CN106707297A - Large field-of-view vehicle-mounted laser radar and vehicle - Google Patents
Large field-of-view vehicle-mounted laser radar and vehicle Download PDFInfo
- Publication number
- CN106707297A CN106707297A CN201610979369.0A CN201610979369A CN106707297A CN 106707297 A CN106707297 A CN 106707297A CN 201610979369 A CN201610979369 A CN 201610979369A CN 106707297 A CN106707297 A CN 106707297A
- Authority
- CN
- China
- Prior art keywords
- footpath
- speculum
- laser radar
- wide
- collimating element
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a large field-of-view vehicle-mounted laser radar and a vehicle. The large field-of-view vehicle-mounted laser radar comprises a turntable, at least two long-range detection units, and at least two short-range detection units, wherein the at least two long-range detection units are symmetrically arranged on the turntable; each long-range detection unit comprises a first laser device, a wide-diameter collimating device arranged on an emergent light path of the first laser device, a wide-diameter convergence device, and a first photoelectric converter arranged on a convergent light path; and each short-range detection unit comprises a second laser device, a narrow-diameter collimating device arranged on an emergent light path of the second laser device, a narrow-diameter convergence device arranged adjacent to a wide-diameter emergent lens, and a second photoelectric converter arranged on a convergent light path. The large field-of-view vehicle-mounted laser radar and the vehicle have the advantages of simple structure, low cost and the like.
Description
Technical field
The present invention relates to laser radar, more particularly to big visual field mobile lidar and vehicle.
Background technology
Compared with ultrasonic radar, microwave radar, laser radar has the spies such as high, the remote, excellent performance of range finding of certainty of measurement
Point, it is adaptable to measuring vehicle speed, range finding and target positioning.In recent years, apply in automobile collision preventing adaptive cruise control system, senior
Mobile lidar in drive assist system and Unmanned Systems gets most of the attention.
The umber of pulse of one-line scanning laser radar each second is limited, and coverage rate is small, holds very much in the middle of barrier early warning
Easily cause the missing of detection.
To make up the not enough shortcoming of one-line scanning laser radar, multi-line laser radar is occurred in that, such as velodyne's is multi-thread
Laser radar, refers to patent US7969558B2, US8767190B2.There are multiple (16 or 32) Laser emissions after each lens
Device or receiver are arranged under the overlay, and each pair emitting/receiving is collimated with 1/3 ° or 4/3 ° of increment.The master of the multi-line laser radar
The deficiency is wanted to be：
1. due between each transmitter or each receiver distance it is minimum, therefore assembly difficulty is high, is unsuitable for batch production, cost
It is high；
2. multi-line laser radar overall structure symmetry is low, and rotational stabilization difference correspondingly increases, it is necessary to increase balancing weight
Structure complexity；
3. vertical field of view scope is 26.8 °, and obstacle detection error is easily caused in upward slope or vehicle body big rise and fall, is pacified
Full blast danger is big.
The content of the invention
Be to solve the deficiency in above-mentioned prior art, the invention provides a kind of simple structure, assembly complexity it is low,
The big visual field mobile lidar that vertical field of view angle is big, spin stabilization is good.
The purpose of the present invention is achieved through the following technical solutions：
A kind of big visual field mobile lidar；The laser radar includes：
Turntable；
At least two long-range detection units, at least two long-range detection units are symmetrically disposed in the turntable
On；The long-range detection unit includes：
First laser device, is arranged on the footpath collimating element wide on first laser device emitting light path；
Device is assembled in footpath wide, is arranged on footpath wide and is assembled the first optical-electrical converter that device is formed on Path of Convergent Rays；
At least two short distance detection units, at least two short distance detection units are symmetrically disposed on turntable；Institute
Stating short distance detection unit includes：
Second laser, is arranged on the narrow footpath collimating element on second laser emitting light path；
Device is assembled in narrow footpath, is arranged on the second optical-electrical converter that narrow footpath is assembled on the Path of Convergent Rays that device is formed.
