CN106443699A - Multi-combination laser radar device and scanning method thereof - Google Patents
Multi-combination laser radar device and scanning method thereof Download PDFInfo
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- CN106443699A CN106443699A CN201610815124.4A CN201610815124A CN106443699A CN 106443699 A CN106443699 A CN 106443699A CN 201610815124 A CN201610815124 A CN 201610815124A CN 106443699 A CN106443699 A CN 106443699A
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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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- 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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
Abstract
The invention relates to a multi-combination laser radar device and a scanning method thereof. The multi-combination laser radar device comprises a base, a radar installation structure, a plurality of laser ranging components, a time calculation unit, an MCU (micro-control unit) main control component and a communication interface, the radar installation structure is arranged above the base, the laser ranging components are arranged on the radar installation structure and comprise multiple groups of laser transmitters and multiple groups of laser receivers, each group of laser transmitters comprise a plurality of transmitting units on the same vertical plane, laser emergence angles respectively transmitted by the transmitting units sequentially deviate predetermined deflection angles along the vertical direction, and each group of laser receivers comprise a plurality of receiving units on the same vertical plane and are respectively used for receiving laser signals transmitted by the corresponding transmitting units. The multi-combination laser radar device is novel in structure and rich in function and can scan three-dimensional information of detected peripheral objects, peripheral environments can be conveniently monitored in real time, and actions of acquired point cloud data are sufficiently played.
Description
Technical field
The present invention relates to laser radar technique application, more particularly, to advanced drive assist system, Unmanned Systems
And mobile robot, UAV keep away anti-barrier with navigation a kind of multi-composite type laser radar apparatus and its scan method.
Background technology
Advanced drive assist system（Advanced Driver Assistant System）, abbreviation ADAS, is using peace
It is loaded on the sensor miscellaneous on car, the environmental data inside and outside very first time collecting cart, carry out quiet, dynamic object distinguishing
Know, detecting with follow the trail of etc. technical process such that it is able to allow driver the time the fastest discover it may happen that danger, with
Arouse attention and improve the active safety technologies of security.The sensor that ADAS adopts mainly has camera, radar, laser and surpasses
Sound wave etc., can detect light, heat, pressure or other variable for monitoring vehicle condition, be usually located at insuring in front and back of vehicle
On thick stick, side-view mirror, control stick inside or windshield.The ADAS technology of early stage mainly, based on passive type warning, works as vehicle
When potential danger is detected, alarm and reminding motorist can be sent and note abnormal vehicle or road conditions.For up-to-date ADAS
For technology, active intervention is also very common.
Existing scanning laser radar is generally fabricated to high, and structure is complex, some be then volume and quality all relatively
Greatly, be unfavorable for laser radar drive assist system, Unmanned Systems and mobile robot, UAV avoidance with
The application of navigation field.
Content of the invention
In view of this it is necessary to provide a kind of structure simply novel, feature richness, realize many combinations of 3 D stereo scanning
Formula radar device and its scan method.
A kind of multi-composite type laser radar apparatus, the radar mounting structure including support and above support, also include
Multiple laser ranging components, time calculating unit, MCU main control component and communication interface, described laser ranging component is located at thunder
Reach on mounting structure, described MCU main control component is connected with time calculating unit by communication interface；Described laser ranging component
Including multigroup generating laser and multigroup laser pickoff, generating laser described in every group includes multiple expelling plates, each transmitting
Plate has the multiple transmitter units being in same vertical plane, the laser that the multiple transmitter units in each expelling plate are launched respectively
Shooting angle offsets α ° of predetermined drift angle successively along vertical direction, and laser pickoff described in every group includes being in same vertical plane
Multiple receiving units, be respectively used to receive the laser signal that corresponding transmitter unit sends.
Preferably, described each group generating laser and each group laser pickoff are respectively arranged with optical lens, described laser
Signal passes through the photocentre of described optical lens；Described receiving unit the quantity of laser pickoff and arrangement mode with described
Penetrate unit consistent in the quantity of generating laser and arrangement mode, each transmitter unit and receiving unit front end are respectively equipped with micro-
Lens.
