CN106546225A

CN106546225A - A kind of sensor for automatic Pilot

Info

Publication number: CN106546225A
Application number: CN201610965326.7A
Authority: CN
Inventors: 张舒怡
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-10-31
Filing date: 2016-10-31
Publication date: 2017-03-29
Also published as: WO2018077291A1

Abstract

A kind of sensor for automatic Pilot，It is characterized in that arranging at least one linear laser discharger 1 towards front ground on a vehicle，In anterior being below or above at linear laser discharger of the vehicles, at least one digital image module 2 is set，Digital image module 2 is mainly used in linear laser line 1 on CCD the or CMOS photo-sensitive cells of the projection line intake image-forming module of vehicles front projection position，Position shape according to the laser rays on photo-sensitive cell，Can just differentiate projection line of the laser rays on ground either with or without being sheltered from by barrier,Linear laser discharger is that the little a wordline laser emitting head of at least one point-like laser emitting head or subtended angle beats laser signal on the reflecting mirror 71 swung back and forth in a high speed，Circle round by the reflection of reflecting mirror 71 and back and forth，The camber line of line-like is formed on the way，Reflecting surface can be plane or curved surface，The projection line that the method for the cylindrical mirror of convolution obtains is got to laser head and constitutes the brightness that linear laser can ensure that line，Only need to a small amount of laser beam emitting head is installed.

Description

A kind of sensor for automatic Pilot

Technical field

The present invention relates to a kind of sensor for automatic Pilot, is mainly used in automobile during automatic Pilot or aids in The barrier being likely to be encountered on the whole perspective plane in detection front in control loop, is also adapted to the vehicles such as train, ship Automatic Pilot or auxiliary drive in.

Background technology

The automobile of automatic Pilot is just becoming the focus of research and development at present, for automobile moving direction（In front of usually）Upper obstacle The detection of thing relies primarily on the first-class mode of radar, laser scanning and ranging, video camera, and wherein video frequency pick-up head generally detects road Road markings, signal lighties etc, the occupation mode of extension is detection people, other automobiles etc.（Rely on the perfect of big data）, at present That most successful pilotless automobile is leaned on is LIDAR, i.e. laser radar sensor, and it is also referred to as the eye of pilotless automobile Eyeball.LIDAR is a compound word, takes from " light "（Light）" radar "（Radar）.As its name suggests, sensors with auxiliary electrode is to be close to thing Body sends light, and around bad border is inspected by measuring the light reflection time used.On pilotless automobile, function is very strong Greatly, simply the design of LIDAR is heavy and expensive at present.The pilotless automobile of Google's early stage has only just spent 8 on LIDAR Ten thousand dollars.Moreover, present autonomous driving vehicle is often travelled on the structural road for have distinguishing mark line, and technology is simultaneously It is not very ripe.

The content of the invention

What the present invention was designed so as to：

A kind of sensor for automatic Pilot, is characterized in that arranging at least one line towards front ground on a vehicle Shape laser beam emitting device, arranges at least one digital image in anterior being below or above at linear laser discharger of the vehicles Module, digital image module are mainly used in the projection line intake by linear laser line in vehicles front projection position and are imaged mould On CCD the or CMOS photo-sensitive cells of block, the position shape according to the laser rays on photo-sensitive cell can just differentiate laser rays on ground The projection line in face is either with or without by other objects（Barrier）Shelter from, except laser rays（Cooperative target）, other objects（Non- cooperation Target）Imaging on photo-sensitive cell can be ignored.Because general barrier all lands（There is foot）, the especially wheel of automobile, Can be detected on the ground of front, then barrier also there is.

Linear laser discharger is that the little a wordline laser emitting head of at least one point-like laser emitting head or subtended angle will Laser signal is beaten at one on the reflecting mirror that a rotary shaft certain angle rotates back and forth swing, by the certain angle of reflecting mirror The laser rays for swinging back and forth and reflecting, project that on front projection face making-breaking point or short-term section are constituted of degree, reflecting mirror it is anti- Front surface of the face positioned at reflecting mirror is penetrated, can be a plane or multiple streak-like planars or curved surface.

The little a wordline laser emitting head of point-like laser emitting head or subtended angle may be provided at the front of reflecting mirror（Front upper place or Front lower place）, a casing can be set and surround the little a wordline laser emitting head of point-like laser emitting head or subtended angle, laser beam emitting head The panel of printing opacity can be opened wide or is arranged at the casing of direction.

The reflecting surface of reflecting mirror is vertical or inclines, and reflecting surface is present in the front of reflecting mirror.