According to above-mentioned laser radar, alternatively, the long-range detection unit is further included：
Outgoing chamber, internal diameter of the outgoing chamber on along emitting light path direction becomes larger, the footpath collimating element wide
It is arranged on the end in outgoing chamber；
Reception cavity, internal diameter of the reception cavity on along Path of Convergent Rays direction is tapered into, the footpath collimating element wide
It is arranged on the end in outgoing chamber.
According to above-mentioned laser radar, alternatively, the long-range detection unit is further included：
First speculum, the central axis in the relatively described outgoing chamber of first speculum is obliquely installed, first laser device
Emergent light through first speculum reflect after pass through outgoing chamber, afterwards leniently footpath collimating element project；
Second speculum, the central axis that chamber is penetrated in the relatively described reception of second speculum is obliquely installed, extraneous incident
Light is assembled after device is assembled through footpath wide and passes through reception cavity, reflexes to the first optical-electrical converter by the second speculum afterwards.
According to above-mentioned laser radar, alternatively, the short distance detection unit is further included：
Fixed mount, the narrow footpath collimating element and narrow footpath are assembled device and are arranged on fixed mount.
According to above-mentioned laser radar, it is preferable that the line between the narrow footpath collimating element and narrow footpath convergence device center
Angle with vertical direction is more than zero.
According to above-mentioned laser radar, alternatively, described turn relatively of the long-range detection unit and/or short distance detection unit
The angle of dynamic platform is adjustable.
According to above-mentioned laser radar, alternatively, the footpath collimating element wide, footpath wide assemble that device is setting up and down or left and right
Set；The narrow footpath collimating element, narrow footpath assemble device it is setting up and down or left and right set.
According to above-mentioned laser radar, alternatively, the laser radar is further included：
Combined type speculum, the combined type speculum is arranged in the emergent light light path of laser radar.
The present invention also aims to provide a kind of vehicle of the above-mentioned mobile lidar of application, the goal of the invention passes through
Following technical scheme is achieved：
A kind of vehicle, the vehicle includes：
Mobile lidar, the mobile lidar uses any described mobile lidars of claim 1-7, and
It is arranged on headstock.
According to above-mentioned vehicle, alternatively, the mobile lidar is further included：
Combined type speculum, the combined type speculum sets the side of turntable, and reflecting surface is in face of vehicle forward direction.
Compared with prior art, the device have the advantages that being：
1. assembling and setting difficulty is substantially reduced, and is adapted to batch production, to reduce product cost；
2. by the angle of flexible modulation combined type speculum, and each detection unit the angle of pitch, make vehicle-mounted laser thunder
Up to the vertical field of view with 360 degree of horizontal field of view and -30 ° -30 °, complex road condition obstacle detection demand is met, improve nothing
The security of the vehicle traveling such as people's driving；
3. each detection unit is symmetrically placed, easily realizes gravity allocation on turntable, and balancing weight, drop are increased without extra
Low system complexity.
Brief description of the drawings
Referring to the drawings, the disclosure will be easier to understand.Skilled addressee readily understands that be：This
A little accompanying drawings are used only for illustrating technical scheme, and are not intended to be construed as limiting protection scope of the present invention.
In figure：
Fig. 1 is the structure diagram of according to embodiments of the present invention 1 mobile lidar；
Fig. 2 is the structure diagram of according to embodiments of the present invention 1 long-range detection unit；
Fig. 3 is the structure diagram of according to embodiments of the present invention 1 short distance detection unit；
Fig. 4 is the structure diagram of according to embodiments of the present invention 2 mobile lidar；
Fig. 5 is the structure diagram of according to embodiments of the present invention 4 mobile lidar；
Fig. 6 is the structure diagram of according to embodiments of the present invention 4 long-range detection unit；
Fig. 7 is another structure diagram of according to embodiments of the present invention 4 long-range detection unit；
Fig. 8 is the structure diagram of according to embodiments of the present invention 4 short distance detection unit.
