CN109839647A - Laser radar - Google Patents
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- CN109839647A CN109839647A CN201910176641.5A CN201910176641A CN109839647A CN 109839647 A CN109839647 A CN 109839647A CN 201910176641 A CN201910176641 A CN 201910176641A CN 109839647 A CN109839647 A CN 109839647A
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Abstract
This application discloses a kind of laser radars.Laser radar in the application includes main shaft, radar rotor and optical communication module；Optical communication module includes first communication module, light diffusion diffusion module and second communication module, in which: first communication module is fixedly installed relative to radar rotor；Second communication module is fixedly installed relative to main shaft；Light diffusion is spread module and is arranged around main shaft；And first communication module relative to light diffusion spread module closer to main shaft first end, second communication module relative to light diffusion spread module closer to main shaft the second end.Scheme in the application realizes the coaxial optic communication of laser radar by simple structure, while effectively avoiding the friction in communication component between each element, extends the service life of communication component.
Description
Technical field
This application involves ranging field, in particular to a kind of laser radar.
Background technique
As an important ring for intelligent vehicle environment sensing hardware system, laser radar (LIDAR) undertakes in automatic Pilot
Curb detection, obstacle recognition and positioning in real time and vital tasks such as (SLAM) of drawing.Under the conditions of rotating coaxially, radar
The communication between device and other immobilising devices on rotor mainly has following approach:
1. realizing that coaxial data is transmitted using slip ring.Such as, in mechanical rotary laser radar, the stator of slip ring is connected to swash
The stator of optical radar passes to signal in input terminal brush-sliding ring connector of one rotation, then again signal in connector
Output end output.The rotor of slip ring is connected to the rotor of laser radar；In rotation, electric signal passes through the signal path on slip ring
Transmitting.The main deficiency of which is: when realizing coaxial data transmission using slip ring, slip ring is unavoidably asked in the presence of abrasion
Topic, is easy frictional heating, and service life is short.
2. realizing that coaxial data is transmitted using electromagnetic induction coil, the main deficiency of which is:
When realizing coaxial data transmission using electromagnetic induction coil, coil generating electromagnetic radiation, for electromagnetic susceptibility
Other devices can have an impact；
Moreover, needing to consider the electromagnetic shielding problem between each route, this will when to realize the transmission of multiple data lines road
Cause signal transmission complex.
Summary of the invention
The application's is designed to provide a kind of laser radar, can reduce the complexity of laser radar structure, and
Extend the service life of communication component.
In order to solve the above technical problems, embodiments herein discloses a kind of laser radar, which includes master
Axis, radar rotor and optical communication module；
The optical communication module includes first communication module, light diffusion diffusion module and second communication module, in which:
The first communication module is fixedly installed relative to the radar rotor；
The second communication module is fixedly installed relative to the main shaft；
The light diffusion diffusion module is arranged around the main shaft；And the first communication module is relative to the light diffusion
Spread module closer to the main shaft first end, the second communication module relative to the light diffusion diffusion module more lean on
The second end of the nearly main shaft.
Optionally, the first communication module includes at least one photocell, and the second communication module includes extremely
A few photo electric sensitive element.
Optionally, at least one described photo electric sensitive element of the second communication module is located at light diffusion diffusion mould
After the light beam that at least one photocell of the first communication module is emitted is carried out diffusion processing by block, obtain at least
On the light path of a branch of diffused light.
Optionally, the first communication module includes 3 photocells, and the second communication module includes 2
The photo electric sensitive element.
Optionally, the first communication module further includes at least one photo electric sensitive element, and the second communication module is also
Including at least one photocell.
Optionally, at least one described photo electric sensitive element of the first communication module is located at light diffusion diffusion mould
After the light beam that at least one photocell of the second communication module is emitted is carried out diffusion processing by block, obtain at least
On the light path of a branch of diffused light.
Optionally, the second communication module includes 1 photocell, and the first communication module includes 1
The photo electric sensitive element.
