CN109870708A - A kind of intelligent vehicle with laser radar apparatus - Google Patents
A kind of intelligent vehicle with laser radar apparatus Download PDFInfo
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- CN109870708A CN109870708A CN201711268046.1A CN201711268046A CN109870708A CN 109870708 A CN109870708 A CN 109870708A CN 201711268046 A CN201711268046 A CN 201711268046A CN 109870708 A CN109870708 A CN 109870708A
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- 238000005516 engineering process Methods 0.000 description 2
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- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 description 1
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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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- 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
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/12—Scanning systems using multifaceted mirrors
-
- 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
Abstract
The invention discloses a kind of intelligent vehicles with laser radar apparatus, it include: for being scanned to ambient enviroment to obtain the laser radar apparatus of the multi-scan-line of the spatial information data of object in environment, the laser radar apparatus is embedded in the vehicle body of the intelligent vehicle；Intelligent treatment device is connect with the laser radar apparatus, to receive the spatial information data and issue control instruction accordingly；Vehicular power plant is connect with the intelligent treatment device, to receive the control instruction and execute accordingly.The present invention is by being provided with the laser radar apparatus of multi-scan-line, and it is further, horizontal sweep visual field is broad, centre scan visual field scan line quantity is abundant, compact, compact simple for structure, low-cost laser radar apparatus, so that the sensing capability of intelligent vehicle is powerful, performance is stablized.
Description
Technical field
The present invention relates to intelligent driving fields, more particularly to a kind of intelligent vehicle with laser radar apparatus.
Background technique
The society of 21 century is informationized society, and artificial intelligence and automatic control penetrate into the every aspect of daily life,
The progress of information technology and electronic technology provides good basis for the development of intelligent transportation, and intelligent transportation has become the following friendship
The direction of logical development.
Orthodox car is driven by driver, and the driving condition of automobile is affected by the subjective factor of people, therefore due to
Urban road traffic congestion caused by the non-standard operation and maloperation of driver, road flow-reduction, major motor vehicle thing
Therefore the problems such as taking place frequently, gets worse, and brings greatly inconvenient and harm to the production and living of people.
With sharply increasing for China's automobile guarantee-quantity, the above problem grows in intensity, so urgently with stronger environment
The intelligent vehicle of observing capacity, convenient for making accurate moving operation judgement, guarantees that traffic participates in reinforce the perception to environment
The safety of person.
Summary of the invention
Present invention solves the technical problem that being, a kind of intelligent vehicle with stronger environment sensing ability is provided.
Further, limited laser emission element, the laser scanning dress of extension intelligent vehicle laser radar apparatus are based on
The quantity for the scan line set.
Further, the horizontal sweep visual field of expanded laser light scanning means.
Further, the scan line quantity of the centre scan visual field of laser scanning device is improved.
The invention discloses a kind of intelligent vehicles with laser radar apparatus, comprising:
For being scanned to ambient enviroment to obtain the laser of the multi-scan-line of the spatial information data of object in environment
Radar installations, the laser radar apparatus are embedded in the vehicle body of the intelligent vehicle；
Intelligent treatment device is connect with the laser radar apparatus, to receive the spatial information data and issue accordingly
Control instruction；
Vehicular power plant is connect with the intelligent treatment device, to receive the control instruction and execute accordingly.
The vehicular power plant includes driving stepper motor, turns to stepper motor and braking stepper motor.
The laser radar apparatus further comprises laser scanning device, and the laser scanning device includes:
Scan prism, the scan prism include multiple scan mirrors, and multiple scan mirror is rotated around scan axis, each
The normal of the scan mirror forms a Space Angle with the scan axis respectively, and the angle of all Space Angles is not exactly the same；
Transmitting-receiving subassembly, the transmitting-receiving subassembly include laser emission element and laser pick-off unit, and the laser emission element is logical
It over-scans the rotation of mirror surface and generates scan line,
Wherein, same laser emission element generates multi-strip scanning line by the rotation of the scan prism.
The laser scanning device includes at least two groups transmitting-receiving subassembly, and the scanning field of view of the transmitting-receiving subassembly partly overlaps.
The laser scanning device includes at least three groups of transmitting-receiving subassemblies, and the transmitting-receiving subassembly is set around the scan prism
It sets, the visual field of all transmitting-receiving subassemblies is successively docked, and continuous visual field is formed.
Each transmitting-receiving subassembly is similar and different with respect to the spatial attitude angle of the scan axis.
The transmitting-receiving subassembly is similar and different along the axial height of the scan axis.
Every group of transmitting-receiving subassembly includes multiple laser emission elements and multiple laser pick-off units, each Laser emission list
Member issues a laser beam respectively, there is angle between each laser beam.
Same scan mirror had both realized the reflection to the laser beam, also receives after the laser beam is radiated at object and is returned
Signal light, and the signal light is reflexed to and issues the corresponding laser pick-off unit of the laser emission element of the laser beam.
The laser radar apparatus is embedded in vehicle front, rear or the side of the intelligent vehicle, alternatively, the laser radar
Device is arranged in lamp shade.
The present invention is and further by being provided with the laser radar apparatus of multi-scan-line, horizontal sweep visual field is broad,
The scan line quantity of centre scan visual field is abundant, compact, compact simple for structure, low-cost laser radar apparatus, makes
The sensing capability for obtaining intelligent vehicle is powerful, and performance is stablized.
Detailed description of the invention
Fig. 1 show the illustrative view of functional configuration of the intelligent vehicle with laser radar apparatus of the invention.
Fig. 2 show the structural schematic diagram of the intelligent vehicle with laser radar apparatus of the invention.
Fig. 3 A, 3B show the agent structure schematic diagram of laser scanning device of the invention.
