CN105699985A - Single-line laser radar device - Google Patents
Single-line laser radar device Download PDFInfo
- Publication number
- CN105699985A CN105699985A CN201610168659.7A CN201610168659A CN105699985A CN 105699985 A CN105699985 A CN 105699985A CN 201610168659 A CN201610168659 A CN 201610168659A CN 105699985 A CN105699985 A CN 105699985A
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- CN
- China
- Prior art keywords
- laser radar
- line laser
- single line
- radar
- carrier rack
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—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
Abstract
Disclosed in the invention is a single-line laser radar device comprising a radar installation device, a single-line laser radar and a carrier rack. The single-line laser radar is installed on the carrier rack by the radar installation device. The carrier rack with a preset thickness has a flat rectangular shape; at least three single-line laser radars including a first single-line laser radar, a second single-line laser radar, and a third single-line laser radar are distributed uniformly at one side of the carrier rack; and at least one single-line laser radar being a fourth single-line laser radar or a fifth single-line laser radar is distributed at the middle of each of two sides perpendicular to one side with the first single-line laser radar. The installation position and the pitching angle of the radar installation device can be adjusted. When a radar is installed based on the technical scheme, full coverage of the carrier rack in terms of the scanning range can be realized. The provided device is applied to an unmanned vehicle to complete real-time detection on the environment of unmanned driving.
Description
Technical field
The invention belongs to radar scanning field of detecting, particularly relate to a kind of single line laser radar installations。
Background technology
Unmanned vehicle relies on the sensor carried to carry out data acquisition and the identification of environment in unknown environment。Laser radar, as a kind of novel range measurement means, has the advantages such as measuring speed data precision fast, that obtain is high, real-time, adapts to the weather complex environment such as illumination, sleet, be widely used in the field of mobile robot autonomous navigation。Based on the unmanned vehicle of laser radar, the perception of road environment is by the basis of the advanced tasks such as local paths planning, independent navigation；Can can the information such as barrier, area of feasible solutions, pavement marker that detect accurately and in time determine unmanned vehicle and correctly identify current road environment, correctly make local paths planning, correctly carry out independent navigation etc.。
Perception to vehicle-periphery is the key component that unmanned vehicle is driven, at present, environment sensing had been done in unmanned vehicle control loop a lot of research, and method mainly has the environment sensing utilizing stereoscopic vision, utilizes the environment sensing of laser radar and utilize the environment sensing of Multi-sensor Fusion。
The principle of laser radar is fairly simple, first passes through generating laser and Laser emission is gone out, and then receives the reflection light after laser encounters body surface, finds range by measuring the time difference between launching and receiving。Owing to the wave beam of laser is narrower, wavelength is short and has high resolving power, the much informations such as the emission characteristics of target, distance and speed therefore can be obtained。Therefore laser radar is widely used in the field such as robot, intelligent vehicle。
Compared with other detection senses method, utilize what the environment sensing of laser radar can be real-time to obtain the surrounding relevant information that precision comparison is high so that in the environment that unmanned vehicle is unknown around, the judgement of pedestrian, barrier etc. is more efficient and reliable。Single line laser radar can obtain the environmental information on two-dimensional level face, unmanned vehicle front quickly and accurately, owing to the operating frequency of single line laser radar is high, the range data precision measured is high, and cost is low, and therefore unmanned vehicle is driven and mostly adopted laser radar detection technique in research at present。
In recent years, a lot of people have done a lot of correlational studyes already with laser radar in unpiloted Context awareness, are with three-dimensional information in 64 line laser radar surveying unmanned vehicle front environment mostly。Such as: document " ANovelSetupMethodof3DLIDARforNegativeObstacleDetectionin FieldEnvironment " utilizes 64 line laser radars and two 32 line laser radars complete the identification to the Context aware in road ahead and recessed obstacle, the method greatly reduces the blind area of vehicle, and Laser Radar Scanning line is more careful, but 32 lines that this method adopts and 64 line laser radars are expensive, high cost。
