CN106707297B - Large-view-field vehicle-mounted laser radar and vehicle - Google Patents
Large-view-field vehicle-mounted laser radar and vehicle Download PDFInfo
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- CN106707297B CN106707297B CN201610979369.0A CN201610979369A CN106707297B CN 106707297 B CN106707297 B CN 106707297B CN 201610979369 A CN201610979369 A CN 201610979369A CN 106707297 B CN106707297 B CN 106707297B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- 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
Abstract
The invention provides a large-view-field vehicle-mounted laser radar and a vehicle; the laser radar includes: a rotating table; at least two long-range detection units are symmetrically arranged on the rotating table; the long-range detection unit includes: the first laser is arranged on a wide-diameter collimating device on an emergent light path of the first laser; a wide-diameter converging device, a first photoelectric converter arranged on the converging light path; at least two short-range detection units are symmetrically arranged on the rotating table; the short-range detection unit includes: the second laser is arranged on the narrow-diameter collimation device on the emergent light path of the second laser; and a narrow-diameter converging device arranged adjacent to the wide-diameter emergent lens, and a second photoelectric converter arranged on the converging light path. The invention has the advantages of simple structure, low cost and the like.
Description
Technical Field
The invention relates to a laser radar, in particular to a large-view-field vehicle-mounted laser radar and a vehicle.
Background
Compared with ultrasonic radar and microwave radar, the laser radar has the characteristics of high measurement precision, long distance measurement, excellent performance and the like, and is suitable for automobile speed measurement, distance measurement and target positioning. In recent years, in-vehicle lidar applied to an automobile crash-proof adaptive cruise control system, an advanced driving assistance system, and an unmanned driving system has been attracting attention.
The single-line scanning laser radar has the advantages of limited pulse number per second, small coverage and easy detection missing in the early warning of obstacles.
To overcome the shortcomings of single-line scanning lidar, multi-line lidar such as velodyne multi-line lidar is disclosed, see patent US7969558B2 and US8767190B2. Each lens is followed by a stacked arrangement of a plurality of (16 or 32) laser transmitters or receivers, each pair of transmitters/receivers being collimated in 1/3 or 4/3 increments. The main defects of the multi-line laser radar are as follows:
1. because the distance between the transmitters or the receivers is very small, the assembly difficulty is high, the device is not suitable for mass production, and the cost is high;
2. the multi-line laser radar has low overall structure symmetry and poor rotation stability, and a balancing weight is required to be added, so that the structural complexity is correspondingly increased;
3. the vertical view field range is 26.8 degrees, obstacle detection errors are easy to cause when ascending slopes or the vehicle body fluctuates greatly, and the safety risk is high.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the large-view-field vehicle-mounted laser radar which is simple in structure, low in assembly complexity, large in vertical view angle and good in rotation stability.
The invention aims at realizing the following technical scheme:
a large-view-field vehicle-mounted laser radar; the laser radar includes:
a rotating table;
the at least two long-range detection units are symmetrically arranged on the rotating table; the long-range detection unit includes:
the first laser is arranged on a wide-diameter collimating device on an emergent light path of the first laser;
a wide-diameter converging device, a first photoelectric converter arranged on the converging light path formed by the wide-diameter converging device;
at least two short-range detection units symmetrically arranged on the rotating table; the short-range detection unit includes:
the second laser is arranged on the narrow-diameter collimation device on the emergent light path of the second laser;
and a narrow-diameter converging device, a second photoelectric converter arranged on the converging light formed by the narrow-diameter converging device.
According to the above laser radar, optionally, the long range detection unit further includes:
the inner diameter of the emergent cavity in the emergent light path direction is gradually increased, and the wide-diameter collimating device is arranged at the end part of the emergent cavity;
and the inner diameter of the receiving cavity is gradually reduced along the converging light path direction, and the wide-diameter collimating device is arranged at the end part of the emergent cavity.
According to the above laser radar, optionally, the long range detection unit further includes:
the first reflecting mirror is obliquely arranged relative to the central axis of the emergent cavity, and emergent light of the first laser passes through the emergent cavity after being reflected by the first reflecting mirror and then is emitted from the wide-diameter collimating device;
and the second reflecting mirror is obliquely arranged relative to the central axis of the receiving and shooting cavity, and outside incident light passes through the receiving cavity after being converged by the wide-diameter converging device and is reflected to the first photoelectric converter by the second reflecting mirror.
