CN110609295B - Multi-line laser radar and driving method thereof - Google Patents
Multi-line laser radar and driving method thereof Download PDFInfo
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- CN110609295B CN110609295B CN201910657290.XA CN201910657290A CN110609295B CN 110609295 B CN110609295 B CN 110609295B CN 201910657290 A CN201910657290 A CN 201910657290A CN 110609295 B CN110609295 B CN 110609295B
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- 238000001514 detection method Methods 0.000 abstract description 45
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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
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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
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a multi-line laser radar and a driving method thereof. The multi-line laser radar comprises at least one rotary table and at least one group of laser receiving and transmitting units positioned on the rotary table, wherein each laser receiving and transmitting unit comprises two array laser transmitters, an array laser detector, an optical receiving structure and an optical receiving structure, and a plurality of laser beams emitted by the laser transmitters irradiate the outside through the optical emitting structure; and a plurality of laser beams emitted by a plurality of laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams are incident into a plurality of laser detectors in a one-to-one correspondence manner through an optical receiving structure. The embodiment of the invention solves the problem that the detection precision of the multi-line laser radar is limited by the volume, ensures the detection precision, simultaneously ensures the multi-line laser radar to have smaller volume, and simultaneously reduces the angle debugging difficulty of the laser emitter and the laser detector in the multi-line laser radar.
Description
Technical Field
The embodiment of the invention relates to a laser radar technology, in particular to a multi-line laser radar and a driving method thereof.
Background
The multi-line laser radar is a kind of laser radar, and features such as position and speed of target are detected by emitting laser from multiple lasers.
In the field of autopilot, lidar has become a focus of attention due to its wide application. For multi-line lidar, the higher the number of lines, the higher the detection accuracy, but the number of wire harnesses may be limited in volume. Specifically, when the number of lines is required to be increased, the existing multi-line laser radar generally increases the number of laser transmitters on a transmitting plate or increases the number of the transmitting plate, so that the volume of a product is not well controlled; meanwhile, the number of the laser transmitters is increased, the placement of the laser transmitters becomes dense, so that the design difficulty of the transmitting plate is increased, and the angle debugging difficulty of the laser transmitters is correspondingly increased; in addition, the aperture of the optical structure including the lens needs to be correspondingly enlarged, thereby increasing the volume of the entire lidar.
Disclosure of Invention
The invention provides a multi-line laser radar and a driving method thereof, which are used for ensuring that the multi-line laser radar has smaller volume and reducing the angle debugging difficulty of a laser emitter and a laser detector in the multi-line laser radar.
In a first aspect, an embodiment of the present invention provides a multi-line laser radar, including at least one rotary table and at least one group of laser transceiver units located on the rotary table, where the laser transceiver units include:
two array laser emitters, each comprising a plurality of laser emitters arranged in an array;
an array laser detector comprising a plurality of laser detectors arranged in an array;
the optical emergent structure is positioned on emergent light paths of the plurality of laser transmitters, and a plurality of laser beams emitted by the plurality of laser transmitters irradiate the outside through the optical emergent structure;
the optical receiving structure is positioned on the receiving light paths of the laser detectors, a plurality of laser beams emitted by the laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams are incident into the laser detectors in a one-to-one correspondence manner through the optical receiving structure.
Optionally, in each group of the laser transceiver units, the number of the laser detectors is equal to the number of the laser transmitters in each of the array laser transmitters, or the number of the laser detectors is equal to the sum of the numbers of the laser transmitters in two of the array laser transmitters.
Optionally, the device comprises one rotary table and a group of laser transceiver units positioned on the rotary table;
each array laser emitter further comprises an emitting plate, and a plurality of laser emitters arranged in an array are arranged on the emitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;
the optical emergent structure comprises two emission reflecting mirror groups and two emission collimating lens groups, and laser beams emitted by a plurality of laser emitters of each array laser emitter are irradiated to the outside through one emission reflecting mirror group and one emission collimating lens group;
the optical receiving structure comprises a receiving collimating lens group, a plurality of laser beams emitted by a plurality of laser emitters in each array laser emitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams are incident into a plurality of laser detectors in a one-to-one correspondence manner through the receiving collimating lens group.
Optionally, the device comprises one rotary table and two groups of laser transceiver units positioned on the rotary table;
the laser transmitting directions of the two groups of laser transmitting and receiving units are mutually deviated.
