CN108761427B - Distributed laser radar and automatic driving system - Google Patents
Distributed laser radar and automatic driving system Download PDFInfo
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- CN108761427B CN108761427B CN201811052824.8A CN201811052824A CN108761427B CN 108761427 B CN108761427 B CN 108761427B CN 201811052824 A CN201811052824 A CN 201811052824A CN 108761427 B CN108761427 B CN 108761427B
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Classifications
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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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- 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
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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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- 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
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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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
- G01S7/483—Details of pulse systems
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the application provides a distributed laser radar and an automatic driving system. According to the scheme, the narrow pulse laser signals are generated through the laser transmitting and receiving device, the narrow pulse laser signals are transmitted to the reflecting mirror through the light emitting optical fibers of each optical sensor and are reflected to the scanning surface of the MEMS scanning mirror through the reflecting surface of the reflecting mirror, the MEMS scanning mirror scans the narrow pulse laser signals to the collimating mirror according to a preset three-dimensional scanning range, the collimating mirror collimates the narrow pulse laser signals and then scans the corresponding collimated light in a detection range corresponding to the three-dimensional scanning range, the reflected laser signals generated when the collimated light contacts an obstacle enter the coupling mirror through the window mirror and are coupled into the echo optical fibers through the coupling mirror, and the echo optical fibers transmit the reflected laser signals to the laser transmitting and receiving device to be converted into electric signals and then are transmitted to industrial personal computer equipment for signal processing. Therefore, the detection distance is farther, the scanning range is wide, the distributed structure is adopted, the installation is convenient, the volume is small, and the replacement and maintenance cost is low.
Description
Technical Field
The application relates to the technical field of radars, in particular to a distributed laser radar and an automatic driving system.
Background
An automatic driving automobile is also called an unmanned automobile and a computer driving automobile, and is an intelligent automobile for realizing unmanned through a computer system. The autopilot has the ability to sense the environment, route planning and control the motion of the vehicle, allowing the computer to automatically operate the motor vehicle. When the automatic driving automobile runs autonomously, the surrounding environment needs to be perceived, and then a behavior decision is made according to the obtained environment information. The environment sensing capability is a precondition for realizing automatic driving, and the automatic driving can be realized only by accurately and rapidly sensing the environment around the automobile.
The automatic driving automobile obtains surrounding environment information through various sensors installed on the automobile, and the commonly used sensors comprise a laser radar, however, the laser radar detection distance in the current automatic driving automobile is shorter, the single-point scanning is small, the scanning range is small, and meanwhile, the optical system of the laser radar is complex to install and high in replacement and maintenance cost.
Content of the application
In order to overcome the defects in the prior art, the purpose of the application is to provide a distributed laser radar and an automatic driving system, which have the advantages of farther detection distance, wide scanning range, distributed structure, convenient installation, small volume and low replacement and maintenance cost.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, embodiments of the present application provide a distributed lidar for use in an autonomous vehicle, the distributed lidar comprising:
a plurality of optical sensors disposed around a body of the autonomous vehicle;
a laser transmitting and receiving device connected with the optical sensor and arranged in the body of the automatic driving vehicle; and
the industrial personal computer equipment is electrically connected with the laser transmitting and receiving device;
the optical sensor includes:
the sensor comprises a sensor body, a sensor body and a sensor module, wherein the sensor body comprises a bottom surface, a top surface opposite to the bottom surface and a side surface positioned between the bottom surface and the top surface, and an opening, a light-emitting optical fiber interface and an echo optical fiber interface are arranged on the side surface;
a window mirror disposed at an opening position of the side surface;
the light-emitting optical fiber is connected between the light-emitting optical fiber interface and the laser transmitting and receiving device;
an echo optical fiber connected between the echo optical fiber interface and the laser transmitting and receiving device;
the MEMS scanning mirror is arranged at a position close to the light-emitting optical fiber interface, the reflecting surface of the reflecting mirror is close to the scanning surface of the MEMS scanning mirror, and the collimating mirror and the coupling mirror are arranged at a position close to the window mirror;
the laser emission receiving device is used for generating narrow pulse laser signals and emitting the narrow pulse laser signals to the reflecting mirror through the light emitting optical fiber of each optical sensor, the reflecting surface of the reflecting mirror reflects the narrow pulse laser signals to the scanning surface of the MEMS scanning mirror, the MEMS scanning mirror scans the narrow pulse laser signals to the collimating mirror according to a preset three-dimensional scanning range, the collimating mirror collimates the narrow pulse laser signals and then scans corresponding collimated light in a detection range corresponding to the three-dimensional scanning range, when the collimated light contacts an obstacle, reflected laser signals are generated, the reflected laser signals enter the coupling mirror through the window mirror and are coupled into the echo optical fiber through the coupling mirror, the echo optical fiber transmits the reflected laser signals to the laser emission receiving device, and the laser emission receiving device converts the reflected laser signals into electric signals and then sends the electric signals to the industrial personal computer equipment for signal processing.