According to the above lidar, optionally, the short-range detection unit further comprises:
and the narrow-diameter collimating device and the narrow-diameter converging device are arranged on the fixing frame.
According to the above laser radar, preferably, an included angle between a connecting line between centers of the narrow-diameter collimating device and the narrow-diameter converging device and a vertical direction is greater than zero.
According to the above laser radar, optionally, an included angle between the long-range detection unit and/or the short-range detection unit and the rotating table is adjustable.
According to the laser radar, optionally, the wide-diameter collimating device and the wide-diameter converging device are arranged up and down or left and right; the narrow-diameter collimating device and the narrow-diameter converging device are arranged up and down or left and right.
According to the above laser radar, optionally, the laser radar further comprises:
and the combined reflecting mirror is arranged on an emergent light path of the laser radar.
The invention also aims to provide a vehicle applying the vehicle-mounted laser radar, and the aim of the invention is achieved by the following technical scheme:
a vehicle, the vehicle comprising:
a vehicle-mounted lidar employing the vehicle-mounted lidar of any of claims 1 to 7 and provided at a vehicle head.
According to the vehicle described above, optionally, the vehicle-mounted lidar further includes:
and the combined reflecting mirror is arranged on one side of the rotating table, and the reflecting surface faces the advancing direction of the vehicle.
Compared with the prior art, the invention has the following beneficial effects:
1. the assembly and debugging difficulty is greatly reduced, and the method is suitable for batch production, so that the product cost is reduced;
2. the included angle of the combined reflecting mirror and the pitch angle of each detecting unit are flexibly adjusted, so that the vehicle-mounted laser radar has a horizontal view field of 360 degrees and a vertical view field of-30 degrees to 30 degrees, the detection requirement of complex road condition obstacles is met, and the running safety of vehicles such as unmanned vehicles is improved;
3. each detection unit is symmetrically placed, so that the gravity center is easily arranged on the rotating table, the additional balancing weight is not required, and the complexity of the system is reduced.
Drawings
The present disclosure will become more readily understood with reference to the accompanying drawings. As will be readily appreciated by those skilled in the art: the drawings are only for illustrating the technical scheme of the present invention and are not intended to limit the scope of the present invention. In the figure:
fig. 1 is a schematic view of a vehicle-mounted lidar according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of the structure of a long-range detecting unit according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of the structure of a short-range detection unit according to embodiment 1 of the present invention;
fig. 4 is a schematic view of the structure of a vehicle-mounted lidar according to embodiment 2 of the present invention;
fig. 5 is a schematic view of the structure of a vehicle-mounted lidar according to embodiment 4 of the present invention;
fig. 6 is a schematic diagram of the structure of a long-range detecting unit according to embodiment 4 of the present invention;
fig. 7 is another schematic configuration diagram of a long-range detecting unit according to embodiment 4 of the present invention;
fig. 8 is a schematic diagram of the structure of a short-range detection unit according to embodiment 4 of the present invention.
Detailed Description
Figures 1-8 and the following description depict alternative embodiments of the invention to teach those skilled in the art how to make and reproduce the invention. In order to teach the technical solution of the present invention, some conventional aspects have been simplified or omitted. Those skilled in the art will appreciate variations or alternatives derived from these embodiments that fall within the scope of the invention. Those skilled in the art will appreciate that the features described below can be combined in various ways to form multiple variations of the invention. Thus, the invention is not limited to the following alternative embodiments, but only by the claims and their equivalents.