Summary of the invention
The present invention is directed to that the cost of 64 line laser radars or two 32 line laser radars is high, volume big and restrictions such as being subject to height installed by radar, have employed the method that multiple single line laser radars are carried out rational deployment, to reach the environment around real-time, accurate, complete perception, the pitching platform adopted makes the restriction that the height that the installation of radar is not caused does not wait by car body difference, and the present invention is the environment sensing of unmanned vehicle under the premise being substantially reduced cost and independent navigation provides guarantee。
For achieving the above object, the invention provides following scheme:
A kind of single line laser radar installations, including radar erecting device, single line laser radar and carrier rack；Single line laser radar is arranged on carrier rack by radar erecting device, carrier rack is the flattened rectangular shape with preset thickness, carrier rack while being uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar, the second single line laser radar and the 3rd single line laser radar, at least one single line laser radar of each edge intermediate distribution on the both sides vertical with the one side residing for the first single line laser radar, respectively the 4th single line laser radar and the 5th single line laser radar；Installation site and the angle of pitch of radar erecting device are adjustable；Above-mentioned radar after arranging, sweep limits can realize carrier rack surrounding all standing。
Optionally, second single line laser radar and the 3rd single line laser radar are positioned at same level line, distance between horizontal line residing for first single line laser radar and the horizontal line residing for the second single line laser radar is more than setting value, and the first single line laser radar is positioned at car body direct of travel side。
Optionally, single line laser radar also includes the 6th single line laser radar and the 7th single line laser radar, and the 6th single line laser radar is positioned at Vehicular body front, and the 7th single line laser radar is positioned at rear vehicle。
Optionally, radar erecting device includes pedestal, plug and base, and plug and pedestal, base are hinged, to regulate the single line laser radar angle of pitch。
Optionally, setting value is at least 50mm。
A kind of unmanned vehicle application radar installations, including radar erecting device, single line laser radar and carrier rack；Single line laser radar is arranged on radar erecting device；Single line laser radar is arranged on carrier rack, and radar erecting device realizes described single line laser radar complete the real-time detection to surrounding by regulating installation site and the angle of pitch, is applied on unmanned vehicle by this device。
The present invention is by adjusting installation site and the angle of pitch of each laser radar, complete the real-time detection of unmanned surrounding, the cost of the multiple single line laser radars adopted and volume relatively three-dimensional laser radar (32 lines and 64 lines) have significant reduction, and pitching platform of the present invention makes the restriction that the height that the installation of radar is not caused does not wait by car body difference simultaneously。The present invention provides guarantee for the environment sensing of unmanned vehicle and independent navigation under the premise being substantially reduced cost。
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings。
Fig. 1 is the overall installation schematic diagram of the present invention；
Fig. 2 is the overall detection region design sketch of the present invention；
Fig. 3 is carrier rack and the installed in front schematic diagram of the present invention；
Fig. 4 is carrier rack and the rear side scheme of installation of the present invention；
Fig. 5 is laser radar and the pitching platform fractionation schematic diagram of the present invention；
Fig. 6 is laser radar and the pitching platform size schematic diagram of the present invention；
Fig. 7 is roof carrier rack and radar fixed thereon and the pitching platform schematic diagram of the present invention。
Drawing reference numeral:
1. the 6th single line laser radar 2. first single line laser radar 3. the 3rd single line laser radar
4. the second single line laser radar 5. the 5th single line laser radar 6. the 4th single line laser radar
7. the 7th unmanned car body of single line laser radar 8. carrier rack 9.