Preferably, multiple expelling plates of generating laser described in every group are to be in circumferentially that divergence expression arranges, phase
Adjacent two expelling plates deflect predetermined angular, and described deflection predetermined angular is 0.1-33 °, and described in every group, the multiple of laser pickoff connect
Receiving plate is to be in circumferentially that divergence expression arranges, and two neighboring receiver board deflects predetermined angular, described deflection predetermined angular
For 0.1-33 °, described α ° is 5-10 °, and described laser ranging component is admittedly to terminate on described radar mounting structure.
Preferably, the multiple expelling plates in generating laser described in every group are arranged in parallel or are in circumferentially to dissipate
Formula arrangement, the two neighboring expelling plate in divergence expression arrangement architecture along the circumferential direction deflects predetermined angular, and described deflection is pre-
Determine angle be 0.1-33 °, on two neighboring expelling plate two transmitter units of same cis-position stagger successively along vertical direction pre-
Determine angle, θ °, the Laser emission subtended angle of the whole transmitter units in generating laser described in every group is（n-1）*θ°+(m-1) *
α °, n is expelling plate quantity, and m is transmitter unit quantity, and described θ ° is 1-3 °, and described α ° is 5-10 °；Laser pick-off described in every group
The arrangement mode of multiple receiver boards of device, deflect predetermined angular, the arrangement mode of stagger predetermined angular and multiple expelling plates, deflection
Predetermined angular, the predetermined angular that staggers are identical, and described support also includes driving means, and described MCU main control component is filled by driving
Put control laser ranging component rotation, to carry out rotation sweep.
Preferably, Laser emission plate described in every group and laser receiver board are provided with expelling plate included angle regulating mechanism, the plurality of
The deflection angle of Laser emission plate is adjusted by expelling plate included angle regulating mechanism, and laser pickoff described in every group is provided with laser pick-off
Plate included angle regulating mechanism, the deflection angle of the plurality of laser receiver board is adjusted by receiver board included angle regulating mechanism.
Preferably, encoder, wireless communication assembly and rotary speed controling unit are also included, described encoder passes through communication interface
It is connected with MCU main control component, described encoder includes photoelectric sensor, coding disk and angular coding unit, described coding disk
It is provided with band reflective structure zero-bit instruction section and multiple reflective triggering section, it is wide that described zero-bit instruction section width is more than reflective triggering section
Degree, each described reflective triggering section width identical and between interval identical, for sense corresponding when laser ranging component rotates
Measure reflective triggering section to monitor the position of generating laser and multigroup laser pickoff.
Preferably, described wireless communication assembly is connected with MCU main control component by communication interface with rotary speed controling unit,
Control for the rotation startup, stopping and rotary speed of described radar mounting structure.
Preferably, described time calculating unit is connected with MCU main control component, for calculate the time, control sequential and
Calculating apart from angle.
Preferably, described multigroup generating laser circumferentially equidistantly distributes, the position of described multigroup laser pickoff
Corresponding with the position of multigroup generating laser.
And, a kind of method being scanned based on the multi-composite type laser radar apparatus of such as preceding claim, described
Method comprises the following steps：
Laser ranging component transmitting is started by described MCU main control component and receives laser signal；
Described laser ranging component is persistently launched and is received the laser signal being reflected by surrounding objects, is sent to Time Calculation
Unit；
Described time calculating unit receives a series of pulse signals and carries out preliminary treatment, then the data of preliminary treatment is passed to MCU
Main control component；
Described MCU main control component is processed to the data receiving and is exported.
Above-mentioned multi-composite type laser radar apparatus and its scan method, laser radar structure is simply novel, is swashed using above-mentioned
The structure of ligh-ranging assembly can scan whole objects of surrounding, compact conformation, simply novel, feature richness, can scan tested
The three-dimensional information of surrounding objects, to surrounding environment monitor in real time, to give full play to the effect of the cloud data collecting.Example
As when being applied to drive, having very big booster action to control loop, all barriers in surrounding environment can be measured in real time
Hinder the information such as distance, position and the speed of thing, realize safer driving experience.