Optionally, the array laser transmitter further comprises a transmitting plate, and the plurality of laser transmitters arranged in an array are arranged on the transmitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate.
Optionally, each of the array laser transmitters includes one transmitting plate, four transmitting plates in two groups of the laser transceiving units are arranged in parallel, and two array laser transmitters in the same group of the laser transceiving units are respectively located at one side of the two transmitting plates away from the transmitting plate in the other group of the laser transceiving units;
the array laser detector comprises one receiving plate, and two receiving plates in the two groups of laser receiving and transmitting units are positioned on two sides of the rotating shaft of the rotating platform, which are away from each other.
Optionally, the device further comprises two emission plates, wherein each array laser emitter and one array laser emitter in the other group of laser receiving and transmitting units share one emission plate, and the two array laser emitters sharing one emission plate are respectively arranged on two side surfaces of the emission plate, which are away from each other;
each array laser detector comprises one receiving plate, and two receiving plates in two groups of laser receiving and transmitting units are positioned at two sides of the rotating shaft of the rotating table, which are away from each other.
Optionally, the plurality of laser transmitters in the same laser transceiver unit are distributed in a direction perpendicular to the rotating table, and the plurality of laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups in the direction perpendicular to the rotating table;
the plurality of laser detectors in the same laser receiving and transmitting unit are distributed in the direction perpendicular to the rotating table, and the plurality of laser detectors in different laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups in the direction perpendicular to the rotating table.
In a second aspect, an embodiment of the present invention further provides a method for driving a multi-line laser radar according to any one of the first aspect, where the driving method includes:
driving two array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in each array laser transmitter transmit laser beams through an optical emergent structure;
and receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in an array laser detector in a one-to-one correspondence manner.
Optionally, in each group of the laser transceiver units, the number of the laser detectors is equal to the number of the laser transmitters in each of the array laser transmitters;
the driving of two array laser transmitters in each group of laser transceiver units, a plurality of laser transmitters that make in the array arrangement in each array laser transmitter transmit laser beam through optical exit structure includes:
driving two array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in each array laser transmitter sequentially transmit laser beams through the optical emergent structure;
the receiving the plurality of reflected light beams formed by the laser light beams after external reflection through the optical receiving structure in the corresponding laser receiving and transmitting unit, and the incidence of the plurality of reflected light beams into the plurality of laser detectors in the array laser detector in a one-to-one correspondence manner comprises the following steps:
and sequentially receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detector in a one-to-one correspondence manner.
According to the multi-line laser radar and the driving method thereof provided by the embodiment of the invention, at least one rotary table is arranged, and at least one group of laser receiving and transmitting units are arranged on the rotary table, wherein each group of laser receiving and transmitting units is provided with two array laser transmitters, one array laser detector, an optical emergent structure and an optical receiving structure, and the two array laser transmitters and the array laser detector are utilized for receiving and transmitting laser beams, so that the detection of the environment is realized. Meanwhile, as the two array laser transmitters are provided with a plurality of laser transmitters, each group of laser receiving and transmitting units can realize multi-line laser detection, and the detection precision of the multi-line laser radar can be increased through the combination of the two array laser transmitters and the plurality of groups of laser receiving and transmitting units; further, the setting density of the laser transmitters in each group of laser receiving and transmitting units can be relatively smaller, so that the angle debugging difficulty of the laser transmitters is reduced. The multi-line laser radar provided by the embodiment of the invention can ensure that the multi-line laser radar has smaller volume while increasing the number of laser lines, namely improving the laser detection precision, and reduces the angle debugging difficulty of the laser emitter and the laser detector in the multi-line laser radar.
Drawings
Fig. 1 is a schematic structural diagram of a multi-line lidar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another multi-line lidar according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an arrangement of a laser detector of the multi-line lidar shown in FIG. 2;
FIG. 4 is a schematic diagram of an arrangement of laser transmitters of the multi-line lidar shown in FIG. 2;
FIG. 5 is a schematic diagram of an arrangement of a laser detector of the multi-line lidar shown in FIG. 2;
FIG. 6 is a schematic diagram of an arrangement of laser transmitters of the multi-line lidar shown in FIG. 2;
FIG. 7 is a schematic diagram of a structure of yet another multi-line lidar according to an embodiment of the present invention;
fig. 8 is a flowchart of a driving method of a multi-line laser radar according to an embodiment of the present invention;
fig. 9 is a flowchart of another driving method of a multi-line lidar according to an embodiment of the present invention.