Fig. 4 show the agent structure schematic diagram of scan prism of the invention.
Fig. 5 A-5D show the diagrammatic cross-section for having the scan mirror of each Space Angle.
Fig. 5 E is shown in Fig. 5 A-5D through scan line schematic diagram caused by each scan mirror.
Fig. 5 F show light path schematic diagram of the transmitting-receiving subassembly with respect to a scan mirror.
Fig. 6 A show the schematic diagram that divergent state arrangement is presented in laser beam.
Fig. 6 B show the schematic diagram that the arrangement of convergence state is presented in laser beam.
Fig. 7 A show the rotation visual field general illustration of scan prism.
Fig. 7 B-7E show the rotation visual field substep schematic diagram of Fig. 7 A.
Fig. 8 A, 8B show scan line schematic diagram.
Fig. 9 show tool, and there are two the structural schematic diagrams of the laser scanning device of transmitting-receiving subassembly.
Figure 10 show tool, and there are three the structural schematic diagrams of the laser scanning device of transmitting-receiving subassembly.
Figure 11 show tool, and there are four the structural schematic diagrams of the laser scanning device of transmitting-receiving subassembly.
Figure 12 A show the structural schematic diagram of the laser scanning device with prism.
Figure 12 B, 12C show the scanning range schematic diagram on the basis of Figure 12 A.
Specific embodiment
The realization process that technical solution of the present invention is described below in conjunction with specific embodiment, not as to limit of the invention
System.
Fig. 1 show the illustrative view of functional configuration of the intelligent vehicle with laser radar apparatus of the invention.Intelligence of the invention
Energy vehicle further comprises laser radar apparatus 10, intelligent treatment device 20 and vehicular power plant 30.
Laser radar apparatus 10, should for being scanned to ambient enviroment to obtain the spatial information data of object in environment
Laser radar apparatus 10 can produce multi-scan-line, and the laser radar apparatus 10 is embedded in the vehicle body of the intelligent vehicle.
The laser radar apparatus 10 carries out intensive perception to surrounding enviroment by multi-scan-line, more abundant thin to obtain
Greasy data improve the environment sensing ability of intelligent vehicle.
Intelligent treatment device 20 is connect with the laser radar apparatus 10, to receive the spatial information data and send out accordingly
Control instruction out.Intelligent treatment device 20 is the brain of intelligent vehicle, carries out real-time environment reconstruct using the spatial information data,
Judged and selected optimal coping style, driving vehicle carries out reasonable benefit/risk
Vehicular power plant 30 is connect with the intelligent treatment device, to receive the control instruction and execute accordingly, from
And flexibly participate in road traffic.
Specifically, vehicular power plant 30 further comprises driving stepper motor, turns to stepper motor and braking step
Into motor, the accelerator pedal of stepper motor and intelligent vehicle is driven to connect, turns to the steering axis connection of stepper motor and intelligent vehicle, system
The brake pedal of dynamic stepper motor and intelligent vehicle connects.Intelligent treatment device 20 can acceleration, steering, system to intelligent vehicle as a result,
It is dynamic to be controlled.
It is illustrated in figure 2 the structural schematic diagram of the intelligent vehicle with laser radar apparatus of the invention.The vehicle body 6 of intelligent vehicle
The settable laser radar apparatus 10 of each lateral surface so that laser radar apparatus 10 have face forward road
Scanning field of view.The laser radar apparatus 10 is arranged in the lamp shade 7 of vehicle body apex angle to realize dust-proof by lampshade and borrow
It helps the position of locating apex angle and extends the visual field of front and side, alternatively, laser radar apparatus 10 can be set in the intelligence
Vehicle front, rear or the side of energy vehicle, the front can be bumper or headstock other positions, be hit exactly with headstock
It is optimal.Rear is optimal with tailstock center, so that laser radar apparatus 10 has the carriage way towards tailstock rear
Scanning field of view.The side that intelligent vehicle is arranged in laser radar apparatus 10 can know the personnel to overtake or the vehicle of side,
Improve safety coefficient.
The main component of the laser radar apparatus 10 includes laser scanning device, scan drive cell, data processing list
Member, battery unit, as Fig. 3 A, 3B show the main structure signal of the laser scanning device of laser radar apparatus 10 of the invention
Figure.Fig. 4 show the agent structure schematic diagram of scan prism of the invention.Show for clarity technological improvement of the invention it
Place, the structure of conventional partial, such as turntable driving, data processing unit, battery component are not shown.
Laser scanning device of the invention includes scan prism 1 and transmitting-receiving subassembly 2 as shown in Figure 3A.
Scan prism 1 may include multiple scan mirrors, and all scan mirrors are rotated around a scan axis O.Specifically, it sweeps
Retouching prism 1 may include three, four, five or six scan mirrors, temporarily be described by taking four scan mirrors as an example below.
Every group of transmitting-receiving subassembly includes laser emission element and laser pick-off unit.What laser emission element generated swashs
Light beam is radiated in a scan mirror, and outgoing is in laser radar apparatus after scan mirror reflection, with the rotation of scan prism 1
Turn, the normal of the scan mirror keeps constant the angle between horizontal plane, and interior angle constantly changes in the horizontal direction, then should
The also constantly variation therewith of the reflection direction of laser beam, can should generate a scan line.
In addition, the normal of each scan mirror forms Space Angle with the scan axis respectively.If all Space Angles are complete
Complete consistent, then the scan line that same laser emission element is generated through different scanning mirror-reflection overlaps, that is, only practical raw
At a scan line.However, in the present invention, all Space Angles are not exactly the same, then it is directed to same laser emission element,
Angle between the normal and horizontal plane of different scanning mirror surface is not exactly the same, so that in the rotary course of scan prism 1, together
The scan line that one laser emission element is generated through different scanning mirror-reflection not exclusively overlaps, that is, can produce multi-strip scanning
Line.