Brief description
Fig. 1 is the multi-composite type laser radar apparatus solid-state laser radar arrangement schematic diagram of the embodiment of the present invention.
Fig. 2 a is the transmitting plate structure schematic diagram of the multi-composite type laser radar apparatus of the embodiment of the present invention.
Fig. 2 b is the reception plate structure schematic diagram of the multi-composite type laser radar apparatus of the embodiment of the present invention.
Fig. 3 a is four expelling plate combinations of the multi-composite type laser radar apparatus solid-state laser radar of the embodiment of the present invention
Structural representation.
Fig. 3 b is four receiver board combinations of the multi-composite type laser radar apparatus solid-state laser radar of the embodiment of the present invention
Structural representation.
Fig. 4 is the multi-composite type laser radar apparatus rotary laser radar circuit principle logic diagram of the embodiment of the present invention.
Fig. 5 is the multi-composite type laser radar apparatus rotary laser radar arrangement schematic diagram of the embodiment of the present invention.
Fig. 6 a is four expelling plate combinations of the multi-composite type laser radar apparatus rotary laser radar of the embodiment of the present invention
Structural representation.
Fig. 6 b is four receiver board combinations of the multi-composite type laser radar apparatus rotary laser radar of the embodiment of the present invention
Structural representation.
Fig. 7 is that the multi-composite type laser radar apparatus rotary laser radar complex expelling plate deflection angle of the embodiment of the present invention is shown
It is intended to.
Fig. 8 is the multi-composite type laser radar apparatus rotary laser radar coding disk structural representation of the embodiment of the present invention.
Specific embodiment
Below with reference to specific embodiments and the drawings, the present invention is described in detail.
Refer to Fig. 1, Fig. 2 a and Fig. 2 b, be the multi-composite type laser radar apparatus of the first embodiment of the present invention, be
Solid-state laser radar installations 100, it includes support 10 and the radar mounting structure 20 above support, also includes multiple laser
Ranging component 30, time calculating unit 40, MCU main control component 50 and communication interface, described laser ranging component 30 is located at thunder
Reach on mounting structure 20, described radar mounting structure 20 is provided with pcb board 21, described MCU main control component 50 passes through communication interface
It is connected and on pcb board 21 with time calculating unit 40；Described laser ranging component 30 includes multigroup generating laser 31 He
Multigroup laser pickoff 32, generating laser 32 described in every group includes multiple expelling plates 34, each expelling plate 34 have be in
Multiple transmitter units 311 of one vertical plane, the laser emitting that the multiple transmitter units 311 in each expelling plate 34 are launched respectively
Angle offsets α ° of predetermined drift angle successively along vertical direction, and laser pickoff 32 described in every group includes being in same vertical plane
Multiple receiving units 321, are respectively used to receive the laser signal that corresponding transmitter unit 311 sends.
Preferably, described each group generating laser 31 and each group laser pickoff 32 are respectively arranged with optical lens 33, institute
State the photocentre that laser signal passes through described optical lens 33；Described receiving unit 321 is in the quantity of laser pickoff 32 and row
Row mode is consistent in the quantity of generating laser 31 and arrangement mode with described transmitter unit 311, before each transmitter unit 311
End is respectively equipped with lenticule 36, such as collimation lens, in order to expansion of laser light launch angle；Described multigroup generating laser 31 is along week
To equidistantly distributing, the position of described multigroup laser pickoff 31 is corresponding with the position of multigroup generating laser.Swash described in every group
The arrangement mode of multiple receiver boards 35 of optical receiver 32, deflect predetermined angular, stagger predetermined angular and multiple expelling plates 34
Arrangement mode, deflect predetermined angular, the predetermined angular that staggers identical that is to say, that on multiple expelling plates 34 and each expelling plate
Transmitter unit 311 is the same with receiving unit 321 arrangement mode of receiver board 35 and each receiver board.
