CN108490419B - Automatic driving vehicle-mounted multi-line laser radar system - Google Patents
Automatic driving vehicle-mounted multi-line laser radar system Download PDFInfo
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- CN108490419B CN108490419B CN201810563253.8A CN201810563253A CN108490419B CN 108490419 B CN108490419 B CN 108490419B CN 201810563253 A CN201810563253 A CN 201810563253A CN 108490419 B CN108490419 B CN 108490419B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention discloses an automatic driving vehicle-mounted multi-line laser radar system, which relates to the technical field of laser detection and comprises the following components: a turntable; the column array is arranged on the turntable, and the upper surface of each column in the column array is an inclined surface with different inclination; a laser emitting array; the emitting lens is positioned on the light emitting side of the laser emitting array; the regular rotating mirror is positioned above the transmitting lens; the irregular rotating mirror is positioned above the regular rotating mirror; the receiving lens is positioned on the light emitting side of the irregular rotating mirror; the light sensing side of the laser detection module is close to the receiving lens; and the driving motor is connected with the rotating disc and drives the rotating disc. The invention solves the problems of high production cost, large volume, small detection point cloud data volume, and low distance measurement precision and angle resolution of the conventional vehicle-mounted multi-line laser radar system.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to an automatic driving vehicle-mounted multi-line laser radar system.
Background
The laser radar is developed on the basis of the traditional electric radar, and has the advantages of strong anti-interference performance, good directivity and the like by taking laser as a carrier. The range finding mode that laser radar adopted is Time of Flight measurement method (Time of Flight), and a laser instrument in laser radar sends out a bundle of ultrashort laser pulse, takes place the diffuse reflection after throwing on the target object, then the sensor receives the diffuse reflection laser, and the accurate calculation of Time of Flight through laser beam in the air finally obtains the distance between target object and the sensor:
distance of the target:
distance measurement precision:
where c represents the speed of light and t represents the time of flight of the pulse. The identification precision of the time t directly influences the ranging precision of the laser radar, the reduction of the pulse width is beneficial to improving the identification precision at the moment and reducing the heating of the semiconductor laser, so that the repetition frequency can be improved, and the ranging precision and the detection distance can be improved by adopting a laser driving circuit with narrow pulse width and large current.
The laser radar realizes 360-degree detection of the surrounding environment through the scanning optical system, and the scanning speed of the scanning optical system determines the detection resolution of the laser radar in the horizontal direction. The number of lasers in the multi-line laser radar, namely the number of lines, determines the detection resolution of the laser radar in the vertical direction, the performance of the laser radar can be effectively improved by increasing the number of lines, but the increase of devices is brought by increasing the number of lines, so that the production cost is greatly improved, for example, the price of 64-line laser radar of the American Velodyne company is up to 7.5 ten thousand dollars, meanwhile, the size of the laser radar is increased due to the unreasonable design of a scanning system, and the popularization and the installation of the laser radar are not facilitated.
Disclosure of Invention
The invention aims to: the invention provides an automatic driving vehicle-mounted multi-line laser radar system, which aims to solve the problems of high production cost, large volume, small detection point cloud data volume, and low distance measurement precision and angle resolution of the conventional vehicle-mounted multi-line laser radar system.
The technical scheme of the invention is as follows:
an autonomous driving vehicle-mounted multiline lidar system comprising:
a turntable;
the column array is arranged on the turntable, the upper surface of each column in the column array is an inclined plane with different inclination, and each column is provided with a laser;
laser emission array: comprising a plurality of lasers mounted on a cylindrical array;
the emitting lens is positioned on the light emitting side of the laser emitting array;
the regular rotating mirror is positioned above the transmitting lens and is a multi-surface regular cylinder, each inclined side surface corresponds to each laser transmitting array, the inclination angle of each side surface is consistent, and the number of the inclined surfaces is the same as that of the lasers;
the irregular rotating mirror is positioned above the regular rotating mirror and is a multi-surface irregular cylinder, the inclined side surfaces correspond to the laser emission array, the inclination angle of each side surface is different, and the number of the inclined surfaces is the same as that of the lasers;
the receiving lens is positioned on the light emitting side of the irregular rotating mirror;
the light sensing side of the laser detection module is close to the receiving lens;
and the driving motor is connected with the rotating disc and drives the rotating disc.
Further, the laser detection device also comprises a shell, and the turntable, the cylindrical array, the laser emission array, the emission lens, the irregular rotating mirror of the regular rotating mirror, the receiving lens and the laser detection module are all positioned in the shell.