10. single line laser radar 11. pedestal 12. plug 13. base
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments。Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention。
It is an object of the invention to provide a kind of single line laser radar installations, include radar erecting device, single line laser radar and carrier rack as shown in Figure 1；Single line laser radar is arranged on carrier rack by radar erecting device, carrier rack is the flattened rectangular shape with preset thickness, carrier rack while being uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar, the second single line laser radar and the 3rd single line laser radar, at least one single line laser radar of each edge intermediate distribution on the both sides vertical with the one side residing for the first single line laser radar, respectively the 4th single line laser radar and the 5th single line laser radar；Installation site and the angle of pitch of radar erecting device are adjustable；Above-mentioned radar after arranging, sweep limits can realize carrier rack surrounding all standing, and the effect reached is as in figure 2 it is shown, detect region design sketch for the overall of the present invention。
Optionally, carrier rack 8 is the flattened rectangular shape with preset thickness, one end of carrier rack is uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar the 2, second single line laser radar 4 and the 3rd single line laser radar 3, two ends intermediate distribution at least one single line laser radar vertical with the one end residing for the first single line laser radar 2, respectively the 4th single line laser radar 6 and the 5th single line laser radar 5。
Optionally, second single line laser radar 4 and the 3rd single line laser radar 3 are positioned at same level line, distance between horizontal line residing for first single line laser radar 2 and the horizontal line residing for the second single line laser radar 4 is more than setting value, and the first single line laser radar 2 is positioned at car body direct of travel side。
Optionally, single line laser radar also includes the 6th single line laser radar 1 and the 7th single line laser radar 7, as it is shown on figure 3, the 6th single line laser radar is positioned at Vehicular body front, as Fig. 4 the 7th single line laser radar is positioned at rear vehicle。
Wherein, device the first single line laser radar 2 on roof carrier rack is positioned in the middle of front side, for detecting car body front closely visual field environmental information, second single line laser radar, the 3rd single line laser radar are fixed on the front left of carrier rack, front right corner at an angle with the headstock direction with car body, for detecting the closely visual field environmental information of nearly car body left front, right front, device the 5th single line laser radar the 5, the 4th single line laser radar 6 is respectively used to detect a range of right side of nearly car body, visual field, left side environmental information。The 6th single line laser radar horizon being fixed on car body front end is placed, and for detecting the environmental information of visual field, car body remote front, the 7th single line laser radar horizon is placed, for detecting the environmental information of visual field, car body remote rear。6th single line laser radar 1 and the 7th single line laser radar 7 horizontal positioned, the environmental information of the forward and backward side of vehicle on detection level direction, the mode of horizontal positioned determines that their visual range is remote, visual field big, can be that vehicle carry out overall path planning。
Optionally, radar erecting device includes pedestal 11, plug 12 and base 13 as shown in Figure 5, and plug 12 and pedestal 11, base 13 are hinged, and plug is used for connecting pedestal and base so that it is can rotate along axle, to adjust the luffing angle of laser radar。The size of the radar erecting device in the application is as shown in Figure 6, it can be seen that the radar erecting device in the application can arrange radar inclination angle, operates according to the setting height(from bottom) of radar and target range。
If the height on distance by radar ground is h, the angle in radar and vertical car body direction is θ, then, the distance L that radar can scan is:
Optionally, as it is shown in fig. 7, the first single line laser radar and setting value are at least 50mm。
A kind of unmanned vehicle application radar installations, including radar erecting device, single line laser radar and carrier rack；Single line laser radar is arranged on radar erecting device；Single line laser radar is arranged on carrier rack, and radar erecting device realizes described single line laser radar complete the real-time detection to surrounding by regulating installation site and the angle of pitch, is applied on unmanned vehicle by this device。