Optionally, the photoelectric sensing of the photocell of the first communication module and second communication module member
Part corresponds, the photo electric sensitive element of the first communication module and the photocell one of the second communication module
One is corresponding.
It optionally, further include ranging component and control assembly；
The ranging component is fixedly installed relative to the radar rotor, and the ranging component is communicated with described first
Module communication connection；
The control assembly is fixedly installed relative to the main shaft, and the control assembly and the second communication module
Communication connection.
Optionally, the light diffusion diffusion module is even mating plate or diffusion sheet.
The embodiment of the present application includes, but are not limited to following effect:
It include that module is spread in light diffusion, and is set to light diffusion diffusion module in above-mentioned scheme, in laser radar
The first communication module and second communication module of upper and lower two sides, light diffusion diffusion module by the beam spread of input can be or
It says that processing is the hot spot of Energy distribution high uniformity, therefore can assist to realize first communication module and the second communication of relative motion
Communication between module, thus can by using less photoelectric device and in simple structure, Lai Shixian laser radar
Coaxial optic communication can simultaneously be effectively avoids the friction in communication component between each element, can extend making for communication component
Use the service life.
Detailed description of the invention
Fig. 1 shows the structural schematic diagram of laser radar according to some embodiments of the present application；
Fig. 2 shows the structural schematic diagram of laser radar optical communication module according to some embodiments of the present application；
Fig. 3 shows the structural schematic diagram of laser radar according to some embodiments of the present application.
Specific embodiment
The illustrative embodiments of the application includes but is not limited to a kind of laser radar.
The various aspects that the term for using those skilled in the art to generally use is described to illustrative embodiments, by him
The essence that works be communicated to others skilled in the art.It is apparent, however, to one skilled in the art, that can be with
Some alternate embodiments are practiced using the part of described aspect.For illustrative purposes, to provide to illustrative implementation
The thorough understanding of example is illustrated specific number, material and configuration.However, to those skilled in the art show and
It is clear to, can realize alternative embodiment without specific details.In other cases, in order not to explanation
Property embodiment cause to obscure, some well known features have been omitted or simplified.
It is appreciated that in this application, light diffusion diffusion module refers to will to input light beam, and to be converted to Energy distribution uniform
Hot spot optical device.Specific to light diffusion diffusion module component type, light diffusion diffusion module can be even mating plate or
Person's diffusion sheet.Certainly, those skilled in the art according to actual needs, also can choose other kinds of element and expand as light diffusion
Dissipate module.
Implementation to keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with attached drawing to the application
Example is described in further detail.It should be noted that module is spread in the embodiment of the present application using even mating plate as light diffusion
For be illustrated, but this has no effect on the protection scope of the application.
A kind of laser radar is disclosed according to some embodiments of the present application.Fig. 1 and Fig. 2 is that the structure of the laser radar is shown
It is intended to.Specifically, as shown in Figs. 1-2, which includes that main shaft 1, radar rotor 2, pedestal 7, rotor and motor are fixed
It is sub- (not shown), ranging component (not shown) and control assembly (not shown), first communication module 3 and second communication module 4, even
Mating plate 5, connection electric wire 6.Wherein: main shaft 1 is fixed on pedestal 7.Also, first communication module 3 and ranging component fixed setting
On radar rotor 2, and ranging component and first communication module 3 communicate to connect.Second communication module 4 is opposite with control assembly
It is fixedly installed in main shaft 1, and control assembly and second communication module 4 communicate to connect；First communication module 3 is closer to main shaft 1
Upper end (i.e. first end), second communication module 4 is closer to the lower end (i.e. the second end) of main shaft.Even mating plate 5 is surround
Main shaft 1 is arranged, and control assembly is arranged in pedestal 7.Motor stator is fixedly installed relative to main shaft 1, and rotor can be in work
Radar rotor 2 is driven to rotate when making, and the component with radar rotor 2 relative to fixed setting is rotated also with radar rotor 2.