Preferably, multiple expelling plates 34 of generating laser 31 described in every group are to be in circumferentially that divergence expression arranges
, two neighboring expelling plate 34 deflects predetermined angular, and described deflection predetermined angular is 0.1-33 °, laser pickoff described in every group
32 multiple receiver boards 35 are to be in circumferentially that divergence expression arranges, and two neighboring receiver board 35 deflects predetermined angular, institute
State deflection predetermined angular and be 0.1-33 °, the laser emitting that the multiple transmitter units 311 in each expelling plate 34 described are launched respectively
Angle offsets α ° of predetermined drift angle successively along vertical direction and is 5-10 °, and the deflection predetermined angle of described two neighboring expelling plate 34 can
Select between 0.1-33 °, α ° selects between 5-10 °, and each expelling plate 34 is suitable according to different places purposes different choice
Angle, achieve the goal；Described pcb board 21 is admittedly to terminate on described radar mounting structure 20.
Preferably, described generating laser 31 includes multiple expelling plates 34, and described same expelling plate 34 is provided with multiple sharp
Optical Transmit Unit 311, described two neighboring laser emission element 311 is along α ° of vertical direction deflection angle；Described laser pick-off
Device 32 includes multiple receiver boards 35, and described same receiver board 35 is provided with multiple laser pick-off units 321, described two neighboring sharp
Light receiving unit 321 deflects α ° of angle along vertical direction, and α ° of institute is 5-10 °, more preferably 6-8 °.Laser emission described in every group
Plate 34 and laser receiver board 35 are provided with expelling plate included angle regulating mechanism, and the deflection angle of the plurality of Laser emission plate 34 passes through to send out
Penetrate plate included angle regulating mechanism to adjust, laser pickoff 32 described in every group is provided with laser receiver board included angle regulating mechanism, the plurality of
The deflection angle of laser receiver board 35 is adjusted by receiver board included angle regulating mechanism.Connect by multiple Laser emission plates 34 and laser
Receive plate 35 two neighboring laser ranging component deflection predetermined angular in the horizontal direction, form multi-thread laser acquisition of different shapes
Region, reaches the purpose realizing solid-state laser radar.
Specifically, refering to Fig. 3 a and Fig. 3 b, the generating laser 31 being made up of four expelling plates 34, wherein each expelling plate
34 are designed with four transmitter units 311, and the transmitter unit 311 on same expelling plate 34 is on same vertical plane, each
Transmitter unit 311 angle each other is set as 8 °；Four expelling plates 34 are in in divergence expression plane simultaneously, and each is launched
Angle between plate is set to 10 °, in a sector, same described laser receiver board 35 row the same with Laser emission plate 34
Row, as shown in Figure 3 b；, through optical lens 33, this 16 for the laser signal that transmitter unit 311 described in each expelling plate is launched
Shu Jiguang is distally shot by described optical lens photocentre again, and this 16 bundle laser signal can form a scanning plane, to week
The object enclosing is scanned monitoring；Unlimited number of expelling plate 34 can be set in theory, each expelling plate 34 is arranged infinitely many
Individual transmitter unit 311, so that it may realize comprehensive, no dead angle sweep limits, all monitors to all objects around radar, this reality
Apply that example can arrange the expelling plate of reasonable number according to the actual requirements and transmitter unit reaches required job requirement, to economize on resources,
Do not cause to waste.
Preferably, described time calculating unit 40 is connected with MCU main control component 50, during for calculating by communication interface
Between, control sequential and the calculating apart from angle, communication mode is I2C bus or spi bus, not limited to this.