Specific embodiment
Fig. 1-8 and following description describe optional embodiment of the invention to instruct how those skilled in the art implement
It is of the invention with reproducing.In order to instruct technical solution of the present invention, some conventional aspects are simplified or have eliminated.Those skilled in the art
It should be appreciated that modification or replacement from these implementation methods will within the scope of the invention.Those skilled in the art should understand that
Following characteristics can combine to form multiple modifications of the invention in a variety of ways.Thus, the invention is not limited in it is following can
Implementation method is selected, and is only limited by claim and their equivalent.
Embodiment 1：
Fig. 1 schematically illustrates a kind of big visual field mobile lidar of the embodiment of the present invention, as shown in figure 1, described
Laser radar includes：
Turntable 11；
At least two long-range detection units 21, such as two, at least two long-range detection units are symmetrical and equably set
Put on the turntable；As shown in Fig. 2 each long-range detection unit 21 includes：
First laser device 22；
Outgoing chamber 23, the outgoing chamber is arranged on turntable, and relatively rotates the adjustable angle of platform, is swashed along first
Internal diameter on light device emitting light path direction becomes larger；One end of the non-installation footpath collimating element wide in outgoing chamber has breach；
Footpath collimating element 24 wide, such as collimation lens, the footpath collimating element wide are arranged on the end in outgoing chamber；
First speculum 25, first speculum is arranged on the bottom in outgoing chamber, the central shaft in relatively described outgoing chamber
Line is obliquely installed, and the emergent light of first laser device reflects through first speculum, and reflected light enters in outgoing chamber through breach, after
Through outgoing chamber, finally leniently footpath collimating element is projected, i.e. between the axis of the first laser device and the central axis in outgoing chamber
Angle be more than zero, such as 90 degree；
First optical-electrical converter 26；
Reception cavity 27, the reception cavity is arranged on turntable, and relatively rotates the adjustable angle of platform, along converging light
Internal diameter on the direction of road is tapered into；One end that device is assembled in the non-installation footpath wide in outgoing chamber has breach；
Device 28, such as convergent lens are assembled in footpath wide, and the footpath convergent lens wide is arranged on the end of reception cavity；
Second speculum 29, second speculum is arranged on the bottom of reception cavity, relatively described to receive the center for penetrating chamber
Axis is obliquely installed, extraneous incident light through footpath wide assemble device assemble after pass through reception cavity, after through breach project reception cavity, quilt
Received by the first optical-electrical converter after the reflection of second speculum, i.e. the axis of the first optical-electrical converter and the central shaft of reception cavity
The angle of line is more than zero, such as 90 degree；
At least two short distance detection units, such as four, at least two short distance detection units are symmetrically disposed in long-range
On turntable between detection unit, all of long-range detection unit and short distance detection unit are evenly provided on turntable；
As shown in figure 3, each short distance detection unit includes：
Fixed mount 33, the fixed mount setting relatively rotates the adjustable angle of platform on the turntable；
Second laser 32；
Narrow footpath collimating element 34, such as collimation lens, the narrow footpath collimating element are arranged on the fixed mount, and collimation is described
The emergent light of second laser；
Device 35, such as convergent lens are assembled in narrow footpath, and the narrow footpath is assembled device and is arranged on the fixed mount；
Second optical-electrical converter 36, second optical-electrical converter is arranged on narrow footpath and assembles on the Path of Convergent Rays of device.
Embodiment 2：
The automatic driving vehicle of the embodiment of the present invention, the vehicle includes：
Mobile lidar, as shown in figure 4, the mobile lidar is using laser radar in embodiment 1, and is arranged on
Headstock；
Combined type speculum, is such as made up of two speculum 41-42, and the angle between two speculums is adjustable, the combination
Formula speculum is fixedly installed on the side of turntable, and reflecting surface is not rotated in face of vehicle forward direction with turntable.