Specifically, as shown in Figure 4, for the scan prism 1 tool there are four scan mirror, each scan mirror all has normal
P.The normal P of scan axis O and each scan mirror, are respectively formed a Space Angle, totally four Space Angles.Four Space Angle ∠ 1,
∠ 2, ∠ 3, ∠ 4 are not exactly the same.
That is, four Space Angles can be different, i.e. ∠ 1, ∠ 2, ∠ 3, it is not present identical two in ∠ 4
Numerical value.Specifically, the correlation of four Space Angles is preferably successively successively decreased with same differential seat angle, such as the differential seat angle is
1 °, four space angles are followed successively by 91 °, 90 °, 89 ° and 88 °, to help same laser emission element anti-through different scanning mirror surface
The scan line penetrated and generated is uniformly distributed.
Fig. 5 A show the diagrammatic cross-section of the scan mirror with 91 ° of Space Angles, and scan mirror upper end is to far from scanning
Axis direction inclination.
Fig. 5 B show the diagrammatic cross-section of the scan mirror with 90 ° of Space Angles, and scan mirror is parallel with scan axis.
Fig. 5 C show the diagrammatic cross-section of the scan mirror with 89 ° of Space Angles, and scan mirror upper end is to being slightly moved closer to
Scan axis direction inclination.
Fig. 5 D show the diagrammatic cross-section of the scan mirror with 88 ° of Space Angles, and scan mirror upper end is on the basis Fig. 5 C
On further to close to scanning axis direction inclination.
Fig. 5 A-5D be shown have each Space Angle scan mirror rotate respectively to towards transmitting-receiving subassembly 2 when show
It is intended to.The position of 2 relative scanning axis of transmitting-receiving subassembly is fixed, and laser beam is emitted with fixing position and angle, and is swept due to four
The normal direction for retouching mirror surface is different, so the direction of light reflection is also different.When each scan mirror 2 is revolved around the scan axis 1
When turning, scan line S1, S2, S3, S4 of different spaces distribution can be accordingly generated, as shown in fig. 5e, S1, S2, S3, S4 are kept substantially
Extend in the horizontal direction, four scan lines arrange along the vertical direction.
S1 is to illustrate scan line in Fig. 5 D caused by the scan mirror of 88 ° of Space Angles, and S2 is 89 ° of Space Angles in Fig. 5 C
Illustrate scan line caused by scan mirror, S3 is to illustrate scan line, S4 in Fig. 5 B caused by the scan mirror of 90 ° of Space Angles
Illustrate scan line caused by scan mirror for 91 ° of Space Angles in Fig. 5 A.
So even if a branch of emergent light issued can also be with more when transmitting-receiving subassembly 2 only has a laser emission element
The rotation of face surface sweeping mirror and generate 4 scan lines, the line number of the scan line of expanded laser light radar installations.
In another embodiment, four spaces angle part of scan prism 1 is identical, for example, ∠ 1=∠ 2=∠ 3, ∠ 1 ≠
∠4；Or ∠ 1=∠ 2, ∠ 3=∠ 4,1 ≠ ∠ of ∠ 3；Alternatively, ∠ 1=∠ 2,1 ≠ ∠ of ∠ 3,1 ≠ ∠ of ∠ 4,3 ≠ ∠ of ∠ 4.
In the case where 31 ≠ ∠ of ∠ 4 of ∠ 1=∠ 2=∠, ∠ 1, ∠ 2, scan mirror corresponding to ∠ 3 are generated
The drop point of scan line is consistent, that is to say, that these three scan mirrors can only generate same scan line, corresponding to ∠ 4
Scan mirror generates another scan line, generates two scan lines altogether.
Similarly, the identical scan mirror of Space Angle generates same scan line.In ∠ 1=∠ 2, ∠ 3=∠ 4,1 ≠ ∠ of ∠
In the case where 3, two scan lines are generated.In the case where ∠ 1=∠ 2,1 ≠ ∠ of ∠ 3,1 ≠ ∠ of ∠ 4,3 ≠ ∠ of ∠ 4, three are generated
Scan line.
In addition, same scan mirror had both realized the reflection to laser beam, laser beam irradiation target in the environment is also received
The signal light returned after object, and the signal light is reflexed into laser corresponding with the laser emission element of the laser beam is issued and is connect
Unit is received, to realize the complete procedure of laser scanning.With reference to shown in Fig. 5 F, the scan mirror 101 of scan prism will receive and dispatch group
The laser beam that laser emission element 201 in part 2 emits reflexes at object A, the signal light generated by object A diffusing reflection
(dotted line in Fig. 5 F) still through the scan mirror 101 reflection after, by with the matching used laser pick-off unit of laser emission element 2
202 receive, and realize laser scanning.It can be seen that present invention employs emergent lights and incident signal light to share same scanning surface
Parallel light path design so that optical path bending number is few, error is small, acquires to light more accurate, and system effectiveness is high, in addition,
For laser radar apparatus, the outgoing of laser and the reception of signal light can be considered while carrying out, realizes to synchronize and sweep
It retouches.
In the transmitting-receiving subassembly 2, multiple laser emission elements, and quantity identical as laser emission element can be set
Laser pick-off unit.The launching elevation that the laser beam of each laser emission element is mutual is different, which faces upward
Angle of the angle between laser beam and horizontal plane.Further include lens group (not shown) in the transmitting-receiving subassembly 2, with to laser beam with
And signal light carries out the collimation of light.