Specifically, the method being scanned based on above-mentioned solid-state laser radar 100, is comprised the following steps：
Launched by described MCU main control component 50 startup laser ranging component 30 and receive laser signal；Sent out by multigroup laser
The laser signal that emitter 31 is sent, to external radiation, is reflected back laser radar when described laser signal runs into barrier, now should
Laser signal is received by multigroup laser pickoff 32, and optical signal is turned while receiving laser signal by described laser pickoff 32
Change pulse signal into, this pulse signal is admitted to time calculating unit 40 again, time calculating unit 40 receives a series of arteries and veins
Rush and carry out primary Calculation while signal and be converted into various data, hereafter various data are passed through communications interface transmission to MCU master
Control assembly 50, after MCU main control component 50. receives data, processes further to the data receiving and exports.
Refer to Fig. 5, Fig. 6 a, Fig. 6 b and Fig. 8, be second embodiment multi-composite type laser radar apparatus of the present invention, be
A kind of rotary laser radar installations 200, the present embodiment and solid state example structure are substantially similar, differ primarily in that rotation
Formula laser radar apparatus 200 adopt rotary scanning, and the described support 10 of the present embodiment also includes driving means 11, described MCU
Main control component controls laser ranging component 30 to rotate, to carry out rotation sweep by driving means 11；Rotary laser radar
Device 200 also includes encoder 70, wireless communication assembly 80 and rotary speed controling unit 90, and described rotating speed control assembly 90 is located at machine
In seat 10, described encoder 70 is connected with MCU main control component 50 by communication interface, and described encoder 70 includes photoelectric sensing
Device 72, coding disk 71 and angular coding unit 73, described coding disk 71 is provided with band reflective structure zero-bit instruction section 711 and multiple anti-
Light triggers section 712, and described zero-bit instruction section 711 width is more than reflective triggering section 712 width, each described reflective triggering section 712
Width identical and between interval identical, for when laser ranging component 30 rotates correspondence sense reflective triggering section 712 with
Monitoring generating laser 31 and the position of multigroup laser pickoff 32.Described radar mounting structure 20 is provided with pcb board 21, channel radio
On pcb board 21, described wireless communication assembly 80 and rotary speed controling unit 90 pass through communication interface and MCU master control to news assembly 80
Assembly 50 processed is connected, for the control of the startup, stopping and rotary speed of the rotation of described radar mounting structure 20.Wherein Fig. 6 a
Arrange the arrangement mode of reference picture 3a and Fig. 3 b with expelling plate in Fig. 6 b and receiver board,
Preferably, the multiple expelling plates 34 in generating laser 31 described in every group are arranged in parallel or are in circumferentially to dissipate
Formula arrangement, the two neighboring expelling plate 34 in divergence expression arrangement architecture along the circumferential direction deflects predetermined angular, described deflection
Predetermined angular is 0.1-33 °, and on two neighboring expelling plate 34, two transmitter units 311 of same cis-position are along vertical direction successively
Stagger predetermined angle theta °, and the Laser emission subtended angle of the whole transmitter units 311 in generating laser 31 described in every group is（n-1）*
θ °+α ° of (m-1) *, n is expelling plate quantity, and m is transmitter unit quantity, and described θ is 1-3 °, and described α ° is 5-10 °.In figure is with four
As a example individual expelling plate 34, each expelling plate four transmitter unit 311 of 34 upper band, i.e. n=4, m=4, laser pickoff 32 described in every group
The arrangement mode of multiple receiver boards 35, deflect predetermined angular, the arrangement mode of stagger predetermined angular and multiple expelling plates 34, partially
Turn predetermined angular, the predetermined angular that staggers identical, described support 10 also includes driving means 11, described MCU main control component 50 leads to
Over-driving device 11 controls laser ranging component 30 to rotate, to carry out rotation sweep.So, when driving means 11 control Laser Measuring
Away from assembly 30 rotate when, different deflection angles, offset angular transmitter unit mutually non-interference, each self-scanning special angle, structure
The uniformly sweep limits of predetermined subtended angle, as shown in figure 6 a and 6b, by minimum transmitter unit, realizes wider array of scan angle
Degree scope, realizes the higher more accurately rotary radar scanning of resolution ratio.