First single line laser radar, second single line laser radar, 3rd single line laser radar, 4th single line laser radar, 5th single line laser radar slant setting, for detecting a range of environmental information of vehicle front and the left and right sides, although laser radar slant setting is reduced visual field, but it is obtained in that more effective environmental information at its visual range, the wherein headstock direction installation at an angle of the 4th single line laser radar and the 5th single line laser radar and car body, the left front environmental information with forward right side visual field of car body can better be detected, first single line laser radar, second single line laser radar, 3rd single line laser radar and four devices of the 6th single line laser radar cover the bulk zone in car body front, can well detect the information in car body front, improve the pedestrian in visual range, the detection of the target informations such as barrier, DAS (Driver Assistant System) completes avoidance and processes。
When specifically installing, first roof carrier rack being arranged on vehicle up direction, the roof carrier rack installed meets the following requirements:
1) size dimension matches with the vehicle roof of required installation carrier rack；
2) edge of roof carrier rack should have certain width, facilitates the fixed installation of pitching platform；
3) roof carrier rack need to be adjusted to level。
Finally it should be noted that, above example is only in order to illustrate technical scheme and unrestricted, although the present invention being described in detail with reference to preferred embodiment, it will be understood by those within the art that, technical scheme can be modified or equivalent replacement, without deviating from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of scope of the presently claimed invention。
Claims (6)
1. a single line laser radar installations, it is characterised in that include radar erecting device, single line laser radar and carrier rack；Described single line laser radar is arranged on described carrier rack by described radar erecting device, described carrier rack has preset thickness and is flattened rectangular shape, described carrier rack while being uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar, the second single line laser radar and the 3rd single line laser radar, at least one single line laser radar of each edge intermediate distribution on the both sides vertical with the one side residing for described first single line laser radar, respectively the 4th single line laser radar and the 5th single line laser radar；Installation site and the angle of pitch of described radar erecting device are adjustable；Above-mentioned radar after arranging, sweep limits can realize carrier rack surrounding all standing。
2. laser radar apparatus according to claim 1, it is characterized in that, described second single line laser radar and described 3rd single line laser radar are positioned at same level line, distance between horizontal line residing for described first single line laser radar and the horizontal line residing for described second single line laser radar is more than setting value, and described first single line laser radar is positioned at car body direct of travel side。
3. laser radar apparatus according to claim 1, it is characterized in that, single line laser radar also includes the 6th single line laser radar and the 7th single line laser radar, and described 6th single line laser radar is positioned at Vehicular body front, and described 7th single line laser radar is positioned at rear vehicle。
4. laser radar apparatus according to claim 1, it is characterised in that described radar erecting device includes pedestal, plug and base, described plug and described pedestal, described base are hinged, to regulate the single line laser radar angle of pitch。
5. laser radar apparatus according to claim 3, it is characterised in that described setting value is at least 50mm。