Example 1:
fig. 1 schematically shows a large field-of-view vehicle-mounted lidar according to an embodiment of the present invention, as shown in fig. 1, the lidar comprising:
a rotating table 11;
at least two long-range detecting units 21, such as two, symmetrically and uniformly arranged on the rotating table; as shown in fig. 2, each long-range detection unit 21 includes:
a first laser 22;
an exit cavity 23 which is provided on the rotating table and has an angle adjustable with respect to the rotating table, and an inner diameter in a direction along an exit optical path of the first laser becomes gradually larger; one end of the emergent cavity, which is not provided with the wide-diameter collimating device, is provided with a notch;
a wide diameter collimating element 24, such as a collimating lens, disposed at an end of the exit cavity;
the first reflecting mirror 25 is disposed at the lower part of the emergent cavity and is inclined with respect to the central axis of the emergent cavity, the emergent light of the first laser is reflected by the first reflecting mirror, the reflected light enters the emergent cavity through the notch and passes through the emergent cavity, and finally the emergent light is emitted from the wide-diameter collimating device, i.e. the included angle between the axis of the first laser and the central axis of the emergent cavity is greater than zero, such as 90 degrees;
a first photoelectric converter 26;
a receiving chamber 27 provided on the rotating table and having an angle with respect to the rotating table that is gradually smaller in an inner diameter along the converging light path direction; one end of the emergent cavity, which is not provided with the wide-diameter converging device, is provided with a notch;
a wide-diameter converging device 28, such as a converging lens, disposed at an end of the receiving cavity;
the second reflecting mirror 29 is disposed at the lower part of the receiving cavity and is inclined with respect to the central axis of the receiving cavity, and the external incident light is converged by the wide-diameter converging device and then passes through the receiving cavity, and then is emitted out of the receiving cavity through the notch, and is reflected by the second reflecting mirror and then is received by the first photoelectric converter, i.e. the included angle between the axis of the first photoelectric converter and the central axis of the receiving cavity is greater than zero, such as 90 degrees;
at least two short-range detection units, such as four, symmetrically arranged on the rotating table between the long-range detection units, all the long-range detection units and the short-range detection units being uniformly arranged on the rotating table; as shown in fig. 3, each short-range detection unit includes:
the fixed frame 33 is arranged on the rotating table, and the angle of the fixed frame relative to the rotating table is adjustable;
a second laser 32;
a narrow-diameter collimating device 34, such as a collimating lens, disposed on the mount, for collimating the outgoing light of the second laser;
a narrow-diameter converging device 35, such as a converging lens, disposed on the mount;
and a second photoelectric converter 36 provided on the converging light path of the narrow-path converging device.
Example 2:
according to an embodiment of the invention, an unmanned vehicle comprises:
as shown in fig. 4, the vehicle-mounted laser radar adopts the laser radar in embodiment 1 and is arranged on the vehicle head;
the combined reflecting mirror is composed of two reflecting mirrors 41-42, the included angle between the two reflecting mirrors is adjustable, the combined reflecting mirror is fixedly arranged on one side of the rotating table, and the reflecting surface faces the advancing direction of the vehicle and does not rotate along with the rotating table.
The direction of the combined reflector facing away is the direction which does not need to be detected. When the detection unit rotates to the direction of the combined mirror, the outgoing light of the laser is reflected by the mirror 41 to the mirror 42, and is reflected by the mirror 42 to be outgoing to an external object, and the light reflected by the external object is irradiated to the mirror 42, and is then reflected to the mirror 41, and is focused by the converging device to the photoelectric converter after being reflected by the mirror 41. When the included angle between the reflecting mirror 41 and the reflecting mirror 42 is 90 °, the outgoing light through the combined reflecting mirror is parallel to the outgoing light initially through the outgoing lens; when the included angle is not 90 degrees, the emergent light passing through the combined reflecting mirror deflects in the vertical plane of the rotary table relative to the emergent light passing through the initial emergent lens. By adjusting the included angle of the combined reflecting mirror and the pitch angle of each detecting unit, the vertical field angle of the vehicle-mounted laser radar can reach 30 degrees to 30 degrees.
Example 3:
application example of the vehicle according to embodiment 2 of the present invention.
In the embodiment, a 6-line laser radar is adopted, as shown in fig. 1, two long-range detection units are adopted, the two long-range detection units are symmetrically and uniformly arranged on the rotating table (namely, the included angle between the detection units is 180 degrees), and the pitch angle relative to the rotating table is adjustable; the wide-diameter collimating device and the wide-diameter converging device are convex lenses, and the emergent cavity and the receiving cavity are arranged left and right and are integrally formed; the included angle between the axis of the first laser and the axis of the emergent cavity is 90 degrees; four short-range detection units are adopted and symmetrically arranged on the rotating table; the fixed frame is arranged on the rotating table, and the pitch angle of the fixed frame relative to the rotating table is adjustable; the narrow-diameter collimating device and the narrow-diameter converging device both adopt convex lenses, and an included angle between a connecting line between the center of the narrow-diameter collimating device and the center of the narrow-diameter converging device and the vertical direction is an acute angle: the narrow-diameter converging device is arranged below, and the narrow-diameter collimating device is arranged at the upper left side or the upper right side of the narrow-diameter converging device; the second laser is arranged at the focus of the narrow-diameter collimating device, and the second photoelectric converter is arranged at the focus of the narrow-diameter converging lens; the combined reflecting mirror consists of two reflecting mirrors, and the included angle between the two reflecting mirrors is adjustable, such as an acute angle and a right angle.