Specifically, refer to such as Fig. 7, the multiple transmitter units 311 in each expelling plate 34 shown in figure are launched respectively
Laser emitting angle offsets α ° of predetermined drift angle successively along vertical direction, and that is, second transmitter unit and the first transmitter unit are along hanging down
Straight angular separation is just α °, and vertically angle is just 2 α ° for the 3rd transmitter unit and the first transmitter unit, launches for the 3rd
Vertically angle is just 3 α ° for unit and the first transmitter unit；Two transmittings of same cis-position on two neighboring expelling plate 34
Unit 311 staggers predetermined angle theta ° successively along vertical direction, i.e. the first of first expelling plate transmitter unit and second
The angle of first transmitter unit of expelling plate is θ, first transmitter unit of first expelling plate and the 3rd expelling plate
The angle of first transmitter unit is 2 θ, sends out for first of first transmitter unit of first expelling plate and the 4th expelling plate
The angle penetrating unit is 3 θ；, the Laser emission subtended angle of the whole transmitter units 311 in generating laser 31 described in every group is（n-
1）* θ °+α ° of (m-1) *, n is expelling plate quantity, and m is transmitter unit quantity；, each expelling plate sets four taking four expelling plates as a example
Individual transmitter unit, 16 transmitter units 311 so that 4 groups can be divided into, the deflection angle of first group of transmitter unit 311 be respectively 0, α, 2
α, 3 α degree, these angles are with respect to the horizontal plane（Plane perpendicular to rotating shaft）Angle, second group be θ, α+θ, 2 α+θ,
3 α+θ degree, the 3rd group is 2 θ, α+2 θ, 2 α+2 θ, 3 α+2 θ degree, and the 4th group is 3 θ, α+3 θ, 2 α+3 θ, 3 α+3 θ degree.
Specifically, described coding disk 71 is used for monitoring the position of laser signal, thus control sequential, calculating time and sentence
Disconnected direction of rotation etc.；Described zero-bit instruction section 711 and reflective triggering section 712 are designed with reflective structure, need not external power supply,
Described reflective structure scribbles reflectorized material it is also possible to self-luminous；Described encoder disk 71 can arrange multiple reflective triggering degree 712,
The quantity of reflective triggering degree 712 can be set according to the demand of required angular resolution, if required angular resolution height, just
The more reflective triggering section 712 of many setting quantity, so that it may setting quantity is few if angular resolution is less demanding
Reflective triggering section 712, can flexibly select.
Specifically, in the present embodiment, generating laser 31 described in every group includes expelling plate 34, laser pickoff described in every group
32 include receiver board 35, and Laser emission plate 34 and laser receiver board 35 are arranged along the perpendicular divergence expression of laser acquisition region direction
Row, two neighboring expelling plate angle is that θ is 2 °, the transmitter unit 311 of each expelling plate 34 each other angle so that α is for 8 ° as a example
The performance of the present embodiment is described.As Fig. 6 a, laser ranging component 30 is provided with four expelling plates 34, and each expelling plate 34 sets
There are four transmitter units 311, each expelling plate 34 arranges along the perpendicular divergence expression of laser acquisition region direction, two neighboring
Penetrate plate angle and be 2 °, the arrangement the same with Laser emission plate 34 of same described laser receiver board 35, as shown in Figure 6 b.Each is sent out
Penetrating the angle between unit 311 is 8 °, and during transmitting laser, 16 bundle laser can be divided into four groups, it is 0 that first group of laser is at an angle of, 8,
16th, 24 degree, these angles are with respect to the horizontal plane（Plane perpendicular to rotating shaft）Angle.Second group is 2,10,18,26
Degree, the 3rd group is 4,12,20,28 degree, and the 4th group is 6,14,22,30 degree, and the laser beam of transmitting can form scanning in vertical plane
Plane, when radar mounting structure 20 rotates, the laser that this laser radar apparatus sends just can form a 3 D stereo and sweep
Retouch face.Unlimited number of expelling plate 34 can be set in theory, unlimited number of transmitter unit 311 is arranged on each expelling plate 34, just
Can achieve comprehensive, no dead angle sweep limits, all objects around radar are all monitored, the present embodiment can be according to actual need
Ask the expelling plate of setting reasonable number and transmitter unit to reach required job requirement, to economize on resources, do not cause to waste.