Drive that reflecting mirror rotates back and forth swing be repeatedly discontinuous power supply or reversely the electric magnet of positive interval power supply or Motor.

In order to ensure the seriality of laser making-breaking point or short-term section, it is ensured that bright spot or bright line that linear laser is got on road surface Section density, during in case speed is fast, the short barrier of longitudinal separation when a single point or line-segment sweep, can be missed, can with it is multiple simultaneously The little a wordline laser emitting head of the point-like laser emitting head of row or subtended angle is beaten in the similar and different position of reflecting mirror

The little a wordline laser emitting head of point-like laser emitting head arranged side by side or subtended angle can have multilamellar, and multilayer build-up is in base plate On, per layer towards different horizontal sextant angles.

Can towards remote, middle distance, be closely respectively provided with it is multiple（Such as three）The line of varying level angle Shape laser aid, front side on the upper side may also set up one, and the swing angle of revolution of the reflecting mirror of this multiple linear laser device can not Together, the angle towards remote revolution is little, and the angle closely turned round is big.

Described linear laser discharger also carries upper and lower angular deflection mechanism, by linear laser when deflection mechanism is rotated The linear laser of device transmitting is towards the different level angle in front.

Described linear laser discharger also carries elevating mechanism, and elevating mechanism can adjust linear laser discharger position Height on the vehicles.

Described linear laser discharger also may be installed the level altitude on the vehicles.

The position that digital image module is substantially arranged is the half high position of the vehicles, can take into account regarding for image-forming module Angle.

General linear laser discharger is arranged on vehicle roof, and the linear laser for being sent is towards before the vehicles Lower section, the plane that projection surface is located perpendicular to the axis of the vehicles.

The projection line that the method for the reflecting mirror of convolution obtains is got to laser head constitute linear laser and can ensure that the bright of line Degree, and only need to a small amount of laser beam emitting head is installed.

Description of the drawings

Fig. 1（a、b、c、d）Schematic diagram is differentiated for preceding object thing（Wherein a ', b ', c ', d ' are respectively the imaging of a, b, c, d Schematic diagram）.

Fig. 2 is preceding object thing of the present invention apart from schematic diagram calculation.

Fig. 3（a、b、c、d）For the linear laser discharger structural representation of the present invention, wherein Fig. 3 a, 3b is structure side Face figure（The two kinds of working conditions for swinging）, Fig. 3 c, 3d are swing working condition top view.

Fig. 4（a、b）For the direction schematic diagram that laser rays are irradiated in swing process.

Fig. 5（a、b）For a kind of angular deflection structural representation of linear laser discharger of the present invention.

Fig. 6（a、b、c、d、e、f）To take the schematic diagram of the linear laser discharger of lower angle deflection mechanism.

Fig. 7（a、b）~8（a、b、c）For elevating lever operating diagram（8c is partial enlarged drawing）.

Fig. 9 is a kind of crane schematic diagram.

Embodiment：

At least one linear laser discharger 1 towards front ground is set on a vehicle, in vehicles front panel Nearby below or above at least one digital image module 2 is arranged at linear laser discharger, the position for substantially arranging is to hand over The half high position of logical instrument, can take into account the visual angle of image-forming module, and digital image module is mainly used in handing over linear laser line The projection line of logical instrument front projection position takes in the CCD of image-forming module（Or CMOS）On photo-sensitive cell, existed according to the laser rays Position shape on photo-sensitive cell, can just differentiate projection line of the laser rays on ground either with or without by other objects（Barrier）Block Firmly, except laser rays（Cooperative target）, other objects（Noncooperative target）Imaging on photo-sensitive cell can be ignored.Because one As barrier all land（There is foot）, the especially wheel of automobile can be detected on the ground of front, then barrier is also just deposited .

Linear laser discharger is the little a wordline laser emitting head of at least one point-like laser emitting head 12 or subtended angle 11 beat laser signal at one on the reflecting mirror 71 that 50 certain angle of rotary shaft rotates back and forth swing, by reflection The laser rays for swinging back and forth and reflecting, project that on front projection face making-breaking point or short-term section are constituted of 71 certain angle of mirror, The reflecting surface of reflecting mirror is located at the front surface of reflecting mirror, can be a plane or multiple streak-like planars or curved surface（Section is many Bar broken line）Or curved surface（One or more）, curved surface be preferably strip concave surface, laser can further be focused on.