By selecting a wide-diameter collimating device, a wide-diameter converging device, a narrow-diameter collimating device and a narrow-diameter converging device with proper calibers, the detection distance of the long-range detection unit reaches 200m, and the detection distance of the short-range detection unit reaches 100m.
Example 4:
the unmanned vehicle of embodiment 4 of the present invention includes:
on-vehicle 12 line lidar, the lidar sets up at the locomotive, as shown in fig. 5, the lidar includes:
a rotating table 11;
four long-range detection units 21 which are symmetrically and uniformly arranged on the rotating table and the pitch angle of which relative to the rotating table is adjustable; as shown in fig. 6 to 7, each long-range detection unit includes:
a first laser 22 fixed to the upper part of the exit cavity by a first mounting plate 61 such as a circuit board;
an exit chamber 23 provided on the rotating table, the inner diameter of which in the direction along the exit optical path of the first laser becomes gradually larger; one end of the emergent cavity 23, which is not provided with the wide-diameter collimating device, is provided with a notch 51;
a wide diameter collimating element 24, such as a collimating lens, disposed at an end of the exit cavity;
the first reflecting mirror 25 is disposed at the lower part of the emergent cavity and is inclined with respect to the central axis of the emergent cavity, the emergent light of the first laser enters the emergent cavity downwards through the notch 51, passes through the emergent cavity after being reflected by the first reflecting mirror, and finally is emitted from the wide-diameter collimating device, i.e. the included angle between the axis of the first laser and the central axis of the emergent cavity is greater than zero, such as 90 degrees;
the first photoelectric converter 26 is mounted on the lower portion of the receiving chamber through a second fixing plate 62 such as a circuit board;
a receiving chamber 27 provided at a lower portion of the exit chamber and integrally formed with the exit chamber, the inner diameter of which becomes gradually smaller in a direction along the converging light path; the end of the receiving cavity 27 where the wide diameter converging means is not mounted has a notch 52;
a wide-diameter converging device 28, such as a converging lens, disposed at an end of the receiving cavity;
the second reflecting mirror 29 is disposed at the upper part of the receiving cavity, and is disposed obliquely with respect to the central axis of the receiving cavity, and the external incident light is converged by the wide-diameter converging device and then passes through the receiving cavity, and then is emitted out of the receiving cavity through the notch 52, and is received by the first photoelectric converter after being reflected by the second reflecting mirror, i.e. the included angle between the axis of the first photoelectric converter and the central axis of the receiving cavity is greater than zero, such as 90 degrees;
four short-range detection units 31 symmetrically and uniformly arranged on the rotating table, the long-range detection units and the short-range detection units being alternately and uniformly arranged on the rotating table; as shown in fig. 8, each short-range detection unit includes:
the fixed frame 33 is arranged on the rotating table, and the angle of the fixed frame relative to the rotating table is adjustable;
a second laser 32, a third laser 71;
a first narrow-diameter collimating device 34 and a second narrow-diameter collimating device 72, such as a collimating lens, which are horizontally arranged at the middle part of the fixing frame and respectively collimate the emergent light of the second laser and the emergent light of the third laser;
a first narrow-diameter condensing device 35, a second narrow-diameter condensing device 73, such as a condensing lens, disposed up and down, respectively at upper and lower portions of the fixing frame;
a second photoelectric converter 36 provided on the converging light path of the first narrow-path converging device, and a third photoelectric converter 74 provided on the converging light path of the second narrow-path converging device.
By selecting a wide-diameter collimating device, a wide-diameter converging device, a narrow-diameter collimating device and a narrow-diameter converging device with proper calibers, the detection distance of the long-range detection unit reaches 200m, and the detection distance of the short-range detection unit reaches 100m.