Furthermore, it is to be understood that first communication module 3 may include at least one photocell, second communication module 4 can
To include at least one photo electric sensitive element, therefore the information transmission from first communication module to second communication module may be implemented,
Namely realize the communication of down direction.With reference to Fig. 3, light beam that the photocell 3A of first communication module 3 is emitted via
After even 5 diffusion of mating plate processing, become the hot spot being evenly distributed, and then the mistake rotated in first communication module 3 with radar rotor 2
Cheng Zhong, at least one photo electric sensitive element 4T is located at diffusion treated at least a branch of diffused light in second communication module 4
In optical path, the light beam that photocell 3A is emitted is received, so as to realize the first communication module 3 and second of relative motion
Communication between communication module 4.
In order to improve the communication efficiency of downlink communication, in an embodiment of the present invention, first communication module includes 3 light hairs
Element is penetrated, second communication module includes 2 photo electric sensitive elements.For example, 3 photocells be respectively photocell a1,
Photocell a2 and photocell a3,2 photo electric sensitive elements are respectively photo electric sensitive element b1 and photo electric sensitive element
B2, it is to be understood that in a certain fixed time, no matter what position first communication module rotates to, any one light emitting member
Part, either photocell a1, photocell a2 or photocell a3, the covered effective receiving zone domain of institute are
It is limited, namely there are certain blind areas for communication, and in order to reduce the probability for blind area occur, photocell a1, light emitting member
Part a2 or photocell a3 can be uniformly distributed in the circumferential direction of main shaft namely photocell a1, photocell a2 and
Each other at 120 degree between any two in photocell a3.Analogously, 2 photo electric sensitive elements opposite can also be set
It sets namely the line of photo electric sensitive element b1 and photo electric sensitive element b2 passes through spindle axis.
In addition, for the processing mode of subsequent photo electric sensitive element, 2 photoelectric sensings included by second communication module 4
Element can respectively be handled the optical signal that 3 photocells are emitted included by first communication module 3, such as its
In a photo electric sensitive element handle the optical signal that corresponding two photocells are emitted, another photo electric sensitive element
Handle the optical signal that a remaining photocell is emitted.Alternatively, 2 photoelectric sensings included by second communication module 4
Element can receive alone the optical signal that 3 photocells are emitted included by first communication module 3, then by 2
The signal of photo electric sensitive element carries out subsequent processing after being overlapped again, between photocell and photo electric sensitive element not
Fixed corresponding relationship.Or signal received by 2 photo electric sensitive elements can individually be handled, Zhi Houzai
Processing result is mutually referred to, the final output communication information.
Also, about on the working sequence of multiple photocells, there may also be diversified forms.Such as photocell
A1, photocell a2 and photocell a3 can shine work simultaneously, can also successively send out according to certain time interval
Light work or certain two photocell shine work simultaneously, another photocell is after a certain interval again
Shine work.In addition, transmitting to realize from second communication module 4 to the information of first communication module 3, realization uplink that is to say
The communication in direction, in the preset implementation, first communication module 3 can also include at least one photo electric sensitive element, and second is logical
Believe that module 4 can also include at least one photocell.With continued reference to Fig. 3, the photocell 4A institute of second communication module 4
After the light beam of transmitting is handled via even 5 diffusion of mating plate, become the hot spot being evenly distributed, and at least one in first communication module 3
A photo electric sensitive element 3T is located in the optical path of diffusion treated at least a branch of diffused light, receives what photocell was emitted
Light beam.