Optionally, the laser transmitting and receiving device includes:
a laser processor for generating an initial trigger signal;
the laser is electrically connected with the laser processor and is used for responding to the initial trigger signal to generate a narrow pulse laser signal;
the signal equalizer is connected with the laser and the plurality of light sensors and is used for generating multipath laser signals according to the narrow pulse laser signals generated by the laser and respectively transmitting the multipath laser signals to the corresponding light sensors;
the photoelectric converter is connected with the plurality of light sensors and is used for receiving each reflected laser signal sent by each light sensor and converting each reflected laser signal into a corresponding electric signal;
and the time monitoring chip is electrically connected with the photoelectric converter and is used for receiving the converted electric signals and taking each electric signal as a termination signal when each electric signal is detected to be the correct electric signal.
Optionally, each optical sensor is connected with the signal equalizer through an optical output fiber, and is connected with the photoelectric converter through an optical receiving fiber, and is used for acquiring a laser signal of a corresponding path sent by the signal equalizer through the optical output fiber, and sending the acquired reflected laser signal to the photoelectric converter through the optical receiving fiber.
Optionally, the signal averager includes an optical beam splitter, and the optical beam splitter is used for averagely dividing the narrow pulse laser signal into multiple paths of laser signals.
Optionally, the signal averager includes an optical switch, and the optical switch includes a plurality of transmission ports for generating a plurality of laser signals from the narrow pulse laser signal through the plurality of transmission ports.
Optionally, the photoelectric converter is further configured to amplify and filter the electrical signals after converting the reflected laser signals into corresponding electrical signals, and send the electrical signals after signal amplification and signal filtering to the time monitoring chip.
Optionally, the time monitoring chip adopts a TDC-GP2 chip.
Optionally, the wavelength of the narrow pulse laser signal is 1550nm.
Optionally, the optical sensor further comprises a driver connected with the MEMS scanning mirror, and the driver is used for driving the MEMS scanning mirror to scan the narrow pulse laser signal onto the collimating mirror according to a predetermined three-dimensional scanning range.
In a second aspect, embodiments of the present application further provide an autopilot system, the autopilot system including an autopilot control apparatus disposed in a vehicle and the above-described distributed lidar electrically connected to the autopilot control apparatus
Compared with the prior art, the application has the following beneficial effects:
the embodiment of the application provides a distributed laser radar and an automatic driving system. According to the scheme, a narrow pulse laser signal is generated through a laser transmitting and receiving device and is transmitted to a reflecting mirror through a light emitting optical fiber of each optical sensor, the reflecting surface of the reflecting mirror transmits the narrow pulse laser signal to a scanning surface of an MEMS scanning mirror, the MEMS scanning mirror scans the narrow pulse laser signal to a collimating mirror according to a preset three-dimensional scanning range, the collimating mirror collimates the narrow pulse laser signal and then scans corresponding collimated light in a detection range corresponding to the three-dimensional scanning range, the reflected laser signal generated when the collimated light contacts an obstacle enters a coupling mirror through a window mirror and is coupled into an echo optical fiber through the coupling mirror, and the echo optical fiber transmits the reflected laser signal to the laser transmitting and receiving device to be converted into an electric signal and then is transmitted to industrial personal computer equipment for signal processing. Therefore, the narrow pulse laser signal is adopted for detection, the detection distance is farther, the photoelectric sensor structure of the reflecting mirror, the MEMS scanning mirror, the collimating mirror and the coupling mirror which are designed simultaneously can carry out multi-point scanning on the laser signal of the corresponding path to the external environment of the vehicle body along the preset space range, the scanning range is wider, and each optical sensor is arranged around the vehicle body of the vehicle by adopting the distributed structure, so that the device is convenient to install, small in size and low in replacement and maintenance cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting in scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a distributed lidar according to an embodiment of the present application;
fig. 2 is a schematic structural view of the laser transmitting and receiving device shown in fig. 1;
FIG. 3 is a schematic view of the internal structure of the photosensor shown in FIG. 1;
fig. 4 is a schematic block diagram of a distributed lidar according to an embodiment of the present application.