The little a wordline laser emitting head of point-like laser emitting head or subtended angle may be provided at the front of reflecting mirror 71（Front upper place Or front lower place）, a casing 10 can be set and surround the little a wordline laser emitting head of point-like laser emitting head or subtended angle, laser is sent out Penetrate the panel that printing opacity can be opened wide or arranged at the casing 10 of head direction.

The reflecting surface of reflecting mirror 71 is vertical or inclines.

What driving reflecting mirror 71 rotated back and forth swing is repeatedly the electric magnet of discontinuous power supply or reverse positive interval power supply 58 or motor.

In order to ensure the seriality of laser making-breaking point or short-term section, it is ensured that bright spot or bright line that linear laser is got on road surface Section density, during in case speed is fast, the short barrier of longitudinal separation when a single point or line-segment sweep, can be missed, can with it is multiple simultaneously Row（Parallel or radial arrangement, fan-shaped array）Point-like laser emitting head or the little a wordline laser emitting head of subtended angle beat anti- Penetrate the similar and different position of mirror 71.

The little a wordline laser emitting head of multiple point-like laser emitting heads or subtended angle arranged side by side can have multilamellar, multilayer build-up On base plate 16, per layer towards different horizontal sextant angles.

The little a wordline laser emitting head of laser beam emitting head or subtended angle can be with each towards difference.

The little a wordline laser emitting head of laser beam emitting head or subtended angle can be with several one groups, and one group towards identical, each group Towards difference.

The little a wordline laser emitting head 11 of subtended angle is not indicated in the accompanying drawings, where arranging point-like laser beam emitting head 12 The signable a wordline laser emitting head 11 little for subtended angle, the subtended angle of a wordline laser emitting head 11 are each perpendicular to the vehicles Axis be located face.

Such as Fig. 3, two electric magnet 58 are set at reflecting mirror side two ends, electric magnet 58 is spaced repeatedly adhesive and is arranged on reflection The iron block at the 16 side two ends of base plate of mirror 71（Plate）60, reach and allow reflecting mirror 71 around rotary shaft 50 by rotating back and forth swing. Or the iron block of 71 side outer of reflecting mirror（Plate）60 is magnetic, is a kind of polarity in " N/S " near 58 side of electric magnet, Electric magnet 58 only needs to arrange one, by forward and reverse power supply adhesive or repulsion magnetic 60.

Rotary shaft 50 itself is fixed, is connected by bearing with base plate 16；Or rotary shaft 50 is fixed together with base plate 16, By fixed bearing rotary, if Motor drive base plate 16 rotates back and forth swing, then motor output shaft exactly can revolve Rotating shaft 50, such as Fig. 5.

88 adhesive iron block 60 of electric magnet has noise, can be not directly contacted with adhesive（It is separated by a bit clearance distance）, side The elastomer such as spring or rubber 61 is set, the collision of iron block 60 and electric magnet 58 is hindered.

Electric magnet 58 is in addition to it may be provided at 16 side two ends of base plate（Such as Fig. 3, Fig. 4 a/4b）, may also be arranged on base plate 16 Both sides.

Casing 10 and reflecting mirror 71, rotary shaft 50, electric magnet 58 or motor are arranged on a base 18, if Laser emission Head is located at below reflecting mirror 71, and casing 10 can be unified with base 18, or casing surrounds base and reflecting mirror 71, reflecting mirror 71 Drive part, arranges the open wide or window with light penetrating panel at reflecting surface direction.

When accessible, the laser rays stable projection on ground is in fixed position（Because road has certain gradient, projection A laser rays not necessarily straight line）, such as Fig. 1 a/1a ', when having obstacle raised, a part of laser rays are impinged upon on the obstacle of projection, Its projection on image-forming module will be shifted up（Recorded the upper time moved first）, such as Fig. 1 b/1b ', 1c/1c ', according to upper shifting Side-play amount, can calculate the distance of barrier, and according to vehicles translational speed, can calculate how long the vehicles can meet To the obstacle, the vehicles should how action, if there is hole in road ahead（Step）, then should have in desired location Laser rays will move down or invisible, such as Fig. 1 d/1d ', such case also indicate that there is obstacle in front, it is impossible to cross over（Also may be used By calculating the side-play amount for moving down, determine that this drop vehicles can pass through based on experience value）.