By taking 4 laser emission elements as an example, it can also be the other quantities such as 8, be not limited.As shown in Fig. 6 A, 6B,
4 laser emission elements are vertically arranged, and all laser beams of 4 laser emission elements are located in same exit plane M, together
The launching elevation of each laser beam is different in one transmitting-receiving subassembly.In the case where four Space Angles are different, 4 Laser emissions
Unit can produce 16 scan lines.Divergent state arrangement is presented in four laser beams of Fig. 6 A, and four laser beams of Fig. 6 B are in cash
Poly- state arrangement.
In another embodiment, laser scanning device may also include two groups of transmitting-receiving subassemblies 2,3.
Wherein, laser beam caused by two groups of respective laser emission elements of transmitting-receiving subassembly is through the different scan mirrors
Outgoing is in the laser scanning device after reflection.As shown in Figure 3B, what the laser beam and transmitting-receiving subassembly 3 that transmitting-receiving subassembly 2 generates generated
Laser beam is radiated at respectively in two scan mirrors of scan prism 1, and then is reflected, and is emitted and is filled in the laser scanning
It sets, and then is emitted in laser radar apparatus.
As shown in Figure 7 A it is the rotation visual field general illustration of scan prism 1, is the top view of Fig. 3 B.Shown in Fig. 7 B-7E
For the rotation visual field substep schematic diagram of Fig. 7 A.
Coordinate system is established as origin using Section center point of the scan axis O inside scan prism 1, wherein being z with scan axis O
Axis, and x, y-axis are established in the horizontal plane.The same vertex of scan prism 1 successively turned over during rotating clockwise A, B,
C, tetra- positions D successively undergo situation shown in Fig. 7 B-7E.
As shown in Figure 7 B, A is the initial position of honest placement, and B is the position that opposite A rotates less than 45 degree, and C is opposite A
Rotation is greater than 45 degree of positions less than 90 degree, and D is the position that opposite A is rotated by 90 °.
Transmitting-receiving subassembly 2,3 is located at the two sides of scan prism 1, and transmitting-receiving subassembly 2 generates laser beam L2, and transmitting-receiving subassembly 3, which generates, to swash
Light beam L3.L2, L3 are each parallel to y-axis.
L2 vertical scanning mirror surface when scan prism 1 is located at position A is incident, and former road reflects, with scan prism 1
Rotation promoted to-y-axis direction when the scanning range relative position A of transmitting-receiving subassembly 2, L2 is in scanning rib when being located at position B
When mirror 1 is located at position C, 1 relative position A of scan prism has been rotated more than 45 degree, then reflected light rotation is more than 90 degree, scanning range
It across x-axis, covers and belongs to-the visual field of y-axis, and reach the side visual field border that transmitting-receiving subassembly 2 is directed to the scan mirror.With
Scan prism 1 continues to rotate, and comes position D, opens the scanning process to neighbor scanning mirror surface, sweeps to neighbor scanning mirror surface
The process of retouching is the repetition to the scanning process of position A-C.
L3 vertical Current Scan mirror surface when scan prism 1 is located at position A is incident, and former road reflects, with scanning
The rotation of prism 1, in in-position when B, L3 is incident to neighbor scanning mirror surface, and reaches L3 is directed to the neighbor scanning mirror surface one
Side view field border, the visual field border span x-axis, cover and belong to+the visual field of y-axis, and L3 is rotated in place C in scan prism 1
When, it is withdrawn to-y-axis direction when the scanning range relative position B of transmitting-receiving subassembly 3, continues to rotate with scan prism 1, come
Position D opens the scanning process to the latter scan mirror at this time, and the scanning process to latter scan mirror is to position A-
The repetition of the scanning process of C.
In position when A, D, L2, L3 are incident to two opposite scan mirrors respectively, and in position when B, C, L2, L3 enter respectively
It is incident upon two adjacent scan mirrors.
By the description of above-mentioned scanning situation it is found that due to being provided with two groups of transmitting-receiving subassemblies simultaneously in laser scanning device,
And every group of transmitting-receiving subassembly is made to realize reflection by different scan mirrors, then each group of transmitting-receiving subassembly is in respective scanning field of view
In move in circles scanning, and the scanning field of view of different transmitting-receiving subassemblies is not exactly the same in the horizontal direction, to extend sharp
The horizontal field of view of light scanning apparatus.Specifically, dotted portion respectively illustrates two transmitting-receiving subassemblies 2,3 to have respectively in Fig. 7 A
Have the scanning field of view range for a laser beam, from Fig. 7 A it is found that scanning of two groups of transmitting-receiving subassemblies near neighbouring x-axis
Visual field, which exists, to partly overlap, that is, the visual field of two transmitting-receiving subassemblies realizes docking, in the horizontal direction to horizontal field of view into
Extension is gone.
The present invention utilizes the scan prism of one-dimensional rotation, cooperates the variation of the Space Angle of each scanning surface, to realize two
Dimension scanning, scanning range cover both direction simultaneously, with more exquisite Scan Architecture, realize the mesh for increasing scanning range
Mark, so that scanning process is succinctly efficient.The horizontal field of view of this scheme can achieve 180 degree in the ideal case, be very suitable to
It is placed on each side of intelligent vehicle, to obtain the environmental data of intelligent vehicle all directions.
In addition, in one embodiment, the laser emission element of a part of transmitting-receiving subassembly is located at laser pick-off unit
The laser pick-off unit of top, transmitting-receiving subassembly described in another part is located at the top of laser emission element.That is, transmitting-receiving subassembly 2
Laser emission element is located at the top of laser pick-off unit, and the laser pick-off unit of transmitting-receiving subassembly 3 is located at laser emission element
Top.So that signal is received accurate, error is avoided.
Further, there are 4 laser emission elements, and the four of scan prism for transmitting-receiving subassembly 2 as shown in Figure 8 A
Scan line signal in the case that a Space Angle is different, and the launching elevation of 4 laser emission elements is also different
Figure has 4 × 4 scan lines, i.e. scan line S1-S16 at this time.