Specifically, the wavelength of the laser includes, but is not limited to 908nm or 1550 nm.
In particular, the laser detection module may be a single area array photodetector or a plurality of array photodetectors.
Specifically, the shell is made of a material with high light transmittance in a laser waveband.
Specifically, the emitting lens is an integral lens or an array lens group, the array lens group corresponds to the laser beams one by one, the receiving lens is an integral lens or an array lens group, and the array lens group corresponds to the reflected light emitted by the irregular lens one by one.
Furthermore, the inclination angle between the side surface of the regular rotating mirror and the laser beam of the laser array is 45 degrees, and the surface of the regular rotating mirror is plated with a high-reflection film.
Furthermore, the side surfaces of the irregular rotating mirrors correspond to the lasers in the laser emission array one by one, the inclination angle of the side surfaces of the irregular rotating mirrors is gamma, and meanwhile, the relation of the inclination angle alpha of the emitted laser beamsThe method comprises the following steps:
preferably, the laser detection module is located at a focal point of the receiving focusing optical system.
After the scheme is adopted, the invention has the following beneficial effects:
(1) the laser beam can form a scanning laser beam in the vertical direction to be incident on the surface of a target after being reflected by the regular rotating mirror, the laser beam reflected by the target can be vertically incident on the receiving and focusing optical system after being reflected by the irregular rotating mirror so as to be focused on the detection module, the distance of the target can be detected through a subsequent processing circuit and a control circuit, point cloud data of the surrounding environment is formed, the safe driving of an automatic driving vehicle is ensured, the static laser radar is equivalent to a single-line laser radar capable of detecting the surrounding environment, and the motor drives the laser radar to rotate so as to form a multi-line laser radar, so that the more comprehensive detection imaging of the surrounding environment is completed.
(2) Using pulse width tw<5ns, current I>The design of the narrow-pulse high-current laser driving circuit of 17A can realize centimeter-level ranging precision, and can realize a 200m ranging range at the farthest; the rotation speed of the multi-line laser radar is 5-20Hz, and the angular resolution of 0.08-0.35 degrees in the horizontal direction can be realized; when 64 lasers are used in the laser emission array, the vertical direction can reach 0.4 degree of angular resolution, and the requirements of low delay, high precision and large data volume of automatic driving are completely met.
(3) The invention reduces the number of detectors through an innovative scanning system and optimization, has the advantages of low cost, small volume, high distance measurement precision and angle resolution, generates a large amount of point cloud data, is very suitable for automatically driving vehicles, and builds safe traffic trip.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the structure of a disk and cylinder array of the present invention;
FIG. 3 is a schematic diagram of the structure of the present invention after the horizontal arrangement of the cylindrical arrays;
FIG. 4 is an angle coordinate diagram of the detection target points of the horizontal and vertical field angles of the laser radar in the cylindrical array according to the present invention;
FIG. 5 is a schematic view of an irregular rotating mirror according to the present invention;
the figure is marked with 1-turntable, 2-laser emitting array, 3-emitting lens, 4-regular rotating mirror, 5-irregular rotating mirror, 6-receiving lens, 7-laser detecting module and 8-shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to an automatic driving vehicle-mounted multi-line laser radar system, which comprises:
the rotary table 1 is used for fixing a plurality of cylindrical arrays which are arranged in a circle.
The laser array comprises a cylindrical array, a laser device array and a laser device array, wherein the cylindrical array is used for mounting the laser device array, the upper surface of each cylinder in the cylindrical array is an inclined surface with different inclinations, and each cylinder is used for mounting one laser device; the specific structure of the turntable and the cylinder array is shown in FIG. 2; as shown in fig. 3, the structure of the cylindrical array of the present invention can be clearly seen by placing all the cylindrical arrays on a uniform straight line; FIG. 4 is a graph of the angular relationship between the laser and the scanned field of view for a cylinder array having a different top surface slope in accordance with the present invention; it has been found that the emitted pulsed laser beam is arranged in a spiral over a 360 deg. field of view, and that a full field of view scan is achieved when the turntable is rotated. The scanning mode has the obvious advantage that the multi-line laser radar can realize single line detection of the surrounding environment when not rotating, can measure the distance of the target within the range of 360 degrees around, and can complete multi-line detection of the surrounding environment after the laser radar rotates.