Combined type speculum back to direction be the direction that need not detect.When detection unit is rotated to combined type speculum
During direction, the emergent light of laser reflexes to speculum 42 by speculum 41, and after being reflected by speculum 42 outgoing to outside thing
Body, speculum 42 is incident upon by the illumination that exterior object reflects, and then reflexes to speculum 41, and by meeting after being reflected by speculum 41
Poly- device focuses to optical-electrical converter.When the angle between speculum 41 and speculum 42 is 90 °, combined formula speculum
Emergent light with initially through the outgoing parallel light of exit lens；When its angle is not 90 °, the emergent light phase of combined formula speculum
There is deviation in turntable vertical plane to the emergent light initially through exit lens.By the folder for adjusting combined type speculum
Angle, and each detection unit the angle of pitch, reachable -30 ° -30 ° of mobile lidar vertical field of view angle.
Embodiment 3：
The application examples of according to embodiments of the present invention 2 vehicle.
6 line laser radars are used in the present embodiment, as shown in figure 1, using two long-range detection units, symmetrically and equably
It is arranged on turntable (angle i.e. between detection unit is 180 degree), and it is adjustable to relatively rotate the angle of pitch of platform；Footpath collimation wide
Device and footpath wide assemble device and use convex lens, and outgoing chamber and reception cavity or so are set, and are integrally formed；First laser device
Angle between the axis in axis and outgoing chamber is 90 degree；Using four short distance detection units, it is symmetrically disposed on turntable；Gu
Determine frame to be arranged on turntable, and it is adjustable to relatively rotate the angle of pitch of platform；Narrow footpath collimating element and narrow footpath are assembled device and are used
It is sharp that the line between the center of device and the angle between vertical direction are assembled in convex lens, the center of narrow footpath collimating element and narrow footpath
Angle：Device is assembled under in narrow footpath, and narrow footpath collimating element assembles the upper left side or upper right side of device in narrow footpath；Second laser is set
In the focal point of narrow footpath collimating element, the second optical-electrical converter is arranged on the focal point of narrow footpath convergent lens；Combined type speculum
By two speculum groups into the angle between two speculums is adjustable, such as acute angle, right angle.
Assemble device, narrow footpath collimating element and narrow footpath and assemble by selecting the footpath collimating element wide of suitable bore, footpath wide
Device so that the detecting distance of long-range detection unit reaches 200m, the detecting distance of short distance detection unit reaches 100m.
Embodiment 4：
The automatic driving vehicle of the embodiment of the present invention 4, the automatic driving vehicle includes：
Vehicle-mounted 12 line laser radar, the laser radar is arranged on headstock, as shown in figure 5, the laser radar includes：
Turntable 11；
Four long-range detection units 21, four long-range detection units are symmetrical and are evenly provided on the turntable
On, and it is adjustable to relatively rotate the angle of pitch of platform；As shown in fig. 6-7, each long-range detection unit includes：
First laser device 22, the first laser device is fixed on the upper of outgoing chamber by the first such as circuit board of installing plate 61
Portion；
Outgoing chamber 23, the outgoing chamber is arranged on turntable, on along first laser device emitting light path direction in
Footpath becomes larger；One end of the non-installation footpath collimating element wide in outgoing chamber 23 has breach 51；
Footpath collimating element 24 wide, such as collimation lens, the footpath collimating element wide are arranged on the end in outgoing chamber；
First speculum 25, first speculum is arranged on the bottom in outgoing chamber, the central shaft in relatively described outgoing chamber
Line is obliquely installed, and the emergent light of first laser device downwards, enters in outgoing chamber through breach 51, after being reflected through first speculum
Through outgoing chamber, finally leniently footpath collimating element is projected, i.e. between the axis of the first laser device and the central axis in outgoing chamber
Angle be more than zero, such as 90 degree；
First optical-electrical converter 26, reception cavity bottom is arranged on by the second fixed plate 62 such as circuit board；
Reception cavity 27, the reception cavity is arranged on outgoing chamber bottom, and is integrally formed with outgoing chamber, along Path of Convergent Rays