In actual operation, the arrangement position of scan line can be faced upward according to the transmitting of the laser beam of each laser emission element
Angle, the specific value of the Space Angle of each scan mirror, transmitting-receiving subassembly are adjusted with respect to the spatial attitude angle of the scan axis.Example
Such as by the adjustment of the specific value to the launching elevation, so that partial scan line overlap.Two groups of transmitting-receiving subassemblies 2,3 are along the scanning
The axial height of the scan axis of prism can be set to identical, may be set to be difference, transmitting-receiving subassembly 2,3 respective laser hairs
The quantity for penetrating unit is identical, can be vertically arranged, the launching elevation of the corresponding laser emission element in position in two groups of transmitting-receiving subassemblies
Can be identical or different, to adjust the arrangement mode of scan line.Its whole elevation angle of each transmitting-receiving subassembly, can be set
It is identical, or different, to adjust the arrangement mode of scan line, which is between the entirety and the horizontal plane of the transmitting-receiving subassembly
Angle.The spatial attitude angle can include but is not limited to transmitting-receiving subassembly along the axial height of scan axis, launching elevation, refer to
To direction.
The launching elevation of each laser emission element is adjusted according to actual needs, the space angle of each scan mirror, is received
The specific value of the spatial attitude angle of component is sent out, also can get other arrangement modes of scan line, in disclosure of the invention
In range.
In the case where four spaces angle part is identical but not exactly the same, preceding solution can be similarly referred to, still
It can produce the scan line more than 4, the quantity of scan line is greater than the quantity of laser emission element.
The case where laid out above is scan line caused by 2 side of transmitting-receiving subassembly, 3 side of transmitting-receiving subassembly also use equally
Principle.Cooperate scheme described in Fig. 7 A, it is assumed that transmitting-receiving subassembly 2,3 includes four laser emission elements, and eight Laser emissions
The launching elevation of unit is all different, that is, there is angle between each laser beam, at this point, transmitting-receiving subassembly 2,3 respectively generates 16
Scan line, scanning field of view partly overlaps, and the scan line position of lap mutually staggers, so that the scan line of lap
Doubles, the then data obtained in the field of view of this lap will more be enriched sufficiently.
The launching elevation of the adjustment respective each laser emission element of transmitting-receiving subassembly 2,3, each scanning according to actual needs
The projecting direction of the specific value of the Space Angle of mirror surface, the specific setting position of transmitting-receiving subassembly and its laser beam also can get scanning
Other arrangement modes of line, within the scope of disclosure of the invention.
Transmitting-receiving subassembly may also include the laser emission element of other quantity, also within the scope of disclosure of the invention.
In addition, the laser beam of the laser emission element of transmitting-receiving subassembly 2,3 can keep phase with y-axis in the scheme of an optimization
Same horizontal sextant angle α, i.e. transmitting-receiving subassembly 2,3 are symmetrical arranged with respect to the scan axis.
Referring to Fig. 9, wherein dotted line and y-axis keeping parallelism.In addition, the laser beam of the laser emission element of transmitting-receiving subassembly 2,3
Different horizontal sextant angle can also be kept with y-axis, that is, transmitting-receiving subassembly can be different with respect to the pointing direction of the scan axis.Pass through
The specific value of the horizontal sextant angle is set, can control range and the position of overlapped fov.
Above-mentioned technical proposal is two groups of transmitting-receiving subassemblies of setting, the also settable more multiple groups transmitting-receiving subassembly of the present invention, with into one
The visual field of step extension horizontal direction.
Firstly, as shown in Figure 3B, the quantity of the transmitting-receiving subassembly of every side setting can be further expanded, for example, in transmitting-receiving subassembly 3
Surface transmitting-receiving subassembly 3 ' is set, the projecting direction of laser beam, scanning process, the scanning surface utilized and transmitting-receiving subassembly 3 are complete
It is exactly the same, to achieve the purpose that increase the line number of scan line.Similarly, transmitting-receiving subassembly 2 ' can be set in the surface of transmitting-receiving subassembly 2,
To cooperate transmitting-receiving subassembly 3 ' to use.
In another embodiment, as shown in Figure 10, on the basis of scheme shown in Fig. 9, the transmitting-receiving of third group can be further set
Component 4 generates laser beam L4.In order to avoid transmitting-receiving subassembly 3 itself causes to block to the visual field of L4, transmitting-receiving subassembly 3 and transmitting-receiving
Component 4 can be arranged on different height with relative scanning axis.
Identical as previous embodiment, the visual field of third group transmitting-receiving subassembly 4 is predominantly located in the region-x-y, to extend sharp
Light scanning apparatus in the horizontal direction in visual field.
By the specific value selection to the horizontal sextant angle β between laser beam L4 and x-axis parallel lines, alternatively, to α in Figure 10
Integration with the numerical value of β selects, and according to the launching elevation of optical principle and actual needs setting laser beam, each scanning
Specific value, the specific value of the setting position of transmitting-receiving subassembly of the Space Angle of mirror surface, can make the scanning of transmitting-receiving subassembly 3,4
Visual field is realized docking or is overlapped, so that obtaining 2,3,4 three's visual field of transmitting-receiving subassembly successively realizes docking, forms one completely
Visual field, covering horizontal field of view will be located at 180 degree between 270 degree.To further expand the scanning energy of laser scanning device
Power and efficiency.It, can be more preferable by using in the lamp shade of the laser radar apparatus apex angle that intelligent vehicle is arranged in of this embodiment
Acquisition in front of and side or rear and side environmental data.