Icon: 10-distributed lidar; 100-a laser transmitting and receiving device; 101-a laser emitting port; 102-a laser receiving port; 110-a laser processor; 120-a laser; 130-a signal equalizer; a 140-photoelectric converter; 150-a time monitoring chip; 200-a light sensor; 210-bottom surface; 212-MEMS scanning mirror; 214-a mirror; 216-a collimator lens; 218-a coupling mirror; 220-side; 222-window mirror; 224-light-out fiber optic interface; 226-echo fiber interface; 300-industrial personal computer equipment.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that some terms indicating an orientation or a positional relationship are based on the orientation or the positional relationship shown in the drawings, or the orientation or the positional relationship conventionally put in use of the product of the application, are merely for convenience of description of the present application and for simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, a schematic structure of a distributed lidar 10 according to an embodiment of the present application is shown. In this embodiment, the distributed lidar 10 may be applied to an automatic driving system, so as to sense distance information between the autonomous driving vehicle and surrounding obstacles when the autonomous driving vehicle is running, and further make the automatic driving system make a behavior decision according to the obtained distance information.
As shown in fig. 1, the distributed lidar 10 may include a plurality of optical sensors distributed around a body of an autonomous vehicle (not shown), a laser light emitting and receiving device 100 connected to the optical sensors and disposed inside the body of the autonomous vehicle, and an industrial personal computer 300 electrically connected to the laser light emitting and receiving device 100.
Referring to fig. 2, a laser emitting port 101 and a laser receiving port 102 are provided on the laser emitting and receiving device 100, and an optical sensor is connected to the laser emitting port 101 and the laser receiving port 102, respectively.
In detail, referring to fig. 3 in combination, the optical sensor may include a sensor body, a window mirror 222, a MEMS scanning mirror 212, a reflecting mirror 214, a collimating mirror 216, a coupling mirror 218, an outgoing optical fiber (not shown) and an echo optical fiber (not shown), wherein the sensor body includes a bottom surface 210, a top surface opposite to the bottom surface 210, and a side surface 220 between the bottom surface 210 and the top surface, and the side surface 220 is provided with an opening, an outgoing optical fiber interface 224 and an echo optical fiber interface 226.
The window mirror 222 is disposed at an opening position of the side surface 220, and the light-emitting fiber is connected between the light-emitting fiber interface 224 and the laser transmitting and receiving device 100, and the echo fiber is connected between the echo fiber interface 226 and the laser transmitting and receiving device 100. The MEMS scanning mirror 212, the mirror 214, the collimating mirror 216, and the coupling mirror 218 are disposed on the bottom surface 210, the MEMS scanning mirror 212 is disposed proximate to the light-emitting fiber interface 224, the reflective surface of the mirror 214 is proximate to the scanning surface of the MEMS scanning mirror 212, and the collimating mirror 216 and the coupling mirror 218 are disposed proximate to the window mirror 222.
The laser emission and receiving device 100 is configured to generate a narrow pulse laser signal and emit the narrow pulse laser signal onto the reflecting mirror 214 through the light emitting fiber of each optical sensor, the reflecting surface of the reflecting mirror 214 reflects the narrow pulse laser signal onto the scanning surface of the MEMS scanning mirror 212, the MEMS scanning mirror 212 scans the narrow pulse laser signal onto the collimating mirror 216 according to a predetermined three-dimensional scanning range, the collimating mirror 216 collimates the narrow pulse laser signal and then scans the corresponding collimated light within a detection range corresponding to the three-dimensional scanning range, when the collimated light contacts an obstacle, a reflected laser signal is generated, the reflected laser signal enters the coupling mirror 218 through the window mirror 222 and is coupled into the echo fiber through the coupling mirror 218, the echo fiber transmits the reflected laser signal into the laser emission and receiving device 100, and the laser emission and receiving device 100 converts the reflected laser signal into an electrical signal and then transmits the electrical signal to the industrial personal computer device 300 for signal processing.
The embodiment detects by using a narrow pulse laser signal, and the detection distance is longer than that of the prior art. In addition, the inventor of the application finds that when the wavelength of the narrow pulse laser signal is 1550nm through multiple research tests, the measurement accuracy is high, the fog penetrating capability is strong, and the safety to human eyes is higher.