Internal diameter on direction is tapered into；One end that device is assembled in the non-installation footpath wide of reception cavity 27 has breach 52；
Device 28, such as convergent lens are assembled in footpath wide, and the footpath convergent lens wide is arranged on the end of reception cavity；
Second speculum 29, second speculum is arranged on the top of reception cavity, relatively described to receive the center for penetrating chamber
Axis is obliquely installed, extraneous incident light through footpath wide assemble device assemble after pass through reception cavity, after through breach 52 project reception cavity,
Received by the first optical-electrical converter after being reflected by the second speculum, i.e. the axis of the first optical-electrical converter and the center of reception cavity
The angle of axis is more than zero, such as 90 degree；
Four short distance detection units 31, four short distance detection units are symmetrical and are evenly provided on turntable, long
Journey detection unit and short distance detection unit replace on turntable, are uniformly arranged；As shown in figure 8, each short distance detection unit bag
Include：
Fixed mount 33, the fixed mount setting relatively rotates the adjustable angle of platform on the turntable；
Second laser 32, the 3rd laser 71；
First narrow footpath collimating element 34, the second narrow footpath collimating element 72, such as collimation lens, the first narrow footpath collimating element
With the center section that the second narrow footpath collimating element is horizontally disposed at the fixed mount, the second laser, are collimated respectively
The emergent light of three lasers；
First narrow footpath assembles device 35, the second narrow footpath and assembles device 73, such as convergent lens, and device is assembled in the first narrow footpath
It is setting up and down with the second convergence device, it is separately positioned on the upper and lower part of the fixed mount；
Second optical-electrical converter 36, the 3rd optical-electrical converter 74, second optical-electrical converter are arranged on the first narrow footpath meeting
On the Path of Convergent Rays of poly- device, the 3rd optical-electrical converter is arranged on the second narrow footpath and assembles on the Path of Convergent Rays of device.
Assemble device, narrow footpath collimating element and narrow footpath and assemble by selecting the footpath collimating element wide of suitable bore, footpath wide
Device so that the detecting distance of long-range detection unit reaches 200m, the detecting distance of short distance detection unit reaches 100m.
Claims (10)
1. a kind of big visual field mobile lidar；It is characterized in that：The laser radar includes：
Turntable；
At least two long-range detection units, at least two long-range detection units are symmetrically disposed on the turntable；Institute
Stating long-range detection unit includes：
First laser device, is arranged on the footpath collimating element wide on first laser device emitting light path；
Device is assembled in footpath wide, is arranged on the first optical-electrical converter that footpath wide is assembled on the Path of Convergent Rays that device is formed；
At least two short distance detection units, at least two short distance detection units are symmetrically disposed on turntable；It is described short
Journey detection unit includes：
Second laser, is arranged on the narrow footpath collimating element on second laser emitting light path；
Device is assembled in narrow footpath, is arranged on the second optical-electrical converter that narrow footpath is assembled on the Path of Convergent Rays that device is formed.
2. laser radar according to claim 1, it is characterised in that：The long-range detection unit is further included：
Outgoing chamber, internal diameter of the outgoing chamber on along emitting light path direction becomes larger, and the footpath collimating element wide is set
In the end in outgoing chamber；
Reception cavity, internal diameter of the reception cavity on along Path of Convergent Rays direction is tapered into, and the footpath collimating element wide is set
In the end in outgoing chamber.
3. laser radar according to claim 2, it is characterised in that：The long-range detection unit is further included：
First speculum, the central axis in the relatively described outgoing chamber of first speculum is obliquely installed, and first laser device goes out
Penetrate through the outgoing chamber after light reflects through first speculum, leniently footpath collimating element is projected afterwards；
Second speculum, the central axis that chamber is penetrated in the relatively described reception of second speculum is obliquely installed, extraneous incident light warp
Footpath wide is assembled after device is assembled and passes through reception cavity, reflexes to the first optical-electrical converter by the second speculum afterwards.