Similarly, as shown in figure 11, on the basis of the scheme shown in Figure 10, the 4th group of transmitting-receiving subassembly 5 can be further set, this
The visual field of four groups of transmitting-receiving subassemblies 5 is predominantly located in the region-x+y, thus extend laser scanning device in the horizontal direction in view
?.
By the specific value selection to the horizontal sextant angle β between laser beam L5 and x-axis parallel lines, alternatively, to α in Figure 11
With the integration selection and the selection of other parameters of the numerical value of β, the scanning field of view of transmitting-receiving subassembly 2,5 can be made to realize docking
Or be overlapped, and then obtain 2,3,4,5 four visual field of transmitting-receiving subassembly and successively realize docking, form a complete visual field, covering
Horizontal field of view will be between 270 degree to 360 degree.To further expand the scan capability and efficiency of laser scanning device.
By in the lamp shade for the apex angle that intelligent vehicle is arranged in using the laser radar apparatus of this embodiment, front can be preferably obtained
And the environmental data of side or rear and side.
The number of transmitting-receiving subassembly and position can carry out the setting of other modes, of the invention according to actual needs
In the open scope.
Documented polygon scanner in CN201720413010.7 also can be used in scan prism 1 of the invention.
In addition, the invention also discloses a kind of scan methods based on aforementioned disclosed structure, comprising:
Transmitting-receiving subassembly is set, which includes laser emission element and laser pick-off unit；
So that the scan prism with multiple scan mirrors is rotated around scan axis；
So that the laser emission element projects laser beam to the scan mirror, and is generated and swept by the rotation of scan mirror
Line is retouched, the normal of each scan mirror forms Space Angle with the scan axis respectively, and the angle of all Space Angles is incomplete
It is identical, so that the same laser emission element generates multiple scan lines.
Further, the scan mirror by it is corresponding with the scan line from object return signal light, reflex to
Generate the corresponding laser pick-off unit of laser emission element of the scan line.
Wherein, at least two groups transmitting-receiving subassembly is set, and the scanning field of view of the transmitting-receiving subassembly partly overlaps.
Alternatively, setting at least three groups of transmitting-receiving subassemblies, the transmitting-receiving subassembly are arranged around the scan prism, all transmitting-receiving groups
The visual field of part is successively docked, and continuous visual field is formed.
The emergent light of the laser beam that the laser emission element is projected to the scan prism after reflection meets following formula:
V_Angle=Lidar_Angle (Lidar_NUM)+Mirror_Angle (2)
X=Range*cos (V_Angle*D2Rad) * cos (H_Angle*D2Rad) (3)
Y=Range*cos (V_Angle*D2Rad) * sin (- H_Angle*D2Rad) (4)
Z=Range*sin (V_Angle*D2Rad) (5)
D2Rad=3.1415/180.0
Wherein, H_Angle is angle of the emergent light between the projection and x-axis of horizontal plane, and V_Angle is the emergent light
Angle between horizontal plane, N are the quantity of scan mirror possessed by the scan prism, and Lidar_NUM is Laser emission list
The number of member, Lidar_Angle (Lidar_NUM) are the laser beam and level for the laser emission element that number is Lidar_NUM
Angle between face, i.e. launching elevation, Mirror_Angle be generate the emergent light scan mirror normal and horizontal plane it
Between angle, i.e. mirror tilt angle, alpha is scan prism when rotating angle is 0 degree, along clockwise direction the x-axis with should go out
Angle of the light between the projection of horizontal plane is penetrated, Range is the distance measurement value for the emergent light that the laser radar apparatus measurement obtains,
D2Rad is a constant, and X, Y, Z are respectively the three-dimensional coordinate for the object that the emergent light is encountered.Wherein, when the scan prism edge
When rotating clockwise, theta is the rotation angle of the scan prism, and when the scan prism is along rotation counterclockwise, theta is
The rotation angle of the 360- scan prism, the data that the rotation angle of the scan prism can be rotated by reading scan prism code-disc
It obtains, the rotation angle is between 0-360.The mirror tilt angle of each scan mirror is it is known that simultaneously, each launching elevation is
It is known.
Above formula (1) (2) obtains the angle parameter of the emergent light for calculating at any time when scan prism persistently rotates.
Above formula (3)-(5) for calculating the mesh for obtaining emergent light and being projected when scan prism persistently rotates at any time
Mark the position data of object.
By taking Fig. 9 as an example, scan prism is rotated clockwise, and there are four mirror surfaces for scan prism tool, and N=4, Fig. 9 show rotation
The position that angle is 0, L2 is radiated at the first scan mirror at this time, and L3 is radiated at third scan mirror, and being in the direction+x in figure is
Second scanning surface is the 4th scanning surface in the direction-x.With the angle α of L2 in scheming for 30 degree, the angle α of L3 is also for 30 degree, then
The emergent light of L2, L3 are respectively 60 degree with respect to x-axis angle.That is, alpha is 300 degree for L2, it is for L3, alpha
60 degree.
When scan prism rotates 45 degree, theta=45 degree, then L2 is towards the first scan mirror, and L3 is towards the second scanning
Mirror surface, the H_Angle of the emergent light of L2 are 2 × 45+300=390 degree, and the H_Angle of the emergent light of L3 is 2 × 45+60=150
Degree.
The V_Angle of the emergent light of L2 is that the launching elevation of laser emission element of L2 and the mirror surface of the first scan mirror incline
The sum of angle.The V_Angle of the emergent light of L3 is that the launching elevation of laser emission element of L3 and the mirror surface of the second scan mirror incline
The sum of angle.
When scan prism rotates 135 degree, theta=135 degree, L2 is towards the 4th scan mirror, and L3 is towards the first scanning
Mirror surface, and transformation has been carried out in the practical scan mirror reflected light, reflects for currently practical light
Scan mirror, the H_Angle of the emergent light of L2 is 2 × (135-90)+300=390 degree, and the H_Angle of the emergent light of L3 is 2
× (135-90)+60=150 degree.