Further, according to linear laser emitting head the linear laser line projection position on angle obliquely, photo-sensitive cell Put, or even barrier can be calculated from the position of the vehicles, such as going out at light for Fig. 2 linear lasers discharger is A（It is liftoff Highly it is AB）, the light of injection shines D points on road surface, once run into the barrier on road（Such as one roadblock）, part light meeting It is blocked, bright spot occurs at L（Line segment）, the camera lens E central points of imaging device are O, and the terrain clearance is OG；Photo-sensitive cell C（CCD）It is Q points at horizontal direction correspondence O points, D points are R points at the imaging on C, and L points are P points at the imaging on C （D, L, N, R, P point not in one plane, is the perspective plane of these points in figure in fact）, DR and barrier LM（Take its height） N points are intersected at, AD is α with the angle on ground, and DR is β with the angle on ground.Putting for gained is calculated with amplification according to focal length Vast scale is k, wherein AB, OG, GB, OQ for known（Fixed value）, the density of RQ, PQ according to pixel（And pixel interval Distance）, can calculate in the coabsolute length of C and learn, physical length（When substituting into formula）Magnification ratio will be also multiplied by K, regards as and understands（It is known）, it is assumed that barrier LM with a distance from D for x, i.e. DM length be x then, it is convenient in figure for the sake of give tacit consent to and put Vast scale k is 1：

∵ tgβ=MN/DM= RQ/OQ= OG/DG

∴ DG= OG*OQ/RQ

∵ tg α=AB/DB is tg α=AB/（DG+GB）= AB/（OG*OQ/RQ +GB）

∵ LN=LM-MN= x*（tgα- tgβ）

∵（DG-DM）/ OQ=LN/RP is（DG-x）/OQ=LN/RP

∴（DG-x）/OQ= x*（tgα- tgβ）/RP

I.e.（DG-x）/OQ= x*（AB/（DG +GB）- RQ/OQ）/RP

x=(RP*DG/ ((AB*OQ/(DG+GB))-(RQ-RP))

Wherein RQ-RP=PQ, so after simplifying：

x=RP*DG/ (AB*OQ/(DG+GB)-PQ); DG=OG*OQ/RQ

∴x=RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))

It is barrier before the vehicles that DG-x is OG*OQ/RQ-RP*OG*OQ/ (RQ* (AB*OQ/ (OG*OQ/RQ+GB)-PQ)) End（Camera lens）Distance.

According to the speed and braking distance of the vehicles at that time, calculate how long the vehicles can also move ahead（Or it is how many Distance）It is accomplished by changing direction, and is determined toward left and right or which direction movement of rear according to the situation of the barrier left and right sides, Or moving direction is changed for behind the left back or right side according to mobile trend.

For the majority vehicles such as automobile, the position that digital image module 2 is substantially arranged is the half high-order of the vehicles Put, linear laser discharger 1 can be arranged on the top of automobile, the visual angle of image-forming module can be taken into account.For train or The big vehicles of one class inertia of steamer, closely detect not necessarily meaningful（Stop not living）, also can be by digital image module 2 very To at top, linear laser discharger 1 is positioned close to ground（Or the water surface）Where.

The multilamellar that can be arranged in casing 10（Such as three layers）The laser beam emitting head of varying level angle, layering is from high to low It is superimposed in a casing 10, the laser color of every layer of laser beam emitting head is preferably different.

Can towards remote, middle distance, be closely respectively provided with it is multiple（Such as three）The line of varying level angle Shape laser aid 1, front side on the upper side may also set up one, the swing angle of revolution of the reflecting mirror 71 of this multiple linear laser device 1 Can be different, the angle towards remote revolution is little, and the angle closely turned round is big.

Linear laser discharger 1 can arrange upper and lower angular deflection mechanism, and linear laser device 1 is launched when rotating by deflection mechanism Linear laser towards front difference angle.According to the vehicles（Automobile）Speed, automatically control this linear laser and launch Device 1（Between ground）Horizontal sextant angle, vehicle speed are faster, and angle is less, and this angular deflection mechanism can be Rotate upwardly and downwardly mechanism or swing mechanism.Drive deflection（Rotation）Drive shaft 51 can be by the motor with or without reducing gear Or servomotor（Steering wheel）Drive.Angular deflection mechanism can also one end（Or middle part）Rotary shaft 50, the other end are set（Or in Portion）With a worm gear by worm drive（Local volute tooth）, such as Fig. 5（a、b）, this mode can be raised the price with common DC motor Disk is controlled or step motor drive.Linear laser can be rotated some angles by rotating mechanism or swing mechanism, by rotating, by line Shape laser transfer is to front horizontal direction difference angle, such as automatic Pilot（Or band auxiliary driving device）Vehicle according to speed And safety shut-down distance, need detection at a distance（Over such as 100 meters）Or middle distance（30 ~ 50 meters）, nearby（Within 10 meters） Different obstacles, this turn（Pendulum）Dynamic direction is by closely to remote rotation, this turn by laser rays（Pendulum）Dynamic direction is to turn upwards （Pendulum）Move to linear laser being exposed to scope contour in front of the vehicles, this turn can be passed through（Pendulum）Dynamic detection front road Road is either with or without obstacles such as the crossbeam less than height of car, branches.