4. laser radar according to claim 1, it is characterised in that：The short distance detection unit is further included：
Fixed mount, the narrow footpath collimating element and narrow footpath are assembled device and are arranged on fixed mount.
5. laser radar according to claim 1, it is characterised in that：The narrow footpath collimating element and narrow footpath are assembled in device
Line in the heart is more than zero with the angle of vertical direction.
6. laser radar according to claim 1, it is characterised in that：The long-range detection unit and/or short distance detection are single
The angle of the relatively described turntable of unit is adjustable.
7. laser radar according to claim 1, it is characterised in that：The footpath collimating element wide, footpath wide are assembled on device
It is lower to set or left and right setting；The narrow footpath collimating element, narrow footpath assemble device it is setting up and down or left and right set.
8. laser radar according to claim 1, it is characterised in that：The laser radar is further included：
Combined type speculum, the combined type speculum is arranged in the emergent light light path of laser radar.
9. a kind of vehicle, the vehicle includes：
Mobile lidar, the mobile lidar is set using any described mobile lidars of claim 1-7
In headstock.
10. vehicle according to claim 9, it is characterised in that：The mobile lidar is further included：
Combined type speculum, the combined type speculum sets the side of turntable, and reflecting surface is in face of vehicle forward direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979369.0A CN106707297B (en) | 2016-11-08 | 2016-11-08 | Large-view-field vehicle-mounted laser radar and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979369.0A CN106707297B (en) | 2016-11-08 | 2016-11-08 | Large-view-field vehicle-mounted laser radar and vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106707297A true CN106707297A (en) | 2017-05-24 |
| CN106707297B CN106707297B (en) | 2023-09-01 |
Family
ID=58940725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610979369.0A Active CN106707297B (en) | 2016-11-08 | 2016-11-08 | Large-view-field vehicle-mounted laser radar and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106707297B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107425914A (en) * | 2017-08-25 | 2017-12-01 | 佛山赛威光电技术有限公司 | A kind of novel photoelectric converter |
| CN110333516A (en) * | 2019-07-09 | 2019-10-15 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar |
| CN110389354A (en) * | 2019-07-19 | 2019-10-29 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar and its driving method |
| CN110389355A (en) * | 2019-07-19 | 2019-10-29 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar |
| CN110736437A (en) * | 2019-12-04 | 2020-01-31 | 西华大学 | Auxiliary measuring device and deformation measuring method for vehicle collision deformation |
| CN112526480A (en) * | 2017-09-19 | 2021-03-19 | 深圳市速腾聚创科技有限公司 | Solid-state laser radar and solid-state laser radar control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5625447A (en) * | 1995-03-10 | 1997-04-29 | Honda Giken Kogyo Kabushiki Kaisha | Scanning type laser radar system for vehicle |
| JP2001264422A (en) * | 2000-03-17 | 2001-09-26 | Aisin Seiki Co Ltd | Optical radar receiving optical unit |
| CN1808177A (en) * | 2005-01-20 | 2006-07-26 | 株式会社日立制作所 | Automotive radar |
| US20110216304A1 (en) * | 2006-07-13 | 2011-09-08 | Velodyne Acoustics, Inc. | High definition lidar system |
| CN103913748A (en) * | 2014-03-06 | 2014-07-09 | 武汉理工大学 | Automobile sensing system based on multiple sensors and sensing method |
| CN206223978U (en) * | 2016-11-08 | 2017-06-06 | 上海禾赛光电科技有限公司 | Vehicle-mounted multi-line laser radar and vehicle |
-
2016
- 2016-11-08 CN CN201610979369.0A patent/CN106707297B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5625447A (en) * | 1995-03-10 | 1997-04-29 | Honda Giken Kogyo Kabushiki Kaisha | Scanning type laser radar system for vehicle |