Claims (10)
1. A large-view-field vehicle-mounted laser radar; the method is characterized in that: the laser radar includes:
a rotating table;
the at least two long-range detection units are symmetrically and uniformly arranged on the rotating table; the long-range detection unit includes:
the first laser is arranged on a wide-diameter collimating device on an emergent light path of the first laser;
a wide-diameter converging device, a first photoelectric converter arranged on the converging light formed by the wide-diameter converging device;
the at least two short-range detection units are symmetrically and uniformly arranged on the rotating table; the short-range detection unit includes:
the second laser is arranged on the narrow-diameter collimation device on the emergent light path of the second laser;
and a narrow-diameter converging device, a second photoelectric converter arranged on the converging light formed by the narrow-diameter converging device.
2. The lidar according to claim 1, wherein: the long range detection unit further includes:
the inner diameter of the emergent cavity in the emergent light path direction is gradually increased, and the wide-diameter collimating device is arranged at the end part of the emergent cavity;
and the inner diameter of the receiving cavity is gradually reduced along the converging light path direction, and the wide-diameter collimating device is arranged at the end part of the emergent cavity.
3. The lidar according to claim 2, wherein: the long range detection unit further includes:
the first reflecting mirror is obliquely arranged relative to the central axis of the emergent cavity, and emergent light of the first laser passes through the emergent cavity after being reflected by the first reflecting mirror and then is emitted from the wide-diameter collimating device;
and the second reflecting mirror is obliquely arranged relative to the central axis of the receiving and shooting cavity, and outside incident light passes through the receiving cavity after being converged by the wide-diameter converging device and is reflected to the first photoelectric converter by the second reflecting mirror.
4. The lidar according to claim 1, wherein: the short-range detection unit further includes:
and the narrow-diameter collimating device and the narrow-diameter converging device are arranged on the fixing frame.
5. The lidar according to claim 1, wherein: and an included angle between the connecting line between the centers of the narrow-diameter collimating device and the narrow-diameter converging device and the vertical direction is larger than zero.
6. The lidar according to claim 1, wherein: the included angle of the long-range detection unit and/or the short-range detection unit relative to the rotating table is adjustable.
7. The lidar according to claim 1, wherein: the wide-diameter collimating device and the wide-diameter converging device are arranged up and down or left and right; the narrow-diameter collimating device and the narrow-diameter converging device are arranged up and down or left and right.
8. The lidar according to claim 1, wherein: the lidar further comprises:
and the combined reflecting mirror is arranged on an emergent light path of the laser radar.
9. A vehicle, the vehicle comprising:
a vehicle-mounted lidar employing the vehicle-mounted lidar of any of claims 1 to 7 and provided at a vehicle head.
10. The vehicle according to claim 9, characterized in that: the vehicle-mounted lidar further comprises:
and the combined reflecting mirror is arranged on one side of the rotating table, and the reflecting surface faces the advancing direction of the vehicle.
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| CN201610979369.0A CN106707297B (en) | 2016-11-08 | 2016-11-08 | Large-view-field vehicle-mounted laser radar and vehicle |
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| CN201610979369.0A CN106707297B (en) | 2016-11-08 | 2016-11-08 | Large-view-field vehicle-mounted laser radar and vehicle |
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| CN106707297B true CN106707297B (en) | 2023-09-01 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107425914B (en) * | 2017-08-25 | 2019-11-29 | 赵君彪 | A kind of photoelectric converter |
| 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 |
| CN110333516B (en) * | 2019-07-09 | 2023-04-25 | 深圳市镭神智能系统有限公司 | Multi-line laser radar |
| CN116381720A (en) * | 2019-07-19 | 2023-07-04 | 深圳市镭神智能系统有限公司 | Multi-line laser radar and driving method thereof |
| CN110389355B (en) * | 2019-07-19 | 2023-04-25 | 深圳市镭神智能系统有限公司 | Multi-line laser radar |
| CN111551125B (en) * | 2019-12-04 | 2021-05-25 | 青岛腾信汽车网络科技服务有限公司 | Deformation measuring method of vehicle collision deformation auxiliary measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8767190B2 (en) * | 2006-07-13 | 2014-07-01 | Velodyne Acoustics, Inc. | High definition LiDAR system |
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| 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 |
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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. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |