CN106814354A - Mobile lidar and vehicle - Google Patents
Mobile lidar and vehicle Download PDFInfo
- Publication number
- CN106814354A CN106814354A CN201710190720.2A CN201710190720A CN106814354A CN 106814354 A CN106814354 A CN 106814354A CN 201710190720 A CN201710190720 A CN 201710190720A CN 106814354 A CN106814354 A CN 106814354A
- Authority
- CN
- China
- Prior art keywords
- laser radar
- mobile lidar
- support limit
- car body
- guide rail
- 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.)
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
Abstract
The invention discloses a kind of mobile lidar and vehicle, the mobile lidar includes：Support limit part, driver part and laser radar；Wherein, the support limit part includes multiple installation positions, and the support limit part is fixedly installed on car body by installation position one or more described, and shape and the car body of the support limit part are adapted；The driver part includes one or more connection ends, and the driver part connects the support limit part and/or the laser radar by one or more described connection ends；The laser radar is arranged on the support limit part by installation position one or more described, and/or connects the driver part by connection end one or more described.The present invention causes that laser radar has the bigger detection free degree by succinct effective mechanical structure, and the search coverage of laser radar is substantially improved, and reduces detection blind area.
Description
Technical field
The invention belongs to mobile unit technical field, and in particular to a kind of mobile lidar and vehicle.
Background technology
With the development of vehicle and computer technology, vehicle assistant drive/automatic Pilot has turned into hot research field.Its
In, the vehicles of driving/automatic Pilot are aided in due to there is the demand to periphery barrier and environment sensing, so that adding
If necessary sensing equipment is detected and perceived.Laser radar relies on its advantage in terms of identification, range finding and positioning,
Through starting to be widely used in auxiliary driving/automatic Pilot technology.
Relative to the identifying processing of camera collection image, the major advantage of laser radar is that detection range is remote, precision
High, strong antijamming capability.Specifically, according to the laser beam quantity and system complexity of transmitting, laser radar is further divided into
Single line laser radar and multi-line laser radar.Wherein, single line laser radar only launches a laser beam to be detected, and it has
Simple structure, it is low in energy consumption and easy to use the advantages of；And multi-line laser radar is to launch multi-stripe laser beam simultaneously to be detected,
It has the advantages that search coverage is big, the detectable thing that is blocked.Under normal circumstances, vehicle can be swashed according to system requirements from a kind of
Optical radar works coordinating camera together.
But, inventor realize it is of the invention during find, either single line laser radar or many line laser thunders
Reach, be all difficult to the defect ignored in the presence of some.Such as, single line laser radar (i.e. can only due to can only see a vertical angle
In one plane detected), it is impossible to recognize that object height and detection are blocked object；Although multi-line laser radar can part
Solve the above problems, but it also has the limitation of vertical angle, and the place outside this angle can turn into detection blind area, it is impossible to
Effectively perceived.Additionally, also there is big and low precision the defect of complexity high, high cost, volume in multi-line laser radar.
Further, laser radar of the prior art is normally mounted at fixed position, such as single line laser thunder
Up to body forward structure is typically mounted on, it is anterior that multi-line laser radar is typically mounted on roof；Because position is fixed, laser radar can only
More effective scanning probe is carried out to front, side, rear area cannot all be perceived because of detection blind area.Area in front of even
Domain, when varying widely occurs in landform, such as starts to go up a slope or the descending stage in vehicle, and vehicle front also has the detection of sheet
Blind area.Thus in the prior art, the perception of laser radar can be very restricted, and large-scale detection blind area can cause
Corresponding positioning and barrier avoiding function are affected, and have a strong impact on the safety and reliability of auxiliary driving/automatic Pilot.
Therefore, how the search coverage of effective improving laser radar, reduce influence of the blind area to vehicle driving safety, become
For technical problem urgently to be resolved hurrily at present.
The content of the invention
It is an object of the present invention to provide a kind of mobile lidar and vehicle, to solve existing laser radar detection
The larger problem in blind area.
In order to solve the above technical problems, in one aspect of the invention, there is provided a kind of mobile lidar, including：Branch
Support limiting component, driver part and laser radar；Wherein,
The support limit part includes multiple installation positions, and the support limit part passes through one or more described peaces
Dress position is fixedly installed on car body, and shape and the car body of the support limit part are adapted；
The driver part includes one or more connection ends, and the driver part passes through one or more described connection ends
Connect the support limit part and/or the laser radar；
The laser radar is arranged on the support limit part by installation position one or more described, and/or
The driver part is connected by connection end one or more described.
Alternatively, the support limit part includes guide rail, and the driver part includes motor and sliding support.
Alternatively, the laser radar is multi-line laser radar, and the guide rail is arranged on the top of the car body.
Alternatively, the laser radar is single line laser radar, and the guide rail is arranged on the middle and lower part of the car body.
Alternatively, the guide rail be shaped as straight line, annular or polygon.
Alternatively, the guide rail presses close to the plane of the car body and along the planar extension of the car body, the shape of the guide rail
Shape covers one or more specified detecting locations.
Alternatively, the guide rail is provided with stabilization part at one or more of specified detecting locations.
Alternatively, one or more senser elements are provided with the guide rail.
Alternatively, the multiple senser element drives associated movement by a driver part；Or the multiple senser element
Driven respectively by multiple driver parts, be multiplexed the guide rail and respective self-movement.
Alternatively, the multiple senser element includes laser radar, camera, millimetre-wave radar, infrared sensor, ultrasound
One kind or many in wave sensor, velocity sensor, acceleration transducer, satellite navigation alignment sensor and wireless communication devices
Kind.
Alternatively, the support limit part is one or more straight-arms and/or folding arm；Wherein, the straight-arm is described
Rotated under the drive of driver part, the folding arm bends under the drive of the driver part, stretches and/or rotates.
Alternatively, the straight-arm Omnidirectional rotation or it is limited at rotation in a given plane.
Alternatively, in the top planes of the given plane and the car body, base plane or multiple vehicle body planes
It is individual to close on and be parallel to each other.
Alternatively, the rotation of the length of rotation of the straight-arm or the folding arm and/or spread length are without departing from closing on car body
Outer framework.
Alternatively, the laser radar is multi-line laser radar, and the straight-arm and/or the folding arm are arranged on the car body
Top.
Alternatively, the laser radar is single line laser radar, and the straight-arm and/or the folding arm are arranged on the car body
Middle and lower part.
In the another aspect of the embodiment of the present invention, a kind of vehicle is also provided simultaneously, the vehicle includes one or more
Mobile lidar as described above.
Alternatively, the vehicle also includes：Laser radar control unit, the laser radar control unit is vehicle-mounted with described
Laser radar is communicated to connect, the result of detection of mobile lidar described in real-time reception, and in real time to the mobile lidar
Driver part send driving control signal.
Alternatively, the vehicle also includes：Control unit for vehicle, the control unit for vehicle is controlled with the laser radar
Unit communication is connected, the state of vehicle according to the result of detection dynamic control.
Alternatively, the vehicle also includes：Communication unit, the communication unit is coupled with the control unit for vehicle, and
On demand communication connection is set up with one or more in other vehicles, road monitoring equipment, server and mobile terminal.
The scheme of the embodiment of the present invention provides a kind of mobile lidar and vehicle, is expanded by controllable mechanical part
The scope of activities of laser radar so that laser radar has the bigger detection free degree, can on demand dynamically to target area
Adjust and detect, so that in the case where cost and energy consumption is not dramatically increased, the search coverage of laser radar is substantially improved, reduce
Detection blind area, it is ensured that the safety and reliability of auxiliary driving/automatic Pilot.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of mobile lidar in one embodiment of the invention；
Fig. 2 is the structural representation of mobile lidar installment state in one embodiment of the invention；
Fig. 3 is the structural representation of mobile lidar in another embodiment of the present invention.
Specific embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further detail to the present invention.
In the prior art, the more obvious detection blind area of laser radar generally existing, position is fixedly mounted often not at it
Whole environment on energy effective detection car body periphery, can bring certain hidden danger to vehicle driving safety.It is a kind of general at present to subtract
The way of small blind area is to install two or more laser radars in diverse location, but on the one hand which can increase cost and energy
Consumption, on the other hand needs more computing resources to be processed.
In the technical scheme of the embodiment of the present invention, using the mobile lidar of ad hoc structure so that laser radar has
Have the bigger detection free degree, dynamically can adjust and detect to target area on demand, so as to do not dramatically increase cost and
In the case of energy consumption, the search coverage of laser radar is substantially improved, reduces detection blind area, it is ensured that auxiliary drive/is driven automatically
The safety and reliability sailed.
Embodiment one：
As shown in Figure 1, Figure 3, in an embodiment of the present invention, a kind of mobile lidar includes：Support limit part
101st, driver part 102 and laser radar 103；Wherein,
The support limit part 101 include multiple installation position 101a, the support limit part 101 pass through one or
Multiple installation position 101a are fixedly installed on car body 1, shape and the phase of the car body 1 of the support limit part 101
Adapt to；
The driver part 102 includes one or more connection ends 102a, and the driver part 102 passes through one or more
The connection end 102a connects the support limit part 101 and/or the laser radar 103；
The laser radar 103 is arranged on the support limit part by installation position 101a one or more described
On 101, and/or the driver part 102 is connected by connection end 102a one or more described；The band of the driver part 102
The dynamic laser radar 103 limits range of motion in the support limit part 101.
In an embodiment of the present invention, support limit part is mainly used in for mobile lidar being arranged on car body and right
It forms support；Additionally, the shape of support limit part defines the scope of activities of laser radar.Laser radar can use single line
Laser radar, multi-line laser radar or face battle array laser radar；Wherein, due to office that single line laser radar can only be scanned planar
Sex-limited, the scope of activities of preferably single line laser radar is limited in the middle and lower part of car body；Multi-line laser radar or face battle array laser thunder
The scope of activities for reaching is not limited generally, but in order to obtain the bigger free degree and search coverage, is preferably disposed at car body
Top.Wherein, the arrow in Fig. 1-3 gives the activity direction of exemplary laser radar.
Typical support limit part includes guide rail and mechanical arm；Driver part is motor, by chain, gear,
The modes such as belt, cam, connecting rod, piston, hydraulic pressure, air pressure are driven, the scope for driving laser radar to be limited in support limit part
Activity in region.
Embodiment two：
In one embodiment of the invention, as shown in Figure 1 and Figure 2, mobile lidar is arranged on the top of car body 1, its
In, support limit part 101 is guide rail, and driver part 102 is the sliding support with motor, and laser radar 103 is many
Line laser radar.Additionally, in Fig. 1, laser radar 103 further connects other mobile units by cable 103a.
Further, in Fig. 2, guide rail is line slideway, and length and the car body top length of line slideway are adapted, pass through
Both ends are fixed on the pedestal at the top of car body rear and front end；Preferably, the length of line slideway is suitable with car body top length.
Multi-line laser radar is mounted on sliding support.Additionally, being provided with tooth form chain on guide rail, motor is passed by gear
It is dynamic, gear and the chain engagement rolling of rotation, so as to drive sliding support and laser radar thereon to be moved forward and backward on guide rail.
In an embodiment of the present invention, the line slideway and slip branch of car body top are run through by being set in car body top
Frame so that laser radar can be moved freely in car body top, and vehicle-surroundings can be detected in moving process, so that
The laser radar for enabling investigative range limited completes the detection to vehicle-surroundings Zone Full, so as to not dramatically increase cost
In the case of energy consumption, the search coverage of laser radar is substantially improved, eliminates detection blind area.
The embodiment of Fig. 1, Fig. 2 describes a kind of specific implementation of mobile lidar, but this area correlation skill
Art personnel will be understood that technical scheme can also carry out random variation, Fig. 1, figure on the basis of Fig. 1, Fig. 2 embodiment
2 are not construed as the limitation to the specific embodiment of the invention.
Such as, typically, what the embodiment of Fig. 2 was targeted is multi-line laser radar, because multi-line laser radar is detectable
Certain vertical angle, and volume is larger, therefore it is preferred that guide rail is arranged on car body top；When using single line laser radar, it is
Ensure that laser radar can be accurately detected and influence whether that (this kind of obstacle height may not necessarily be higher than often for the barrier of vehicle traveling
Car body top), guide rail is preferably arranged on car body middle and lower part, such as underbody, vehicle body side, car body A posts to C posts and its extension or from
Roof extends downwardly into headstock tailstock etc..
Additionally, in an embodiment of the present invention, in addition to line slideway, guide rail can also be annular, can also be quadrangle,
Any rational shape such as star, triangle, as long as it is adapted with body shapes, can cover key detection position (including
But it is not limited to Vehicular body front, rear portion, left side, right side and each corner etc.).
Further, in an embodiment of the present invention, also stabilization part can be set in guide rail ad-hoc location, in laser
Radar movable can carry out the detection of safety and firmness so as to laser radar to stabilization support laser radar during the ad-hoc location.It is preferred that
Ground, stabilization part includes but is not limited to limited block, trip, fixture, groove, microswitch etc., and ad-hoc location is included but is not limited to
In the front/rear end of car body top, the side of car body top two, car body top corner, headstock/bottom, in the tailstock/bottom, the side of vehicle body four,
In vehicle body side/bottom etc..
By guide rail and the cooperation for stablizing part, on the one hand, laser radar can on a large scale move detection, a laser
Radar is to be capable of achieving the covering to the comprehensive survey region of multiple laser radars, eliminates detection blind area and significantly reduces cost
And energy consumption；On the other hand, in key position by stablizing part further support for laser radar is provided, it is ensured that laser thunder
Security, stability and the reliability for reaching, improve detection efficient and precision.
Embodiment three：
In one embodiment of the invention, as shown in figure 3, mobile lidar is similarly disposed at the top of car body 1, but
Wherein, support limit part 101 is rocking arm, and driver part 102 is only motor.
Further, in Fig. 3, rocking arm is rotating arm, and length and the car body top length of rotating arm are adapted, rotation
One end is connected with motor, and car body top center is arranged on by the base of motor；Preferably, rotating arm
Length is suitable with the half of car body top length.The other end connection laser radar of rotating arm.Rotating arm is directly by driving
Motor drives and rotates, so as to drive the laser radar of the other end to be moved between car body top front and back end.
The embodiment of Fig. 3 describes a kind of specific implementation of mobile lidar, but this area correlation technique people
Member will be understood that technical scheme can also carry out random variation on the basis of Fig. 3 embodiments, and Fig. 3 is not construed as right
The limitation of the specific embodiment of the invention.
Such as, typically, rotating arm in the embodiment of Fig. 3 is directly driven by motor, only can be in a plane inward turning
Turn；But in fact, in an embodiment of the present invention, rotating arm can also under the driving of motor Omnidirectional rotation, for example, drive division
Part 102 include motor and head, rotating arm be arranged on head on, head driven under the driving of motor rotating arm to
Direction is arbitrarily designated to rotate.
Certainly, rocking arm needs certain activity space when rotated, for the rotation for avoiding rocking arm brings peace to vehicle traveling
Full hidden danger, or it is damaged equipment, it will usually limit the scope of activities of rocking arm.Such as, for swashing installed in the multi-thread of car body top
, preferably be defined to for the Plane of rotation of rocking arm to be limited in a horizontal plane with roof plane parallel, i.e. rotating arm by optical radar
Interior rotation.Accordingly for the laser radar installed in vehicle body side, preferably the Plane of rotation of rocking arm is defined to and pressed close to
Vehicle body plane parallel, i.e. rotating arm are limited in rotation in a vertical plane；It is excellent for the laser radar installed in underbody
Be defined to the Plane of rotation of rocking arm and underbody plane parallel by choosing.But for the region for having activity space, such as car
In space between hood and front windshield, the rotationally constrained in a plane of rocking arm can not influenceed to regard
In the case of line or other facility staffs, rocking arm can Omnidirectional rotation.
Additionally, rocking arm also not in the embodiment of the present invention support limit part unique implementation method, in theory, as long as
Can be to drive laser radar to can be used in embodiments of the invention to the facility that assigned direction is moved, its structure and/or shape
Shape and not only limit and the rotating arm shown in Fig. 3.Such as, in addition to the straight arm type that the electric rotating machine shown in Fig. 3 drives, can also use
Folding-jib is driven using other modes；Typically, as included the bent machinery of at least one connecting portion (or joint)
Arm.With folding-jib mechanical arm accordingly, driver part can be motor drive connecting rod, or hydraulic pressure (such as oil cylinder),
The drivings such as air pressure (such as cylinder), the limitation to embodiment of the present invention is not construed as in the concrete form of this driver part.It is many
Joint and/or multivariant mechanical arm are equally applicable to embodiments of the invention, certainly, based on analysis above, to protect
Card driving safety avoids equipment from being damaged, and the motion mode of mechanical arm should be adapted with activity space, and its moving region should not yet
Beyond certain limit, such as the external frame limited range for closing on car body is should not exceed (generally by limit mechanical arm
Rotation/spread length is realized).
Relative to the mode of guide rail embodiment, in the embodiment of rocking arm/mechanical arm, the free degree of laser radar activity is more
Greatly, react more sensitive, detection efficient is relatively higher, while be adapted with body shapes without its shape is strictly limited, only
It is required that its length is in the length range that can be covered crucial detecting location and not influence vehicle to travel.
Example IV：
Under normal circumstances, using the scheme of the embodiment of the present invention, single laser radar is to be capable of achieving detection, base on a large scale
Detection blind area is eliminated on this；But accordingly, due to frequently to move laser radar, some key positions may be prevented from obtaining
Timely detect.To solve this problem, also can simultaneously be worked using multiple laser radars in the embodiment of the present invention, with further
Raising efficiency.