Refer to Fig. 4, be the present embodiment rotary laser radar circuit principle logic diagram, MCU main control component 50 is to sharp
Optical transmitting set 31 sends transmitting laser command, and laser signal just outwards launched by described Laser emission plate 31, when there being laser signal
When running into barrier and being reflected back, laser signal has converted optical signals into pulse letter while reception by laser pickoff 32
Number, described angular coding unit 73 is used for calculating deflection angle during rotation, and described rotary speed controling unit 90 controls rotating speed, this arteries and veins
Rush signal be admitted to after time calculating unit 40 is processed by communication interface send into MCU main control component 50 in, MCU master control
Assembly 50 processed processes the various data receiving and exports data message, reaches monitoring surrounding objects and dynamically acts on.
Specifically, the method being scanned based on above-mentioned rotary laser radar installations 200, is comprised the following steps：
Described MCU main control component 50 sends instruction and controls driving means 11 to rotate, and driving means 11 pass through wireless communication assembly
80 control radar mounting structures 20 begin to rotate, and rotary speed controling unit 90 is used for the rotating speed of control radar mounting structure, located at
The laser ranging component 30 of radar mounting structure 20 just very assembling structure 20 can rotate and rotate with radar；Rotatably simultaneously
MCU main control component 50 controls laser ranging component 30 to launch and receive laser signal, is sent by multigroup generating laser 31
Laser signal to external radiation, be reflected back laser radar when described laser signal runs into barrier, now this laser signal is by many
Group laser pickoff 32 receives, and described laser pickoff 32 has converted optical signals into pulse letter while receiving laser signal
Number, this pulse signal is admitted to time calculating unit 40 again, while time calculating unit 40 receives a series of pulse signal
Carry out primary Calculation and be converted into various data, hereafter various data are passed through communications interface transmission to MCU main control component 50,
After MCU main control component 50 receives data, the data receiving is processed further and exports.
Above-mentioned multi-composite type laser radar apparatus and its scan method, wherein radar arrangement is simply novel, using special
Whole objects around the structural scan of laser ranging component, have very big booster action to control loop, can survey in real time
Measure the information such as the distance of all barriers, position and speed in surrounding environment, realize safer driving experience, preferably
Laser radar technique is applied in life.
It should be noted that the invention is not limited in above-mentioned embodiment, according to the creative spirit of the present invention, this area
Technical staff can also make other changes, these changes done according to the creative spirit of the present invention, all should be included in this
Bright claimed within the scope of.
Claims (10)
1. a kind of multi-composite type laser radar apparatus, the radar mounting structure including support and above support, its feature exists
In also including multiple laser ranging components, time calculating unit, MCU main control component and communication interface, described laser ranging group
On radar mounting structure, described MCU main control component is connected with time calculating unit part by communication interface；Described laser
Ranging component includes multigroup generating laser and multigroup laser pickoff, and generating laser described in every group includes multiple expelling plates,
Each expelling plate has the multiple transmitter units being in same vertical plane, and the multiple transmitter units in each expelling plate are sent out respectively
The laser emitting angle penetrated offsets α ° of predetermined drift angle successively along vertical direction, and laser pickoff described in every group includes being in same
Multiple receiving units of vertical plane, are respectively used to receive the laser signal that corresponding transmitter unit sends.
2. multi-composite type laser radar apparatus as claimed in claim 1 are it is characterised in that described each group generating laser and each
Group laser pickoff is respectively arranged with optical lens, and described laser signal passes through the photocentre of described optical lens；Described reception is single
Unit is in the quantity of laser pickoff and arrangement mode and described transmitter unit in the quantity of generating laser and arrangement mode
Unanimously, each transmitter unit and receiving unit front end are respectively equipped with lenticule.