Since downlink communication is bigger relative to the demand of uplink communication, in an embodiment of the present invention, second communication module
In 1 photocell can be set, it is corresponding, be also provided with 1 photo electric sensitive element in first communication module 3, therefore can be with
While ensuring uplink and downlink communication, the complexity and cost of laser radar structure are reduced；Wherein, for this one-to-one
Uplink transmission mode, since the photocell position on second communication module 4 is fixed relative to main shaft, and first communication mould
Photo electric sensitive element on block 3 is rotated with radar rotor, and there are the photo electric sensitive elements on first communication module 3 in rotary course
In the case where just missing the optical signal that the photocell on second communication module 4 is emitted therefore can pass through setting the
Photocell in two communication modules 4 repeatedly emits same optical signal, to ensure the member of the photoelectric sensing on first communication module 3
Part can receive the optical signal in rotary course, or the photoelectricity on first communication module 3 can be detected by code-disc
The rotation angle of sensing element, then the photo electric sensitive element on first communication module 3 is located at the light hair of second communication module 4
When penetrating near the top or top of element, the photocell of control second communication module 4 emits optical signal.In addition, can also
Also using other modes solve the problems, such as it is this, herein with no restrictions.
For example, in a demonstration example, the photocell of first communication module and the photoelectric sensing member of second communication module
Part corresponds, and the photo electric sensitive element of first communication module and the photocell of second communication module correspond.First
Communication module includes photocell A1, photocell A2, photo electric sensitive element T1 and photo electric sensitive element T2, the second communication
Module includes photo electric sensitive element T3 and T4, photocell A3 and A4.Wherein, T3 and T4 can receive even mating plate and send out A1
The diffused light issued after the light diffusion processing penetrated, T4 and T3 can also be received after even mating plate handles the light diffusion that A2 emits and be issued
Diffused light.T1 and T2 can receive the light diffusion that even mating plate emits A3 treated diffused light, and T2 and T1 can also be received
The diffused light that even mating plate issues after handling the light diffusion that A4 emits.
Furthermore, it is to be understood that photocell and photoelectricity included by first communication module and second communication module herein
The quantity of sensing element and the relationship that corresponds to each other of quantity can be configured according to actual needs, be used for the purpose of herein
Illustrate the illustrative explanation that the technical solution of the application carries out, quantity can be other numerical value completely.Meanwhile one communicates mould
The light beam that photocell on block is emitted through even mating plate diffusion after, can different time by another communication module not
Same photo electric sensitive element receives, and to be not necessarily provided with fixed transmitting and received corresponding relationship.For example, first is logical
Letter module only includes A1, and second communication module only includes corresponding T3 or first communication module includes 3 photocells,
Second communication module includes 2 photo electric sensitive elements.For another example first communication module includes 3 photocells, the second communication
Module includes 3 photo electric sensitive elements.For another example second communication module includes 1 photocell, first communication module includes
1 photo electric sensitive element.
Furthermore, it is to be understood that light diffusion diffusion module can also be diffusion sheet in the application other embodiments, or
It can be that diffusion in other words is handled as any optical device in the hot spot source that is evenly distributed by beam spread.
Furthermore, it is to be understood that photocell can be located at light diffusion diffusion module in this application in each embodiment
Surface, issues the light beam of direct vertical incidence to light diffusion diffusion module, and photocell can also issue unrestrained relative to light
Penetrate the incident beam of diffusion module tilt.I.e. photocell is unlimited relative to the incident direction of light diffusion diffusion module, as long as
The light beam that photocell issues can be incident in light diffusion diffusion module.
Assuming that the first communication module 3 of Fig. 1 and laser radar shown in Fig. 2 includes photocell A1 and photoelectric sensing member
Part T1, second communication module 4 include that photocell A2 and photo electric sensitive element T2, the course of work are as follows:
Second communication module 4 receives the distance measuring instruction information that control assembly generates by connecting line 6, and is converted into light
Even mating plate 5, first communication module are sent in a manner of optical signal 4 light emission element A2 of second communication module after signal
Corresponding photo electric sensitive element T1 receives the even diffusion of mating plate 5 treated diffused light on 3, and is converted into electric signal and is sent to
Ranging component, ranging component starts to carry out ranging task after receiving distance measuring instruction information, to realize the communication process of uplink.