Specifically, in one embodiment of the invention, the complete setting of mobile lidar in above-described embodiment, can be
The different zones of car body lay many set mobile lidars respectively, to expand search coverage simultaneously and lift detection efficient.
In another embodiment of the present invention, can also set multiple sharp by way of being multiplexed to section components
Optical radar.Such as, by taking the implementation method of ring-shaped guide rail as an example, support limit part is the ring-shaped guide rail for being arranged on car body top,
Multiple laser radars can be set simultaneously on guide rail, and each laser radar is each independent under the drive of its corresponding driver part
Motion, is multiplexed the guide rail to realize simultaneously multi-faceted detection.
Can simultaneously set multiple identical and/or different in yet another embodiment of the present invention, on the guide rail of multiplexing
Sensor, such as set laser radar and camera simultaneously, and multiple sensors can have identical driver part, it is also possible to by not
Same driver part is driven respectively, and multiple sensors are moved each along guide rail, and itself is respectively completed in the range of guide rail restriction
Information gathering work.
In sum, the scheme of the embodiment of the present invention provides a kind of mobile lidar and vehicle, by controllable machine
The scope of activities of tool part expansion of laser light radar so that laser radar has the bigger detection free degree, can on demand dynamically
Adjusted to target area and detected, so that in the case where cost and energy consumption is not dramatically increased, the spy of laser radar is substantially improved
Region is surveyed, detection blind area is reduced, it is ensured that the safety and reliability of auxiliary driving/automatic Pilot.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
Modified with to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of mobile lidar, it is characterised in that the mobile lidar includes：Support limit part, driver part
And laser radar；Wherein,
The support limit part includes multiple installation positions, and the support limit part passes through one or more described installation portions
Position is fixedly installed on car body, and shape and the car body of the support limit part are adapted；
The driver part includes one or more connection ends, and the driver part is connected by one or more described connection ends
The support limit part and/or the laser radar；
The laser radar is arranged on the support limit part by installation position one or more described, and/or is passed through
One or more described connection ends connect the driver part.
2. mobile lidar according to claim 1, it is characterised in that the support limit part includes guide rail, institute
Stating driver part includes motor and sliding support.
3. mobile lidar according to claim 2, it is characterised in that the guide rail be shaped as straight line, annular or
Polygon.
4. mobile lidar according to claim 3, it is characterised in that the guide rail presses close to the plane of the car body simultaneously
Along the planar extension of the car body, the shape of the guide rail covers one or more specified detecting locations.
5. mobile lidar according to claim 2, it is characterised in that one or more biographies are provided with the guide rail
Inductor component.
6. mobile lidar according to claim 5, it is characterised in that the multiple senser element is by a drive division
Part drives associated movement；Or the multiple senser element is driven respectively by multiple driver parts, the guide rail and each solely is multiplexed
Vertical motion.
7. mobile lidar according to claim 1, it is characterised in that the support limit part is one or more
Straight-arm and/or folding arm；Wherein, the straight-arm rotates under the drive of the driver part, and the folding arm is in the driver part
Drive under bending, stretch and/or rotate.
8. mobile lidar according to claim 7, it is characterised in that the straight-arm Omnidirectional rotation is limited at
Rotation in individual given plane.
9. a kind of vehicle, it is characterised in that the vehicle includes one or more as described in any one in claim 1-8
Mobile lidar.
10. vehicle according to claim 9, it is characterised in that the vehicle also includes：Laser radar control unit, institute
State laser radar control unit to be communicated to connect with the mobile lidar, the detection knot of mobile lidar described in real-time reception
Really, and in real time driving control signal is sent to the driver part of the mobile lidar.
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| CN201710190720.2A CN106814354A (en) | 2017-03-28 | 2017-03-28 | Mobile lidar and vehicle |
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| CN107505940A (en) * | 2017-08-08 | 2017-12-22 | 速感科技（北京）有限公司 | Double laser radar control method, system and localization method on automated guided vehicle |
| CN108508895A (en) * | 2018-04-12 | 2018-09-07 | 鄂尔多斯市普渡科技有限公司 | A kind of pilotless automobile road surface detection device and detection method |
| CN109270924A (en) * | 2018-11-21 | 2019-01-25 | 复旦大学无锡研究院 | Automatic Pilot test carriage |
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| CN110940997A (en) * | 2019-11-20 | 2020-03-31 | 北京踏歌智行科技有限公司 | Laser radar system for unmanned vehicle |
| WO2023279395A1 (en) * | 2021-07-09 | 2023-01-12 | 华为技术有限公司 | Radar system |
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