In this embodiment, the distributed structure is adopted to set each light sensor 200 around the body of the vehicle, for example, three light sensors are respectively installed on two sides of the vehicle and one light sensor is installed in front of the vehicle, so that the installation is convenient, the volume of each light sensor 200 is small, when a certain light sensor 200 fails, only the corresponding light sensor 200 needs to be replaced, the whole replacement is not needed, and the replacement and maintenance costs are low. Meanwhile, the photoelectric sensor structures of the reflecting mirror 214, the MEMS scanning mirror 212, the collimating mirror 216 and the coupling mirror 218 can carry out multi-point scanning on the laser signals of the corresponding paths along the preset space range to the external environment of the vehicle body, and the scanning range is wider. The predetermined spatial range may be set as needed, for example, a multi-point scanning range of 60 degrees left and right and 20 degrees up and down. In addition, each optical sensor 200 has a small volume, and when one optical sensor 200 fails, only the corresponding optical sensor 200 needs to be replaced, the whole replacement is not needed, and the replacement and maintenance costs are low.
In this embodiment, the optical sensor may further include a driver connected to the MEMS scanning mirror 212, and the driver is configured to drive the MEMS scanning mirror 212 to scan the narrow pulse laser signal onto the collimator mirror 216 according to a predetermined three-dimensional scanning range.
Optionally, referring to fig. 4 in combination, the laser transmitting and receiving device 100 may include a laser processor 110, a laser 120, a signal divider 130, and a photoelectric converter 140.
In this embodiment, the laser processor 110 is configured to generate an initial trigger signal, and the laser 120 is electrically connected to the laser processor 110 and configured to generate a narrow pulse laser signal in response to the initial trigger signal. The laser processor 110 is further configured to record a corresponding initial time after the initial trigger signal is generated, where the initial time is the time when the narrow pulse laser signal is generated.
The signal equalizer 130 is connected to the laser 120 and the plurality of optical sensors 200, and is configured to generate multiple paths of laser signals according to the narrow pulse laser signals generated by the laser 120 and transmit the multiple paths of laser signals to the corresponding optical sensors 200. Optionally, the signal equalizer 130 includes an optical beam splitter, which is typically formed of a metal film or a dielectric film, and may split one beam of light into two or more beams of light, that is, may be used to uniformly split a narrow pulse laser signal into multiple laser signals. Alternatively, the signal equalizer 130 may further include an optical switch, which may include a plurality of transmission ports, for generating a multi-path laser signal from the narrow pulse laser signal through the plurality of transmission ports. It will be appreciated that in other embodiments, the signal equally dividing unit 130 may also use other devices with signal equally dividing function, which is not limited herein.
In this embodiment, each optical sensor 200 may be connected to the signal averager 130 through an optical output fiber, and connected to the photoelectric converter 140 through an optical receiving fiber, so as to obtain a laser signal of a corresponding path sent by the signal averager 130 through the optical output fiber, and send the collected reflected laser signal to the photoelectric converter 140 through the optical receiving fiber. By the design, the anti-interference capability of the laser signal in the transmission process is stronger by arranging the light emitting optical fiber and the light receiving optical fiber.
In this embodiment, the photoelectric converter 140 is connected to the plurality of optical sensors 200, and is configured to receive each reflected laser signal sent by each optical sensor 200, and convert each reflected laser signal into a corresponding electrical signal. The photoelectric converter 140 may be internally formed of an APD bias circuit, and may be further configured to amplify and filter the electrical signal after converting each reflected laser signal into a corresponding electrical signal, to obtain an electrical signal after signal amplification and signal filtering.
In this embodiment, the time monitoring chip 150 is electrically connected to the photoelectric converter 140, and is configured to receive each of the converted electrical signals and take each of the electrical signals as a termination signal when it is detected that the electrical signal is the correct electrical signal. Alternatively, the time monitoring chip 150 may employ a TDC-GP2 chip.
The inventor also found that in the laser ranging process, rapid fluctuation of each small range of electric signal amplitude obtained by converting a specific target can be introduced due to atmospheric turbulence, tracking shake, target posture change and the like. The current generated by the avalanche photodiode in the APD bias circuit is amplified by the amplifying circuit and finally sent to the voltage comparator to generate a timing point. If only one fixed threshold voltage is set to determine whether each converted electric signal appears or not and determine the arrival time point, the time point determination is error due to the change of the signal size, and the error caused by the different signal shapes is called drift error. Accordingly, a corresponding time decision technique must be employed to reduce such timing errors introduced by random jitter in amplitude.