| JP2001264422A (en) * | 2000-03-17 | 2001-09-26 | Aisin Seiki Co Ltd | Optical radar receiving optical unit |
| CN1808177A (en) * | 2005-01-20 | 2006-07-26 | 株式会社日立制作所 | Automotive radar |
| US20110216304A1 (en) * | 2006-07-13 | 2011-09-08 | Velodyne Acoustics, Inc. | High definition lidar system |
| CN103913748A (en) * | 2014-03-06 | 2014-07-09 | 武汉理工大学 | Automobile sensing system based on multiple sensors and sensing method |
| CN206223978U (en) * | 2016-11-08 | 2017-06-06 | 上海禾赛光电科技有限公司 | Vehicle-mounted multi-line laser radar and vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107425914A (en) * | 2017-08-25 | 2017-12-01 | 佛山赛威光电技术有限公司 | A kind of novel photoelectric converter |
| CN107425914B (en) * | 2017-08-25 | 2019-11-29 | 赵君彪 | A kind of photoelectric converter |
| CN112526480A (en) * | 2017-09-19 | 2021-03-19 | 深圳市速腾聚创科技有限公司 | Solid-state laser radar and solid-state laser radar control method |
| CN112526480B (en) * | 2017-09-19 | 2023-06-30 | 深圳市速腾聚创科技有限公司 | Solid-state laser radar and solid-state laser radar control method |
| CN110333516A (en) * | 2019-07-09 | 2019-10-15 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar |
| CN110389354A (en) * | 2019-07-19 | 2019-10-29 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar and its driving method |
| CN110389355A (en) * | 2019-07-19 | 2019-10-29 | 深圳市镭神智能系统有限公司 | A kind of multi-line laser radar |
| CN110736437A (en) * | 2019-12-04 | 2020-01-31 | 西华大学 | Auxiliary measuring device and deformation measuring method for vehicle collision deformation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106707297B (en) | 2023-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206223978U (en) | Vehicle-mounted multi-line laser radar and vehicle | |
| CN106707297A (en) | Large field-of-view vehicle-mounted laser radar and vehicle | |
| US20210215825A1 (en) | Distance detection device | |
| US20220128667A1 (en) | Multi-beam laser radar and self-moving vehicle | |
| CN110799853B (en) | Environment sensing system and mobile platform | |
| CN113447910B (en) | Multi-line laser radar based on multiple lasers and method for detecting by using multi-line laser radar | |
| US20170307737A1 (en) | Scanning Optical System And Light Projection And Reception Device | |
| US20180128903A1 (en) | Optical device | |
| CN107209265A (en) | light detection and ranging device | |
| JP2005502053A (en) | System and method for measuring flow velocity in three axes | |
| CN108226903A (en) | A kind of four line laser radar scanners based on single laser ranging system | |
| KR101903960B1 (en) | LIDAR Apparatus | |
| US10162171B2 (en) | Scanning optical system and light projecting and receiving apparatus | |
| KR20140131560A (en) | System and method for monitoring vehicular traffic with a laser rangefinding and speed measurement device utilizing a shaped divergent laser beam pattern | |
| WO2018100379A1 (en) | Lidar apparatus and method | |
| JP6594282B2 (en) | Laser radar equipment | |
| WO2022110210A1 (en) | Laser radar and mobile platform | |
| CN114089356A (en) | Alternating power level scanning for time-of-flight lidar systems | |
| CN112711007A (en) | Laser radar and unmanned aerial vehicle | |
| CN114076929A (en) | Laser radar system, vehicle and laser radar detection method | |
| CN214473910U (en) | Laser radar and unmanned aerial vehicle | |
| CN110850387A (en) | Line scanning laser radar system and application thereof | |
| CN212460048U (en) | Laser radar | |
| CN112444792B (en) | Composite laser radar and control method thereof | |
| CN211786078U (en) | Light path system and laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 201821 Building 2, park 468, xinlai Road, Jiading District, Shanghai Applicant after: Shanghai Hesai Technology Co.,Ltd. Address before: 201821, room 206, building A4, 925 Yecheng Road, Shanghai, Jiading District Applicant before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant after: Shanghai Hesai Technology Co.,Ltd. Address before: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Applicant before: Shanghai Hesai Technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |