar control software can be controlled remotely and wirelessly through a mobile terminal. After the installation is complete, you only need to set the working area, divide the warning level with the lidar as the center, and then you can use it normally. Easy to install, easy to set up and use, easy to control.

Preferably, before remotely controlling the lidar through the adjustment software in the mobile terminal, the method includes the following steps:

Download control software on the mobile terminal; and

The mobile terminal is wirelessly connected to the lidar. Specifically, this application does not specifically limit the wireless connection mode, as long as it can achieve the above-mentioned purpose, it is included in the content of this application. For example, the wireless connection of the mobile terminal to the lidar includes the step of connecting the mobile terminal to the wireless network 20 (WLAN) through a wireless router, and then connects to the WiFi module of the lidar. Exemplarily, the lidar and/or the mobile terminal establishes a wireless connection between the lidar and the mobile terminal through the WiFi hotspots of other devices; for example, the Bluetooth module of the lidar and the mobile terminal The Bluetooth module of the terminal is paired. When the pairing is successful, a wireless connection is formed between the lidar and the mobile terminal; for example, the mobile terminal and the lidar pass through a mobile network (2G network/ 3G network/4G network/5G network) and/or LPWAN (low power consumption wide area network network) and/or low power consumption local area network (such as ZigBee) to establish a wireless connection.

The specific embodiments of the present invention are described in detail above, but they are only examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions made to the present invention are also within the scope of the present invention. Therefore, all equivalent transformations and modifications made without departing from the spirit and scope of the present invention should fall within the scope of the present invention.

Claims

A lidar applied to mobile devices, characterized in that it includes:

A radar body, which emits and receives laser beams to detect characteristic signals of the object to be measured;

A communication module, the communication module includes a wireless communication module, and the lidar realizes the information exchange of the characteristic signal with the mobile terminal through the wireless communication module; and

The housing, the radar body and the communication module are both arranged in the housing.
The lidar according to claim 1, wherein the wireless communication module is one or more of a low power consumption wide area network module, a Bluetooth module, a WiFi module, a cellular communication module, and a low power consumption local area network module.
The lidar according to claim 1, wherein the characteristic signal includes one of shape, height, posture, position, moving direction, moving speed, and the relative distance between the measured object and the lidar Or multiple.
The lidar according to claim 1, wherein the communication module further comprises a wired communication module, the wired communication module is used to set initial parameters for the radar body, and the wireless communication module of the lidar is used to communicate with The wireless communication modules of the mobile terminal exchange information and are regulated by the mobile terminal.
The lidar according to claim 1, wherein the wireless communication module is used to set initial parameters for the radar body, and to exchange information with the wireless communication module of the mobile terminal and be controlled by the mobile terminal. Regulation.
The lidar according to claim 4 or 5, wherein the initial parameters include measurement range, working area, warning level, sensitivity of distance measurement, number of rotations, measurement conditions, angular field of view, scanning frequency, angular resolution One or more of rate, measurement accuracy, and ranging adoption rate.
The lidar according to claim 4 or 5, wherein the control mode of the wireless communication module is one or more of adjusting the measuring distance, adjusting the working area, starting the lidar, and turning off the lidar.
The lidar according to claim 1, further comprising a mounting structure for mounting the lidar, the mounting structure is provided in the housing or outside the housing, and the mounting structure is a magnetic component And/or the suction member and/or the clamping device.
The lidar according to claim 1, wherein the mobile device is an automatic driving device and/or an unmanned aerial vehicle and/or an intelligent robot.
The lidar according to claim 1, wherein the radar body is a mechanical lidar body or a solid-state lidar body.
The lidar of claim 6, wherein the radar body comprises:

Laser transmitter, used to emit laser;

The reflector module is used to reflect the laser light emitted by the laser transmitter to the measured object, and to reflect the laser light reflected from the measured object back to the light receiver;

Light receiver, used to receive the laser light reflected from the object under test through the mirror module;

A rotating mechanism, the rotating mechanism includes a motor, and the motor drives the mirror module to rotate;

The rotation angle detection device includes a grating disk that is driven to rotate by the rotation mechanism and a sensor that obtains the rotation parameters of the grating disk, and the sensor sends the rotation parameters of the grating disk to a signal processing unit;

A control circuit, the control circuit includes a signal processing unit that receives and processes the initial parameter, the rotation parameter, and the characteristic signal;

A power supply module, which is electrically connected to the mirror module, the laser transmitter, the light receiver, the control circuit, the rotation mechanism, and the rotation angle detection device, respectively.
The laser radar according to claim 1, further comprising a photoelectric element, the laser beam has a superimposing frequency, the information of the characteristic signal is added to the superimposing frequency in the form of a superimposed signal, and the photoelectric element receives the Characteristic signal information.
A lidar system is characterized in that it comprises:

The lidar according to any one of claims 1-12; and

A mobile terminal for regulating the lidar, the mobile terminal includes:

The control software used to control the lidar,

A wireless communication module for wireless communication with the wireless communication module of the lidar, and

monitor.
A method for using laser radar according to any one of claims 1-12, characterized in that it comprises the steps of:

Installing the lidar on a mobile device through an installation structure; and

The lidar is controlled remotely through the control software in the mobile terminal.
A method for using lidar according to claim 14, characterized in that, before remotely controlling the lidar through the adjustment software in the mobile terminal, the method comprises the following steps:

Download control software on the mobile terminal; and

The mobile terminal is wirelessly connected to the lidar.