In detail, the present inventors have studied and proposed the following embodiments to solve timing errors.
Firstly, the time monitoring chip 150 detects the rising slope of each electrical signal obtained by conversion, obtains the corresponding rising time according to the detected rising slope, compares the rising time with a preset threshold value, judges the electrical signal to be the correct electrical signal when the rising time is larger than the preset threshold value, and takes the electrical signal as a termination signal. Thus, higher timing accuracy can be obtained.
In this embodiment, the industrial personal computer device 300 is electrically connected to the laser processor 110, the laser processor 110 is further electrically connected to the time monitoring chip 150, and is configured to send each received termination signal and a corresponding initial trigger signal to the industrial personal computer device 300, and the industrial personal computer device 300 is configured to calculate and generate three-dimensional graphics of all obstacles in the current detection range according to each termination signal and the corresponding initial trigger signal.
In detail, as an embodiment, the method for calculating and generating the three-dimensional graph of all the obstacles in the current detection range according to each termination signal and the corresponding initial trigger signal may include:
first, a spectrum difference signal between each termination signal and a corresponding initial trigger signal is calculated. Then, a time difference between each termination signal and the corresponding initial trigger signal is obtained according to the spectrum difference signal. And then, calculating the distance between the obstacle and the corresponding obstacle according to the time difference to obtain a plurality of distances. Finally, a three-dimensional map of all obstacles in the current detection range is generated based on the plurality of distances. The three-dimensional pattern of all the obstacles in the current detection range can embody the distance information between the three-dimensional pattern and each obstacle.
In this embodiment, an industrial control computer (Industrial Personal Computer, IPC) is a tool for detecting and controlling a production process, electromechanical equipment, and process equipment by using a bus structure. The industrial personal computer device 300 has important computer attributes and features such as having a computer motherboard, a CPU, a hard disk, memory, peripherals and interfaces, and has an operating system, control network and protocol, computing power, and friendly human-machine interface.
In summary, the embodiments of the present application provide a distributed lidar and an autopilot system. According to the scheme, a narrow pulse laser signal is generated through a laser transmitting and receiving device and is transmitted to a reflecting mirror through a light emitting optical fiber of each optical sensor, the reflecting surface of the reflecting mirror transmits the narrow pulse laser signal to a scanning surface of an MEMS scanning mirror, the MEMS scanning mirror scans the narrow pulse laser signal to a collimating mirror according to a preset three-dimensional scanning range, the collimating mirror collimates the narrow pulse laser signal and then scans corresponding collimated light in a detection range corresponding to the three-dimensional scanning range, the reflected laser signal generated when the collimated light contacts an obstacle enters a coupling mirror through a window mirror and is coupled into an echo optical fiber through the coupling mirror, and the echo optical fiber transmits the reflected laser signal to the laser transmitting and receiving device to be converted into an electric signal and then is transmitted to industrial personal computer equipment for signal processing. Therefore, the narrow pulse laser signal is adopted for detection, the detection distance is farther, the photoelectric sensor structure of the reflecting mirror, the MEMS scanning mirror, the collimating mirror and the coupling mirror which are designed simultaneously can carry out multi-point scanning on the laser signal of the corresponding path to the external environment of the vehicle body along the preset space range, the scanning range is wider, and each optical sensor is arranged around the vehicle body of the vehicle by adopting the distributed structure, so that the device is convenient to install, small in size and low in replacement and maintenance cost.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A distributed lidar for use in an autonomous vehicle, the distributed lidar comprising:
a plurality of optical sensors disposed around a body of the autonomous vehicle;
a laser transmitting and receiving device connected with the optical sensor and arranged in the body of the automatic driving vehicle; and
the industrial personal computer equipment is electrically connected with the laser transmitting and receiving device;
the optical sensor includes:
the sensor comprises a sensor body, a sensor body and a sensor module, wherein the sensor body comprises a bottom surface, a top surface opposite to the bottom surface and a side surface positioned between the bottom surface and the top surface, and an opening, a light-emitting optical fiber interface and an echo optical fiber interface are arranged on the side surface;
a window mirror disposed at an opening position of the side surface;