The V_Angle of the emergent light of L2 is that the launching elevation of laser emission element of L2 and the mirror surface of the 4th scan mirror incline
The sum of angle.The V_Angle of the emergent light of L3 is that the launching elevation of laser emission element of L3 and the mirror surface of the first scan mirror incline
The sum of angle.
When scan prism rotates 225 degree, theta=225 degree, L2 is towards third scan mirror, and L3 is towards the 4th scanning
Mirror surface, similarly, the H_Angle of the emergent light of L2 are 2 × (225-180)+300=390 degree, and the H_Angle of the emergent light of L3 is 2
× (225-180)+60=150 degree.
The V_Angle of the emergent light of L2 is that the launching elevation of laser emission element of L2 and the mirror surface of third scan mirror incline
The sum of angle.The V_Angle of the emergent light of L3 is that the launching elevation of laser emission element of L3 and the mirror surface of the 4th scan mirror incline
The sum of angle.
When scan prism rotates 315 degree, theta=315 degree, L2 is scanned towards the second scan mirror, L3 towards third
Mirror surface, similarly, the H_Angle of the emergent light of L2 are 2 × (315-270)+300=390 degree, and the H_Angle of the emergent light of L3 is 2
× (315-270)+60=150 degree.
The V_Angle of the emergent light of L2 is that the launching elevation of laser emission element of L2 and the mirror surface of the second scan mirror incline
The sum of angle.The V_Angle of the emergent light of L3 is that the launching elevation of laser emission element of L3 and the mirror surface of third scan mirror incline
The sum of angle.
For the mirror tilt angle and the launching elevation, light is positive to the lifting of the direction+z along the horizontal plane, light is along water
Plane is pushed to the direction-z and is negative.
By above structure, laser radar apparatus can obtain and expand to horizontal field of view, obtain partial field of view and be overlapped with band
The scan line come doubles, and obtains accurate target position information based on the structure.
For the transmitting-receiving subassembly 4,5 in Figure 10,11, above-mentioned formula (1)-(5) are also corresponded to.
In addition, when scan prism replaces with other scan mirror quantity, such as prism, pentaprism etc., principle with it is upper
State that four prisms are identical, and this will not be repeated here.
In the operational process of actual laser radar apparatus, it is accurate that wherein data can be chosen from current field range
Higher part is spent, the work scanning field of view as laser radar apparatus.
In conjunction with Fig. 7 A associated description it is found that choosing side of the higher part of accuracy as work scanning field of view according to demand
Method includes:
Step 1, scan prism is during rotating 360/N degree successively by rotation first angle, second angle, third
Angle, fourth angle obtain first group of transmitting-receiving subassembly for the first scanning when detecting the scan mirror and rotating to first angle
The signal light of mirror surface；
Cooperate Fig. 7 A, first angle is rotation to position A, and second angle is rotation to position B, and third angle is to rotate extremely
Position C, fourth angle are rotation to position D, and N is the quantity of scan mirror；
Step 2, when detecting the scan mirror and rotating to second angle, second group of transmitting-receiving subassembly is obtained for the second scanning
The signal light of mirror surface；
Step 3, when detecting the scan mirror and rotating to third angle, stop obtaining first group of transmitting-receiving subassembly being directed to first
The signal light of scan mirror；
Step 4, when detecting the scan mirror and rotating to fourth angle, stop obtaining second group of transmitting-receiving subassembly being directed to second
The signal light of scan mirror.
That is, transmitting-receiving subassembly 2 can obtain generated scan data during rotating from position A to position C.Transmitting-receiving
Component 3 can be obtained rotate from position B to position D during generated scan data.
Transmitting-receiving subassembly 2 can drive the laser emission element of first group of transmitting-receiving subassembly to open when scan prism is rotated to position A
It originates and penetrates emergent light, and stop driving the laser emission element of first group of transmitting-receiving subassembly to emit emergent light when rotation is to position C,
Meanwhile transmitting-receiving subassembly 3 can drive the laser emission element of second group of transmitting-receiving subassembly to start to send out when scan prism is rotated to position B
It penetrates emergent light, and stops driving the laser emission element of second group of transmitting-receiving subassembly to emit emergent light when rotation is to position D.
Above-mentioned position ABCD, that is, first to fourth angle can also select specific location information according to demand, to cut
Take the highest part of precision as work scanning field of view.
By taking prism as an example, as illustrated in fig. 12, the central point of prism is located at the coordinate origin of three-dimensional system of coordinate, is revolving
When gyration is 0, for x-axis perpendicular to the triangle base in the section of the prism, laser beam L2 is incident with the direction of vertical y-axis,
L3 is incident with the direction that can connect the section bottom right vertex and central point.
For laser beam L2, scanning field of view range is as shown in Figure 12 B, calculates in a clockwise direction, with x-axis press from both sides 60 degree-
300 degree of range.
For laser beam L3, scanning field of view range as indicated in fig. 12 c, calculates in a clockwise direction, presss from both sides 180 degree-with x-axis
420 degree of range.
As it can be seen that wherein there is overlapped fov, Maximum overlap range is in the range with x-axis folder 180-300 degree.
Scan prism is during rotating 360/3=120 degree successively by rotation to 0 degree of first angle, second angle
60 degree, 60 degree of third angle, 120 degree of fourth angle.