Certainly linear laser discharger 1 can also be not provided with upper and lower angular deflection mechanism, and linear laser transmitting apparatus are towards admittedly Determine angle, laser beam emitting head of the multilamellar towards different directions can be set, four layers, before being respectively facing after transmitting have such as been set gradually It is on the upper side（The detection vehicles obtain whether peak can collide the bridge in front, tunnel etc.）, it is front on the lower side（100 meters or so distances）、 Middle distance（50 meters or so）, front lower place（Closely）.

Linear laser discharger 1 namely includes laser beam emitting head and surrounds the casing 10 of these laser beam emitting heads, or Person's base 18 or the casing 10 comprising base 18（Similarly hereinafter）Left and right two ends（Or at least one end）Rotary shaft 50 supported Arm 59 is clamped（Copper sheathing can be passed through or bearing is clamped）, centre position（Or another section）Rotary shaft 50 on gear is set, pass through One transition gear 52 is engaged with the gear in drive shaft 51, such as Fig. 6（a）, drive shaft subtracts by servomotor, motor or band The direct current generator of fast gear is raised the price dish driving（It can be the motor shaft of motor）；The rotary shaft 50 of casing 10 or base 18 Can be exactly the output shaft of motor, or between only one of which gear.

10 afterbody of casing of linear laser discharger 1 may also set up arc line shaped tooth bar 53, the tooth driven with drive shaft 51 Wheel engagement, is driven in the way of rack-and-pinion and is rotated to an angle, such as Fig. 6（b）；Afterbody may also set up arc line shaped volute tooth, with One motor-driven worm gear engagement, is driven in the way of worm and gear and is rotated to an angle, the benefit of worm and gear be self-locking with Big retarding ratio.

Linear laser discharger 1 can also pass through cam 54（Eccentric）The mode of rotation plus 55 extension recovery of spring makees past It is multiple（Swing）Motion, such as Fig. 6（c）.

Linear laser discharger 1 also can drive reciprocating, such as Fig. 6 by way of 56 connecting rod 57 of crank（d）, figure In depict casing 10 by move back and forth after two positions.

Linear laser discharger 1 is up and down reciprocatingly（Swing）Motion also can be controlled by the break-make of electric magnet 58, such as Fig. 6 （e）, electric magnet 58 is arranged on the side in the bottom left and right sides of casing（Or both sides are all arranged）, 58 adhesive of electric magnet during energization The iron block of 10 bottom of casing, during power-off, linear laser discharger is retracted by spring 55；Or electric magnet 58 is arranged on into wire The top of laser beam emitting device, such as Fig. 6（f）, iron block when electric magnet 58 is powered above adhesive linear laser discharger（Plate） 60, as the rotation of action of gravity wire laser beam emitting device falls after rise during 58 power-off of electric magnet.58 adhesive iron block 60 of electric magnet is made an uproar Sound, can be not directly contacted with adhesive（It is separated by a bit clearance distance）, side arranges the elastomer such as spring or rubber 61, hinders ferrum The collision of block 60 and electric magnet 58.

Whole rotating mechanism also is located in casing 10.

Rotating mechanism or reciprocating motion（Swing mechanism）There are many schemes, this is some simple exemplary scenarios, one Individual rotating mechanism or swing mechanism can design many schemes for the technical staff of machinery industry, should not be by rotating machine The change of structure or swing mechanism is considered as the new improvement of the present invention.

The drive part of rotary shaft 50 can also be provided at the one end in the left and right two ends of linear laser discharger 1, another Hold the support shaft that rotation is fixed with bearing.

Described linear laser discharger 1 also may be installed the level altitude on the vehicles.

Described linear laser discharger 1 is may be provided on the top cover of the vehicles, or uses fixed support（Push rod）Prop, Or also include the elevating mechanism of a linear laser discharger 1（Scalable linear laser discharger 1 is on a vehicle Highly）.In addition to the aeroperformance of the vehicles, casing 10 or framework（Finger is not contained in the part in casing 10）Windward（Or Leak out）One side shape should meet aerodynamic design.For the linear laser discharger for being carried in elevating mechanism exists Need the level inclination of direction add motor-driven angle rotation adjuster adjustment angle or logical by level indicator before and after lifting The mode for crossing mechanical gyroscope hangs, no matter the angle difference that elevating lever top inclines or lifts, a whole set of linear laser transmitting dress 1 is put towards front lower place fixed position.