3. multi-composite type laser radar apparatus as claimed in claim 1 it is characterised in that generating laser described in every group many
Individual expelling plate is to be in circumferentially that divergence expression arranges, and two neighboring expelling plate deflects predetermined angular, and described deflection makes a reservation for
Angle is 0.1-33 °, and multiple receiver boards of laser pickoff described in every group are to be in circumferentially that divergence expression arranges, adjacent
Two receiver boards deflect predetermined angular, and described deflection predetermined angular is 0.1-33 °, and described α ° is 5-10 °, described laser ranging group
Part is admittedly to terminate on described radar mounting structure.
4. multi-composite type laser radar apparatus as claimed in claim 1 are it is characterised in that in generating laser described in every group
Multiple expelling plates are arranged in parallel or are in circumferentially that divergence expression arranges, two neighboring in divergence expression arrangement architecture
Expelling plate along the circumferential direction deflects predetermined angular, and described deflection predetermined angular is 0.1-33 °, same suitable on two neighboring expelling plate
Two transmitter units of position stagger predetermined angle theta ° successively along vertical direction, the whole transmittings in generating laser described in every group
The Laser emission subtended angle of unit is（n-1）* θ °+α ° of (m-1) *, n is expelling plate quantity, and m is transmitter unit quantity, and described θ ° is
1-3 °, described α ° is 5-10 °；The arrangement mode of multiple receiver boards of laser pickoff described in every group, deflection predetermined angular, stagger
The arrangement mode of predetermined angular and multiple expelling plates, deflect that predetermined angular, the predetermined angular that staggers are identical, described support also includes driving
Dynamic device, described MCU main control component controls laser ranging component rotation by driving means, to carry out rotation sweep.
5. the multi-composite type laser radar apparatus as described in claim 3 or 4 are it is characterised in that Laser emission plate as described in every group
It is provided with expelling plate included angle regulating mechanism with laser receiver board, the deflection angle of the plurality of Laser emission plate passes through expelling plate angle
Governor motion is adjusted, and laser pickoff described in every group is provided with laser receiver board included angle regulating mechanism, the plurality of laser receiver board
Deflection angle adjusted by receiver board included angle regulating mechanism.
6. multi-composite type laser radar apparatus as claimed in claim 4 are it is characterised in that also include encoder, wireless telecommunications
Assembly and rotary speed controling unit, described encoder is connected with MCU main control component by communication interface, and described encoder includes light
Electric transducer, coding disk and angular coding unit, described coding disk be provided with band reflective structure zero-bit instruction section and multiple reflective touch
Send out section, described zero-bit instruction section width is more than reflective triggering section width, each described reflective triggering section width identical and between
Interval identical, for when laser ranging component rotates correspondence sense reflective triggering section with monitor generating laser and multigroup swash
The position of optical receiver.
7. multi-composite type laser radar apparatus as claimed in claim 6 are it is characterised in that described wireless communication assembly and rotating speed
Control unit is connected with MCU main control component by communication interface, for described radar mounting structure rotation startup, stop with
And the control of rotary speed.
8. multi-composite type laser radar apparatus as claimed in claim 1 are it is characterised in that described time calculating unit and MCU
Main control component is connected, for calculating time, control sequential and the calculating apart from angle.
9. multi-composite type laser radar apparatus as claimed in claim 8 it is characterised in that described multigroup generating laser along
Circumferentially equidistant from distribution, the position of described multigroup laser pickoff is corresponding with the position of multigroup generating laser.
10. a kind of method being scanned based on the multi-composite type laser radar apparatus as described in any one of claim 1-9, its
It is characterised by, the method comprising the steps of：
Laser ranging component transmitting is started by described MCU main control component and receives laser signal；
Described laser ranging component is persistently launched and is received the laser signal being reflected by surrounding objects, is sent to Time Calculation
Unit；
Described time calculating unit receives a series of pulse signals and carries out preliminary treatment, then the data of preliminary treatment is passed to MCU
Main control component；
Described MCU main control component is processed to the data receiving and is exported.
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