6. a unmanned vehicle, it is characterised in that described unmanned vehicle includes: single line laser radar installations, described single line laser radar installations includes radar erecting device, single line laser radar and carrier rack；Described single line laser radar is arranged on described carrier rack by described radar erecting device, described carrier rack is the flattened rectangular shape with preset thickness, described carrier rack while being uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar, the second single line laser radar and the 3rd single line laser radar, at least one single line laser radar of each edge intermediate distribution on the both sides vertical with the one side residing for described first single line laser radar, respectively the 4th single line laser radar and the 5th single line laser radar；Installation site and the angle of pitch of described radar erecting device are adjustable；Above-mentioned radar after arranging, sweep limits can realize carrier rack surrounding all standing。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610168659.7A CN105699985A (en) | 2016-03-23 | 2016-03-23 | Single-line laser radar device |
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|---|---|---|---|
| CN201610168659.7A CN105699985A (en) | 2016-03-23 | 2016-03-23 | Single-line laser radar device |
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| CN105699985A true CN105699985A (en) | 2016-06-22 |
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| CN201610168659.7A Pending CN105699985A (en) | 2016-03-23 | 2016-03-23 | Single-line laser radar device |
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| CN106249251A (en) * | 2016-08-31 | 2016-12-21 | 深圳市速腾聚创科技有限公司 | Three-dimensional laser radar system |
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| CN107544490A (en) * | 2016-06-29 | 2018-01-05 | 通用汽车环球科技运作有限责任公司 | system and method for sensor platform |
| CN107539234A (en) * | 2016-06-29 | 2018-01-05 | 通用汽车环球科技运作有限责任公司 | system and method for sensor platform |
| WO2018039987A1 (en) * | 2016-08-31 | 2018-03-08 | 深圳市速腾聚创科技有限公司 | Three-dimensional laser radar system |
| CN109188396A (en) * | 2018-07-20 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | A kind of fixation device of laser radar sensory perceptual system |
| CN109669191A (en) * | 2018-11-27 | 2019-04-23 | 河南科技大学 | To landform construction method before vehicle based on single line laser radar |
| CN109709575A (en) * | 2018-07-20 | 2019-05-03 | 深圳市速腾聚创科技有限公司 | Laser radar sensory perceptual system and laser radar sensory perceptual system detection method |
| US10302744B1 (en) | 2018-02-23 | 2019-05-28 | Ford Global Technologies, Llc | Sensor assembly |
| CN110537109A (en) * | 2017-04-28 | 2019-12-03 | 深圳市大疆创新科技有限公司 | Sensing component for autonomous driving |
| WO2020015748A1 (en) * | 2018-07-20 | 2020-01-23 | Suteng Innovation Technology Co., Ltd. | Systems and methods for lidar detection |
| CN111538338A (en) * | 2020-05-28 | 2020-08-14 | 长沙中联重科环境产业有限公司 | Robot welting motion control system and method |
| CN113696826A (en) * | 2020-05-20 | 2021-11-26 | 丰田自动车株式会社 | Sensor mounting structure for vehicle and bracket assembly for vehicle sensor |
| CN114137968A (en) * | 2021-11-23 | 2022-03-04 | 北京云迹科技有限公司 | Obstacle avoidance method, device, equipment and storage medium |
| US11550058B2 (en) | 2020-04-10 | 2023-01-10 | Caterpillar Paving Products Inc. | Perception system three lidar coverage |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107544490A (en) * | 2016-06-29 | 2018-01-05 | 通用汽车环球科技运作有限责任公司 | system and method for sensor platform |
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| US10302744B1 (en) | 2018-02-23 | 2019-05-28 | Ford Global Technologies, Llc | Sensor assembly |
| WO2020015748A1 (en) * | 2018-07-20 | 2020-01-23 | Suteng Innovation Technology Co., Ltd. | Systems and methods for lidar detection |
| CN109709575A (en) * | 2018-07-20 | 2019-05-03 | 深圳市速腾聚创科技有限公司 | Laser radar sensory perceptual system and laser radar sensory perceptual system detection method |
| CN109188396A (en) * | 2018-07-20 | 2019-01-11 | 深圳市速腾聚创科技有限公司 | A kind of fixation device of laser radar sensory perceptual system |
| CN109669191A (en) * | 2018-11-27 | 2019-04-23 | 河南科技大学 | To landform construction method before vehicle based on single line laser radar |
| US11550058B2 (en) | 2020-04-10 | 2023-01-10 | Caterpillar Paving Products Inc. | Perception system three lidar coverage |
| CN113696826A (en) * | 2020-05-20 | 2021-11-26 | 丰田自动车株式会社 | Sensor mounting structure for vehicle and bracket assembly for vehicle sensor |
| CN113696826B (en) * | 2020-05-20 | 2024-03-08 | 丰田自动车株式会社 | Sensor mounting structure for vehicle and bracket assembly for vehicle sensor |
| CN111538338A (en) * | 2020-05-28 | 2020-08-14 | 长沙中联重科环境产业有限公司 | Robot welting motion control system and method |
| CN111538338B (en) * | 2020-05-28 | 2023-05-26 | 长沙中联重科环境产业有限公司 | Robot welt motion control system and method |
| CN114137968B (en) * | 2021-11-23 | 2023-12-05 | 北京云迹科技股份有限公司 | Obstacle avoidance method, device, equipment and storage medium |
| CN114137968A (en) * | 2021-11-23 | 2022-03-04 | 北京云迹科技有限公司 | Obstacle avoidance method, device, equipment and storage medium |
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