Elevating lever can be arranged on the A posts of automobile（Or B, C post）It is interior, can one side be arranged in a post, elevating lever itself in fall " L " shape, or be arranged in two posts of both sides（The drive shaft of elevating mechanism 9 extends to opposite side from side, or both sides have The motor of synchronous rotary）, elevating lever itself be in " n " shape, can also single pole it is " T " shape, from generator case or luggage case rise Drop（Can will be this bar as thin as possible, Min. does not affect visual field）, or the A posts for being provided separately within side（Or B, C post）It is interior, lifting Bar itself is with teeth or screw thread, and elevating mechanism 9 is that motor-driven gear or screw rod can be such as microscope dressers（Or camera lens）Lifting Mode lifts the height of linear laser transmitting apparatus 1.

If elevating mechanism support（Push rod）Prop, this support may also be configured to electronic（Or hydraulic pressure or air pressure）Lifting Support, as the antenna or elevation mast of electric up-down in galloping, in order to beat far in laser signal （100 meters or so）When, the point on point or the barrier on road is clearly differentiated in image-forming module, in order to widen between LN points Linear laser discharger can be gone out and significantly lift at light raising by distance.The antenna or elevation mast of electric up-down has maturation Technology, but motor-driven lift when preferably with code-disc or cellular type（Counted with photoelectric tube or mechanical switch）Clockwork spring（Volume Around）This space-efficient mode, it is known that the height of linear laser discharger, or can be down to most by direct liter of detection switch Big height（Fixed value）, decline also by switch detection.As Fig. 6,7, mast put down when can run at a low speed in lodging in car On top（It is easy to reduction running resistance, reduction overall height to be easy to into garage etc.）, when running at high speed, mast passes through one or two（Two Side is each one）Push up 92 jack-up, push rod 92 can be electric or pneumatic or hydraulic-driven, such as Fig. 7, also can be if Fig. 8 is subtracting greatly The gear of fast ratio drives the gear 91 of mast foot（Local tooth）, mast foot also has a projection 95, in the limiting altitude of mast When withstand（It is little）The C posts or rear back timber of automobile, mast are no longer fallen backward.Mast can be one ("T"-shaped), may also be " n " shape Two（For without prejudice to skylight）.

Can be with vehicle roof one platform-type lifting platform for rising overally or declining of setting（Frame）, linear laser Discharger is arranged on lifting platform（Frame）Top（Or under hang over top）, such as Fig. 9, lifting motor（Band shell）96 drive one Individual screw mandrel 93,93 distal end of screw mandrel are polished rod, by the side of 97 fixed value lifting platform of bearing, are arranged on lifting proximally by driving The nut 94 of platform opposite side promotes lifting platform（Frame）Rise or fall, the benefit of this elevating mechanism is linear laser discharger 1 direction is without changing, and band auto-lock function.

So-called digital image module predominantly includes photographic head, digital image components and parts（CCD or CMOS array）, be input into it is defeated Go out circuit, digital signal processing module（DSP）It is Deng the camera system that part is integrated, typical to apply such as camera, optics Mus Target is imaged and processing system, the camera system of mobile phone etc., photographic head preferably with wide-angle camera, before image-forming module End can also arrange filter lenss, polaroid, also filter lenss, polaroid can be integrated in image-forming module certainly（After photographic head）, this Individual digital image-forming module also can arrange multiple at grade, and such as left and right is each one, to extend visual angle.Digital image module It is not necessarily positioned on vehicles shell, also can the perforate on shell（Window）, imaging device is to vehicle interior indentation One segment distance.Camera lens can arrange the good glass of light transmission in order to dust-proof（Or resin）Piece is blocked, or is kept off with filter lenss, polaroid Ash, in order to avoid the light-illuminating of opposite car cause it is over-exposed, so-called infrared section can be also installed before or after camera lens Only optical filter, the optical filter may also be employed window mode（Open or close）Or lifting or translation mode, typically use in night, That is optical filter is removed by daytime, evening shift-in.