In addition, ranging component, which will execute the distance measurement result information that ranging task generates, is sent to first communication module 3, first
Communication module 3 receive distance measurement result information be converted to after optical signal by the photocell A1 on first communication module 3 with
The form of optical signal is incident on even mating plate 5, and the photo electric sensitive element T2 on second communication module 4 receives even 5 diffusion of mating plate processing
Diffused light afterwards, and be converted into after electric signal and control assembly is sent to by connecting line 6 is analyzed accordingly, so as to
To realize the communication process of downlink.
Furthermore, it is to be understood that control assembly is to refer to send distance measuring instruction information and to ranging knot in the application
The processing component that fruit information is analyzed and processed, specific implementation can be the physical entity with physical form.
For example, being one piece of PCB circuit board.
It is appreciated that in this application, it will be understood that in this application, photocell can be times that can be shone
What device, including but not limited to laser diode, light emitting diode, Organic Light Emitting Diode, laser emitter etc..Photoelectric sensing
Element, which refers to, is able to carry out any sensor that photoelectric information mutually turns, and includes but is not limited to have photoelectric tube, photomultiplier tube, photosensitive
Resistance, photodiode, phototriode, photocell, avalanche diode etc..
The technical solution of further the application is summarized in the examples below:
A kind of laser radar of embodiment 1., wherein including main shaft, radar rotor and optical communication module；
The optical communication module includes first communication module, light diffusion diffusion module and second communication module, in which:
The first communication module is fixedly installed relative to the radar rotor；
The second communication module is fixedly installed relative to the main shaft；
The light diffusion diffusion module is arranged around the main shaft；And the first communication module is relative to the light diffusion
Spread module closer to the main shaft first end, the second communication module relative to the light diffusion diffusion module more lean on
The second end of the nearly main shaft.
Embodiment 2. is according to laser radar described in embodiment 1, wherein the first communication module includes at least one light
Radiated element, the second communication module include at least one photo electric sensitive element.
The laser radar according to embodiment 1 or 2 of embodiment 3., wherein the second communication module it is described at least
One photo electric sensitive element is located at light diffusion diffusion module at least one photocell of the first communication module
After the light beam emitted carries out diffusion processing, on the light path of obtained at least a branch of diffused light.
The laser radar according to any one of embodiment 1 to 3 of embodiment 4., wherein the first communication module packet
3 photocells are included, the second communication module includes 2 photo electric sensitive elements.
The laser radar according to any one of embodiment 1 to 4 of embodiment 5., wherein the first communication module is also
Including at least one photo electric sensitive element, the second communication module further includes at least one photocell.
The laser radar according to any one of embodiment 1 to 5 of embodiment 6., wherein the first communication module
At least one described photo electric sensitive element is located at light diffusion diffusion module at least one light of the second communication module
After the light beam that radiated element is emitted carries out diffusion processing, on the light path of obtained at least a branch of diffused light.
The laser radar according to any one of embodiment 1 to 6 of embodiment 7., wherein the second communication module packet
1 photocell is included, the first communication module includes 1 photo electric sensitive element.
The laser radar according to any one of embodiment 1 to 7 of embodiment 8., wherein the first communication module
The photo electric sensitive element of the photocell and the second communication module corresponds, the first communication module it is described
The photocell of photo electric sensitive element and the second communication module corresponds.
The laser radar according to any one of embodiment 1 to 8 of embodiment 9., wherein further include ranging component and control
Component processed；
The ranging component is fixedly installed relative to the radar rotor, and the ranging component is communicated with described first
Module communication connection；
The control assembly is fixedly installed relative to the main shaft, and the control assembly and the second communication module
Communication connection.
The laser radar according to any one of embodiment 1 to 9 of embodiment 10., wherein module is spread in the light diffusion
For even mating plate or diffusion sheet.
In the accompanying drawings, some structure or method features can be shown with specific arrangements and/or sequence.It should be appreciated, however, that
It may not be needed such specific arrangements and/or sequence.But in some embodiments, these features can be to be different from saying
Bright property mode shown in the drawings and/or sequence are arranged.In addition, including that structure or method feature is not intended in specific pattern
Imply and require such feature in all embodiments, and in some embodiments, can not include these features or
Person can combine with other features.