Laser emission array 2: the laser comprises a plurality of lasers and is used for emitting a plurality of paths of laser with different exit angles alpha and different inclination angles; the wavelength of the laser is 908nm and 1550nm, and the wavelength of the laser can be other; the emergent angle alpha can be adjusted according to the requirements of the scanning angle and the scanning precision, and the multi-path laser can be emitted simultaneously or in a successive manner; thanks to the design of the turntable, the number of the lasers can be easily adjusted to 64 while ensuring small volume, the precision of the laser radar is greatly improved, and only 8 lasers are introduced in the attached drawing.
The emitting lens 3 is positioned on the light emitting side of the laser emitting array 2 and is used for collimating multipath light rays so as to collimate laser beams emitted by the laser, so that the laser beams can be transmitted to a longer distance; the emitting lens can be a large-area lens group, and the laser beams of the emitting array share the same lens group; or array lens group, the laser beam of emission array has one-to-one corresponding lens group; specifically, a large-area lens group or a large-area lens group is selected according to actual use requirements.
The regular rotating mirror 4 is positioned above the transmitting lens 3, is a multi-surface regular cylinder, is coated with a high-reflection film on the surface, and has inclined side surfaces corresponding to the laser transmitting array, the inclined angle of each side surface is consistent, and the number of the inclined surfaces is the same as that of the lasers; the side surfaces correspond to the laser beams of the laser emitting array one by one, and the inclination angles of all the side surfaces are consistent; the device is used for converting emergent light of the multi-path laser emission array, and the converted emergent light irradiates on a measured target; the regular rotating mirror 3 has the same inclination angle, the size of the regular rotating mirror is 45 degrees, and a high-reflection film is plated to reflect laser beams.
The irregular rotating mirror 5 is positioned above the regular special mirror 4, the irregular rotating mirror 5 is a multi-surface irregular cylinder, the inclined side surface corresponds to the laser emission array, and the inclined angles of the reflecting side surfaces are different; the device is used for deflecting multiple paths of reflected light paths reflected from a measured target; the inclination angle of each side surface is different; the side surface of the irregular rotating mirror 5 corresponds to each laser beam of the laser emission array 3 one by one, the side surface of the rotating mirror has different inclination angles gamma, the laser beams with different angles are changed into parallel emergent light after being reflected by the side surface, and the parallel emergent light is vertically emitted into the focusing optical system; wherein the inclination angle gamma of the side surface is related to the corresponding laser beam emergence angle alpha, and the inclination angle is
And is plated with a high-reflection film to reflect the laser beam; specifically, the structure of the irregular rotating mirror is shown in fig. 4.
The receiving lens 6 is positioned on the light-emitting side of the irregular rotating mirror 5 and used for focusing the multi-path reflection light path after the irregular rotating mirror 5 is folded, the receiving lens can be a large-area lens group like the transmitting lens 3, and the received laser beams share the same lens group; the laser beam received by the receiving and focusing optical system is provided with lens groups corresponding to each other one by one; which kind of lens group can be selected according to the actual use requirement, so that the multi-path laser beam can be focused on the laser detection module 7.
The laser detection module 7 is provided with a larger photosensitive area, can be a single detector and is beneficial to saving the cost. The laser detection module is specifically a photoelectric sensor, is one of a CMOS, a CCD or an APD, is used for converting a received optical signal into an electrical signal, has a high optical responsivity and a large photosensitive area, and may be a single photoelectric sensor or an array distribution in order to obtain the best detection effect.
And the driving motor 9 is used for driving the turntable.
The shell 8, carousel 1, cylinder array, laser emission array 2, transmitting lens 3, regular rotating mirror 4, irregular rotating mirror 5, receiving lens 6 and laser detection module 7 all are located the shell for 8 inside devices of protective housing and increase the interference killing feature.
The multiline lidar system also includes a control system and an information processing system.