Imaging device 2 can arrange multiple, such as one focal length 21, a Radix Rumiciss, and medium and long distance adopts focal length, nearby With Radix Rumiciss, focal length camera 21（Imaging device）Height near chassis is arranged on, Radix Rumiciss are arranged near automobile half high position.For Improve the speed of imaging device processing data（Frame/per second）, can be at a distance（About 100 meters）, middle distance（About 50 meters）, it is near Place（10 meters or so）, be respectively provided with an imaging device, each imaging device track respectively process distant place, middle distance, nearby three The situation of change of section laser rays, because the scope of laser line imaging based on experience value, can be delimited substantially on photosensitive sensor, And because fixed distance（Such as 50 meters）There is fixed visual angle β, between the projection R and Q of imaging sensor apart from RQ be Fixed, and point of irradiation L of the laser on barrier only can be pointed out from R below R points in the projection P point of imaging sensor Move to Q points, until cross Q points to continue to disappear downwards or in moving process（Less than visual angle or removal monitoring road scope）, So DSP can mainly process R to Q points（Line）Between a less imaging sensor monitor area, certainly, in order to take into account Depression in the gradient and monitoring road of road, or because the image space that the shake in vehicle traveling process is caused is moved It is dynamic, the altitude range of a little R points need to be suitably increased, less data processing amount ensures speed（The imaging interval time）.

Existing high resolution CCD or CMOS（Mainly CMOS）Imaging sensor single pixel size dimension it is about several Individual micron（Stacking-type CMOS on mobile phone can accomplish 1 micron at present）If, in 100 meters of remote imaging（Assume to swash Light goes out 1.6 meters of height at light, 0.3 meter of height at imaging device, and focal length is about 36 centimetres）, by calculating, such as at 97 meters Laser rays run into the barrier of projection, the only upper length for moving about 3 pixels of its image space（About 14 microns）, the laser at 95 meters Line runs into the barrier of projection, the only upper length for moving about 5 pixels of its image space（About 23 microns）, laser rays are met at 90 meters To raised barrier, the only upper length for moving about 10 pixels of its image space（About 48 microns）, in order to ensure on barrier Laser rays can be offered an explanation on an imaging sensor with the laser rays on ground, are needed to take a little measures, are such as increased imaging device Focal length, increase the distance that imaging device and linear laser discharger go out at light, especially linear laser discharger goes out light Linear laser discharger is raised by the height at place with lowering or hoisting gear, here it is aforesaid increase for linear laser discharger 1 The reason for lowering or hoisting gear.

Certainly also image-forming module position can be reduced, is close to ground, but it is larger to be close to dust at ground, and imaging device is had Devastating impact, the camera lens of the original image-forming module for being arranged on automotive front are also required to Jing and often clean, and one can be installed before camera lens Individual swab, such as the deflection cylinder or brush of lifting or wiper sample, brush（Bristle or swipe）With flexible material, in order to avoid Big injury is caused to camera lens；Or the glass that one flat plate is filled is refilled before camera lens, for keeping off ash, and clean easy and resistance to Mill.

Imaging of the linear laser line on CMOS or CCD pixel point is not a simple straight line, and such as highway is in certain Slope（Middle high, both sides are low）, it is circular arc line by rotate or shake the linear laser for sending presentation, at image information During reason, such line segment also should be able to be considered as that cooperative target is identified in knowledge base, comprising rugged on road, The line segment that can be allowed by automatic Pilot in the velocity interval of automobile deviates scope, etc. these numerical value and need to pass through to test repeatedly, Set up in the knowledge base of automatic Pilot.Even laser, still has ill-defined situation after imaging, and distance is more remote more serious （Line segment is wider）, it is also desirable to the noise reduction that responded, smooth, binary conversion treatment etc., more accurate distance value how is obtained, can be led to The imaging features of the laser rays for building each fixed range are crossed, weather condition is taken into account（Brightness）, related empirical value is extracted, is obtained Approximate barycenter（Line）Set up in knowledge base.Can shake in vehicle traveling process in addition, but the stabilization in image procossing is Jing has mature technology（Such as camera）, and during car body shake, image-forming module and linear laser discharger are synchronization jitters.Now The camera lens of focal length camera be typically made up of multi-disc optical lens, it is impossible to simply calculate according to similar triangles（Meter above Calculation mode is simply to illustrate that principle）, have certain proportionate relationship（It is relevant with the focal length of camera, amplification）, this ratio When the data that can be provided according to camera supplier in practical application or measurement regular length, resulting empirical data adds To calculate.For smooth road, different distances, projected position of the line segment that linear laser is projected on image-forming module Be fixed, but work as Uneven road, in go up a slope or the starting point of descending before or during the unfixed ramp of the gradient, projected position is just Can deviate.