It should be noted that in the example and specification of this patent, relational terms such as first and second and the like
It is only used to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these
There are any actual relationship or orders between entity or operation.Moreover, the terms "include", "comprise" or its is any
Other variants are intended to non-exclusive inclusion, so that including the process, method, article or equipment of a series of elements
Include not only those elements, but also including other elements that are not explicitly listed, or further includes for this process, side
Method, article or the intrinsic element of equipment.In the absence of more restrictions, being wanted by what sentence " including one " limited
Element, it is not excluded that there is also other identical elements in the process, method, article or apparatus that includes the element.
Although being shown and described to the application by referring to certain preferred embodiments of the application, this
The those of ordinary skill in field should be understood that can to it, various changes can be made in the form and details, without departing from the application
Spirit and scope.
Claims (10)
1. a kind of laser radar, which is characterized in that including main shaft, radar rotor and optical communication module；
The optical communication module includes first communication module, light diffusion diffusion module and second communication module, in which:
The first communication module is fixedly installed relative to the radar rotor；
The second communication module is fixedly installed relative to the main shaft；
The light diffusion diffusion module is arranged around the main shaft；And the first communication module is spread relative to the light diffusion
For module closer to the first end of the main shaft, the second communication module spreads module closer to institute relative to the light diffusion
State the second end of main shaft.
2. laser radar according to claim 1, which is characterized in that the first communication module includes at least one light hair
Element is penetrated, the second communication module includes at least one photo electric sensitive element.
3. laser radar according to claim 2, which is characterized in that at least one described light of the second communication module
Fax sensing unit is located at light diffusion diffusion module and is emitted at least one photocell of the first communication module
Light beam carry out diffusion processing after, on the light path of obtained at least a branch of diffused light.
4. laser radar according to claim 3, which is characterized in that the first communication module includes 3 light hairs
Element is penetrated, the second communication module includes 2 photo electric sensitive elements.
5. laser radar according to claim 2, which is characterized in that the first communication module further includes at least one light
Fax sensing unit, the second communication module further include at least one photocell.
6. laser radar according to claim 5, which is characterized in that at least one described light of the first communication module
Fax sensing unit is located at light diffusion diffusion module and is emitted at least one photocell of the second communication module
Light beam carry out diffusion processing after, on the light path of obtained at least a branch of diffused light.
7. laser radar according to claim 6, which is characterized in that the second communication module includes 1 light hair
Element is penetrated, the first communication module includes 1 photo electric sensitive element.
8. laser radar according to claim 5, which is characterized in that the photocell of the first communication module
Corresponded with the photo electric sensitive element of the second communication module, the photo electric sensitive element of the first communication module with
The photocell of the second communication module corresponds.
9. laser radar according to claim 1, which is characterized in that the light diffusion diffusion module is even mating plate or diffusion
Piece.
10. laser radar according to any one of claim 1 to 9, which is characterized in that further include ranging component and control
Component；
The ranging component is fixedly installed relative to the radar rotor, and the ranging component and the first communication module
Communication connection；
The control assembly is fixedly installed relative to the main shaft, and the control assembly is communicated with the second communication module
Connection.
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| WO2021068724A1 (en) * | 2019-10-10 | 2021-04-15 | 深圳市速腾聚创科技有限公司 | Data transmission appparatus, lidar and smart device |
| EP4043913A4 (en) * | 2019-10-10 | 2022-11-09 | Suteng Innovation Technology Co., Ltd | Data transmission apparatus, lidar and smart device |
| US11679803B2 (en) | 2019-10-10 | 2023-06-20 | Suteng Innovation Technology Co., Ltd. | Data transmission apparatus, LiDAR, and intelligent device |
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| CN109839647B (en) | 2020-09-18 |
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