The working process of the invention is as follows: laser emitted by the laser emitting array 2 passes through the emitting lens and then enters the side face of the circular truncated cone, the laser reflected by the target enters the side face of the irregular rotating mirror, the side faces of the irregular rotating mirror 5 with different inclination angles can reflect light rays into parallel light rays perpendicular to the lens group, and then the receiving lens focuses the light rays on the laser detection module 7. Generally, the distance from the target object is far greater than the height of the rotating mirror, so the reflected light L2 of the target object is parallel to the light L1, the target object should be within the effective detection distance of the laser radar, the volume of the rotating mirror is small, the height of the rotating mirror can be ignored, the included angle β between the incident light L1 of the target object and the reflected light L2 is approximately equal to 0, so the incident angle of the light L2 is α, and the light is vertically incident on the receiving lens after being reflected by the irregular rotating mirror 6 with the inclination angle γ, so the process of scanning the target object in the vertical direction is realized, and the size of the inclination angle α is the scanning range in the vertical direction.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. An autonomous driving vehicle-mounted multiline lidar system, comprising:
a turntable (1);
the column array is arranged on the turntable (1), the upper surface of each column in the column array is an inclined plane with different inclinations, and each column is provided with a laser;
a laser emitting array (2) comprising a plurality of lasers;
the emitting lens (3) is positioned on the light emitting side of the laser emitting array (2);
the regular rotating mirror (4) is positioned above the transmitting lens (3) and is a multi-surface regular cylinder, each inclined side surface corresponds to each laser transmitting array (2), the inclination angle of each side surface is consistent, and the number of the inclined surfaces is the same as that of the lasers;
the irregular rotating mirror (5) is positioned above the regular rotating mirror (4), the irregular rotating mirror (5) is a multi-surface irregular cylinder, the inclined side surfaces correspond to the laser emission array, the inclination angle of each side surface is different, and the number of the inclined surfaces is the same as that of the lasers; the side surfaces of the irregular rotating mirrors (5) are in one-to-one correspondence with the lasers in the laser emission array respectively, the inclination angle of the side surfaces of the irregular rotating mirrors is gamma, and meanwhile, the relation of the inclination angle alpha of the emitted laser beams is as follows:
the receiving lens (6) is positioned on the light outlet side of the irregular rotating mirror (5);
a laser detection module (7) with a light-sensitive side close to the receiving lens (6);
and the driving motor (9) is connected with the turntable (1) and drives the turntable (1).
2. The autonomous-driving vehicle-mounted multiline lidar system according to claim 1, further comprising a housing (8), wherein the turntable (1), the cylindrical array, the laser emitting array (2), the emitting lens (3), the regular turning mirror (4), the irregular turning mirror (5), the receiving lens (6) and the laser detecting module (7) are all located in the housing (8).
3. An autonomous driving vehicle multiline lidar system according to claim 1 or 2, wherein the laser has a wavelength of 908nm or 1550 nm.
4. An autonomous driving vehicle multiline lidar system according to claim 1 or 2, characterized in that the laser detection module (7) may be a single area array photodetector or a plurality of array photodetectors.
5. The autonomous-driving vehicle-mounted multiline lidar system of claim 2, wherein the material of the housing (8) is a laser-band high-transparency material.
6. An autonomous driving vehicle-mounted multiline lidar system according to claim 1 or 2, characterized in that the transmitting lens (3) is an array lens or an array lens group, the array lens group corresponds to the laser beam one by one, and the receiving lens (6) is an array lens or an array lens group, the array lens group corresponds to the reflected light from the irregular lens (5) one by one.
7. The autonomous-driving vehicle-mounted multiline lidar system according to claim 1 or 2, characterized in that the inclination angle of the side surface of the regular rotating mirror (4) to the laser beam of the laser array is 45 °, and the surface of the regular rotating mirror is coated with a high-reflection film.
8. An autonomous driving vehicle multiline lidar system according to claim 4, characterized in that the laser detection module (7) is located at the focus of a receive focusing optical system.
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| CN201810563253.8A CN108490419B (en) | 2018-06-04 | 2018-06-04 | Automatic driving vehicle-mounted multi-line laser radar system |
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| CN111610506A (en) * | 2019-02-22 | 2020-09-01 | 宁波舜宇车载光学技术有限公司 | Multi-point scanning laser radar and detection method thereof |
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| CN113552578A (en) * | 2020-04-03 | 2021-10-26 | 上海禾赛科技有限公司 | Laser radar and method for detecting target object by using same |
| WO2021197170A1 (en) * | 2020-04-03 | 2021-10-07 | 上海禾赛科技股份有限公司 | Lidar and method for detecting target object by using lidar |
| CN112946666A (en) * | 2021-01-28 | 2021-06-11 | 深圳市镭神智能系统有限公司 | Laser radar system |
| CN113050102A (en) * | 2021-04-15 | 2021-06-29 | 深圳市镭神智能系统有限公司 | Laser radar system |
| CN113740863A (en) * | 2021-09-26 | 2021-12-03 | 海南师范大学 | Laser radar system for realizing multi-line light emission/reception by high-brightness single tube |
| CN115840213A (en) | 2022-07-26 | 2023-03-24 | 深圳市速腾聚创科技有限公司 | Laser radar and storage medium |
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