Scan prism starts the scan data for obtaining L3 when rotation is to 0 degree, at this time the emergent light of L3 and x-axis folder 180
Degree；
Scan prism starts the scan data for obtaining L2 when rotation is to 60 degree, at this time the emergent light of L2 and x-axis folder 180
Degree；
Scan prism stops the scan data for obtaining L3 when rotation is to 60 degree, at this time the emergent light of L3 and x-axis folder 300
Degree；
Scan prism stops the scan data for obtaining L2 when rotation is to 120 degree, at this time the emergent light of L2 and x-axis folder 300
Degree.
Above scheme is the accurate Maximum overlap range obtained between L2, L3.In addition to this institute can also be expanded or shunk
Range is needed, as work scanning field of view.
For example, scan prism is during rotating 360/3=120 degree successively by rotation to 5 degree of first angle, second
10 degree of angle, 105 degree of third angle, 110 degree of fourth angle.
Scan prism starts the scan data for obtaining L3 when rotation is to 5 degree, at this time the emergent light of L3 and x-axis folder 190
Degree；
Scan prism starts the scan data for obtaining L2 when rotation is to 10 degree, at this time the emergent light of L2 and x-axis folder 80
Degree；
Scan prism stops the scan data for obtaining L3 when rotation is to 105 degree, at this time the emergent light of L3 and x-axis folder 390
Degree；
Scan prism stops the scan data for obtaining L2 when rotation is to 110 degree, at this time the emergent light of L2 and x-axis folder 280
Degree.
At this point, pressing from both sides 190 degree to the range for pressing from both sides 280 degree with x-axis with x-axis is overlapped fov, and 310 degree in total can be obtained
Horizontal field of view.
The laser radar apparatus of scan mirror with other quantity, scanning process is similarly.
Through the above technical solutions, can be with the horizontal sweep visual field of expanded laser light radar installations.Expanded laser light radar installations
Scan line line number.Further, the scan line quantity of the centre scan visual field of laser radar apparatus is improved, center view is enriched
The scan data of field.In addition, generating the scanning more than laser emission element configuration quantity using a small amount of laser emission element
Line, then can reduce the internal part quantity of laser radar apparatus, convenient for component arrangement, compression volume, reduce cost.
Horizontal sweep visual field is broad, centre scan visual field scan line quantity is abundant, structure letter by being provided with by the present invention
Clean compact, compact, low-cost laser radar apparatus, so that the sensing capability of intelligent vehicle is powerful, performance is stablized.
The exemplary description of above-described embodiment only to realize the present invention, without protecting to limit the scope of the invention
Shield range please refers in rear accessory claim book subject to record.
Claims (10)
1. a kind of intelligent vehicle with laser radar apparatus characterized by comprising
For being scanned to ambient enviroment to obtain the laser radar of the multi-scan-line of the spatial information data of object in environment
Device, the laser radar apparatus are embedded in the vehicle body of the intelligent vehicle；
Intelligent treatment device is connect with the laser radar apparatus, is controlled with receiving the spatial information data and issuing accordingly
Instruction；
Vehicular power plant is connect with the intelligent treatment device, to receive the control instruction and execute accordingly.
2. intelligent vehicle as described in claim 1, which is characterized in that the vehicular power plant includes driving stepper motor, turns
To stepper motor and braking stepper motor.
3. intelligent vehicle as described in claim 1, which is characterized in that the laser radar apparatus further comprises laser scanning dress
It sets, the laser scanning device includes:
Scan prism, the scan prism include multiple scan mirrors, and multiple scan mirror is rotated around scan axis, and each this is swept
The normal for retouching mirror surface forms a Space Angle with the scan axis respectively, and the angle of all Space Angles is not exactly the same；
Transmitting-receiving subassembly, the transmitting-receiving subassembly include laser emission element and laser pick-off unit, and the laser emission element is by sweeping
It retouches the rotation of mirror surface and generates scan line,
Wherein, same laser emission element generates multi-strip scanning line by the rotation of the scan prism.
4. intelligent vehicle as claimed in claim 3, which is characterized in that the laser scanning device includes at least two groups transmitting-receiving group
The scanning field of view of part, the transmitting-receiving subassembly partly overlaps.
5. intelligent vehicle as claimed in claim 3, which is characterized in that the laser scanning device includes at least three groups of transmitting-receiving groups
Part, the transmitting-receiving subassembly are arranged around the scan prism, and the visual field of all transmitting-receiving subassemblies is successively docked, and form continuous visual field.
6. intelligent vehicle as described in claim 4 or 5, which is characterized in that sky of each transmitting-receiving subassembly with respect to the scan axis
Between posture angle it is similar and different.
7. intelligent vehicle as described in claim 4 or 5, which is characterized in that axial height of the transmitting-receiving subassembly along the scan axis
It is similar and different.
8. the intelligent vehicle as described in claim 3 or 4 or 5, which is characterized in that every group of transmitting-receiving subassembly includes multiple Laser emissions
Unit and multiple laser pick-off units, each laser emission element issue a laser beam respectively, deposit between each laser beam
In angle.
9. intelligent vehicle as claimed in claim 8, which is characterized in that same scan mirror had both realized the reflection to the laser beam,
Also it receives the laser beam and is radiated at the signal light returned after object, and the signal light is reflexed to and issues the laser beam
The corresponding laser pick-off unit of laser emission element.
10. the intelligent vehicle as described in claims 1 or 2 or 3 or 4 or 5, which is characterized in that the laser radar apparatus is embedded in institute
Vehicle front, rear or the side of intelligent vehicle are stated, alternatively, the laser radar apparatus is arranged in lamp shade.
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| CN201711268046.1A CN109870708A (en) | 2017-12-05 | 2017-12-05 | A kind of intelligent vehicle with laser radar apparatus |
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| WO2021175141A1 (en) * | 2020-03-05 | 2021-09-10 | 深圳市镭神智能系统有限公司 | Prism and multi-layer laser radar |
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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