the light-emitting optical fiber is connected between the light-emitting optical fiber interface and the laser transmitting and receiving device;
an echo optical fiber connected between the echo optical fiber interface and the laser transmitting and receiving device;
the MEMS scanning mirror is arranged at a position close to the light-emitting optical fiber interface, the reflecting surface of the reflecting mirror is close to the scanning surface of the MEMS scanning mirror, and the collimating mirror and the coupling mirror are arranged at a position close to the window mirror;
the driver is connected with the MEMS scanning mirror and is used for driving the MEMS scanning mirror to scan the narrow pulse laser signals onto the collimating mirror according to a preset three-dimensional scanning range;
the laser emission receiving device is used for generating a narrow pulse laser signal and emitting the narrow pulse laser signal to the reflecting mirror through the light emitting optical fiber of each optical sensor, the reflecting surface of the reflecting mirror reflects the narrow pulse laser signal to the scanning surface of the MEMS scanning mirror, the MEMS scanning mirror scans the narrow pulse laser signal to the collimating mirror according to a preset three-dimensional scanning range, the collimating mirror collimates the narrow pulse laser signal and then scans corresponding collimated light in a detection range corresponding to the three-dimensional scanning range, when the collimated light contacts an obstacle, a reflected laser signal is generated, the reflected laser signal enters the coupling mirror through the window mirror and is coupled into the echo optical fiber through the coupling mirror, the echo optical fiber transmits the reflected laser signal to the laser emission receiving device, and the laser emission receiving device converts the reflected laser signal into an electric signal and then sends the electric signal to the industrial personal computer equipment for signal processing;
wherein, the laser emission receiving arrangement includes:
a laser processor for generating an initial trigger signal;
the laser is electrically connected with the laser processor and is used for responding to the initial trigger signal to generate a narrow pulse laser signal;
the signal equalizer is connected with the laser and the plurality of optical sensors and is used for generating multipath laser signals according to the narrow pulse laser signals generated by the laser and respectively transmitting the multipath laser signals to the corresponding optical sensors;
the photoelectric converter is connected with the plurality of optical sensors and is used for receiving each reflected laser signal sent by each optical sensor and converting each reflected laser signal into a corresponding electric signal;
and the time monitoring chip is electrically connected with the photoelectric converter and is used for receiving the converted electric signals and taking each electric signal as a termination signal when each electric signal is detected to be the correct electric signal.
2. The distributed lidar according to claim 1, wherein each of the optical sensors is connected to the signal equalizer through an outgoing optical fiber, and connected to the photoelectric converter through a receiving optical fiber, and is configured to obtain, through the outgoing optical fiber, a laser signal of a corresponding path sent by the signal equalizer, and send, through the receiving optical fiber, the collected reflected laser signal to the photoelectric converter.
3. The distributed lidar of claim 1, wherein the signal equalizer comprises an optical beam splitter for equalizing the narrow pulse laser signal into multiple laser signals.
4. The distributed lidar of claim 1, wherein the signal equalizer comprises an optical switch comprising a plurality of transmission ports for generating the narrow pulse laser signal via the plurality of transmission ports into a multiplexed laser signal.
5. A distributed laser radar as claimed in claim 1 wherein the photoelectric converter is further configured to, after converting each of the reflected laser signals into a corresponding electrical signal, perform signal amplification and signal filtering on the electrical signal, obtain a signal amplified and signal filtered electrical signal, and send the signal amplified and signal filtered electrical signal to the time monitoring chip.
6. A distributed lidar according to claim 1, wherein the time monitoring chip is a TDC-GP2 chip.
7. A distributed lidar according to claim 1, wherein the narrow pulse laser signal has a wavelength of 1550nm.
8. An autopilot system comprising an autopilot control apparatus disposed in a vehicle and the distributed lidar of any one of claims 1-7 electrically connected to the autopilot control apparatus.
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| DE202018106624U1 (en) * | 2018-11-21 | 2020-02-26 | Telejet Kommunikations Gmbh | Transport system |
| DE102018222718A1 (en) * | 2018-12-21 | 2020-06-25 | Robert Bosch Gmbh | Optoelectronic sensor, method and vehicle |
| CN110861605B (en) * | 2019-11-29 | 2024-08-16 | 中汽研汽车检验中心(常州)有限公司 | Large-scale vehicle blind area composite monitoring device and method |
| CN116148812A (en) * | 2021-11-23 | 2023-05-23 | 深圳市速腾聚创科技有限公司 | Method, device and storage medium for improving laser ranging capability of radar system |
| WO2024113165A1 (en) * | 2022-11-29 | 2024-06-06 | 华为技术有限公司 | Detection device, optical loopback method, and terminal |
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