The laser line length that the linear laser of the same transmitting of linear laser discharger 1 is projected in different distances is not Together, the longer laser rays of distance are also longer, can arrange a virtual frame in image-forming component, to the width for representing vehicle, are similar to The trapezoidal frame of width of the carbody is shown on present backsight back-up video, deformation of the laser rays outside this frame can be neglected Slightly, it is of course possible to measure laser rays deformation outside the frame whether trend of directed edge inframe movement, if it has, explanation barrier Meeting and vehicle collision are possible to, vehicle should just slow down or early warning；It is exactly to set up a vehicles for the vehicles Projection frame in direction of advance.

Further：Can be in the both sides of wire laser beam emitting device respectively according to two sets towards outside vehicle nearby two lateral boundaries A wordline laser emitting head（Or with a linear laser discharger for expanding greatly angle）, for detecting that vehicle nearby has not Someone, animal and other objects quickly moving to the track of this car, or can only Ackermann steer angle shift to an earlier date anticipation and turn round Whether track has obstacle.

Whole system of the present invention not only installs the front towards the vehicles, also can be towards the rear of the vehicles（Auxiliary Reversing or early warning backward）Or towards the left and right of the vehicles（Or it is left front, right before, it is left back, right after）Direction, auxiliary are overtaken other vehicles or are turned It is curved.Can also be in the side of automobile (on such as car body both sides or reflector bracket（Place can not be rotated）Vertically install towards front Linear laser, to represent the width of automobile, and by irradiation, and detects the both sides of image-forming module to determine front either with or without thing （Or people, animal or aerial branch）Into in the track of vehicle travels, for the sake of same reliability, also can be attached in vehicle chassis It is near to launch forwards parallel to chassis（Parallel ground or forward upward cover wheel front lower place）Laser rays, by imaging or Reflection（Range finding or only detection signal）Mode further detect preceding object.

For the ship of automatic Pilot, because there is the fluctuation of water wave, be projected in front is not just straight line, can It is compared with arranging certain side-play amount according to the height of wave；For train, because the relation of roadbed and track, projection line Nor straight line, can be compared according to the virtual frame of the chassis height of permutation train and width foundation.

Claims

1. a kind of sensor for automatic Pilot, is characterized in that arranging on a vehicle at least one towards front ground Linear laser discharger (1), it is anterior below or above linear laser discharger (1) place setting at least one in the vehicles Digital image module (2), digital image module (2) are mainly used in linear laser line (1) in vehicles front projection position On projection line intake image-forming module CCD or CMOS photo-sensitive cells on, described linear laser discharger is at least one Laser signal is beaten and is revolved around one at one by the little a wordline laser emitting head (11) of point-like laser emitting head (12) or subtended angle Rotating shaft (50) certain angle is rotated back and forth on the reflecting mirror (71) of swing, by reflecting mirror (71) certain angle swing back and forth and Reflection, projects the laser rays that making-breaking point or short-term section are constituted on front projection face, and the reflecting surface of reflecting mirror (71) is located at instead The front surface of mirror is penetrated, can be vertical for a plane or multiple planes or curved surface, the subtended angle of a wordline laser emitting head (11) In the face that the axis of the vehicles is located.

2. a kind of sensor for automatic Pilot according to claim 1, is characterized in that point-like laser emitting head (12) Or the little a wordline laser emitting head (11) of subtended angle is multiple side by side, the similar and different position of orienting reflex mirror (71).

3. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting Also set up on the base plate (16) of device (1) casing (10) surround the little wordline of point-like laser emitting head (12) or subtended angle swash Light emitting head (11), casing (10) place of laser beam emitting head direction can open wide or arrange the panel of printing opacity.

4. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting Device (1) can be layered and arrange multiple, and each is towards different horizontal sextant angles, little towards farthest time rotary oscillation angle, laser Head is point-like laser emitting head (12), and the angle for rotating back and forth swing towards linear laser discharger (1) most nearby is big.

5. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting Device (1) also carries upper and lower angular deflection mechanism, the linear laser court that linear laser device (1) is launched when rotating by deflection mechanism Different level angle forwards.

6. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting Device (1) also carries elevating mechanism, and elevating mechanism can adjust height of the linear laser discharger (1) on the vehicles.

7. a kind of sensor for automatic Pilot according to claim 1, is characterized in that described linear laser transmitting Device (1) installs level altitude on a vehicle.