The device comprises a 10-rotary table, a 20-laser receiving and transmitting unit, a 21-array laser emitter, a 210-transmitting plate, a 211-laser emitter, a 22-array laser detector, a 220-receiving plate, a 221-laser detector, a 23-optical emergent structure, a 231-transmitting reflecting mirror group, a 232-transmitting collimating lens group, a 24-optical receiving structure and a 241-receiving collimating lens group.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The existing multi-line laser radar is generally characterized in that a plurality of laser transmitters and a plurality of laser detectors are respectively arranged on a transmitting plate and a receiving plate, and laser beams emitted by the plurality of laser transmitters are utilized for detection, so that multi-line laser detection is realized. The detection precision of the laser radar is determined by the line number of the multi-line laser radar, the mode of increasing the line number is usually just to increase the number of laser transmitters on the transmitting plate, and the number of the laser transmitters is increased to increase the volume of the transmitting plate and the corresponding optical structure, so that the volume of the laser radar is increased, or the setting density of the laser transmitters is increased, and the angle debugging difficulty of the laser transmitters is increased. Therefore, the mode of simply increasing the number of laser transmitters to increase the number of lines is limited by the size of the whole laser radar and the angle debugging difficulty of the laser radar, and the detection precision of the laser radar is difficult to improve.
In view of this, an embodiment of the present invention provides a multi-line laser radar including at least one rotation stage and at least one set of laser transceiving units located on the rotation stage, the laser transceiving units including: two array laser transmitters, each array laser transmitter comprising a plurality of laser transmitters arranged in an array; an array laser detector comprising a plurality of laser detectors arranged in an array; the optical emergent structure is positioned on emergent light paths of the plurality of laser transmitters, and a plurality of laser beams emitted by the plurality of laser transmitters irradiate the outside through the optical emergent structure; the optical receiving structure is positioned on the receiving light paths of the plurality of laser detectors, a plurality of laser beams emitted by the plurality of laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams are incident into the plurality of laser detectors in one-to-one correspondence through the optical receiving structure.
In at least one group of laser receiving and transmitting units, as two array laser transmitters, one array laser detector, an optical emergent structure and an optical receiving structure are arranged, each array laser transmitter can emit multi-line detection laser beams by utilizing a plurality of laser transmitters arranged on the array laser transmitter, emergent of the multi-line detection laser beams can be realized by the optical emergent structure, the array laser detector can receive reflected beams formed by reflecting the laser detection beams from the outside in a one-to-one correspondence manner by utilizing the plurality of laser detectors arranged on the array laser detector, and therefore environment detection is carried out. The rotary table is used for bearing the laser receiving and transmitting units and driving the laser receiving and transmitting units to rotate in the horizontal direction, so that each group of laser receiving and transmitting units can realize scanning detection in the horizontal direction. It should be noted that, a plurality of laser transmitters arranged in an array in each laser transceiver unit can be distributed at different positions in the vertical direction, so that detection laser beams emitted by a plurality of laser transmitters in each laser transceiver unit can be diverged and propagated on a vertical plane, that is, a detection plane of each laser transceiver unit at a fixed moment is a vertical plane, and meanwhile, rotation of each group of laser transceiver units on a horizontal plane is realized through driving of a rotary table, so that three-dimensional detection of a laser radar on a space is realized.
Since a plurality of laser transmitters in each array of laser transmitters can scan on a vertical plane, the entire laser transceiver unit can increase the detection accuracy of the vertical plane. And the single array laser detector receives the reflected beams of the laser beams emitted by the two array laser transmitters, so that the occupied space of the array laser detector can be reduced, and the space of the rotary table can be fully utilized by reasonably arranging each array laser transmitter, each array laser detector, each optical emergent structure and each optical receiving structure in each group of laser receiving and transmitting units, so that the volume of the whole multi-line laser radar is reduced. In addition, as the number of the laser transmitters in each array laser transmitter can be set relatively less, and the setting density of the laser transmitters and the laser detectors is smaller, the debugging difficulty of the transmitting angle of each laser transmitter can be greatly reduced.
According to the multi-line laser radar provided by the embodiment of the invention, at least one rotary table is arranged, and at least one group of laser receiving and transmitting units are arranged on the rotary table, wherein each group of laser receiving and transmitting units is provided with two array laser transmitters, one array laser detector, an optical emergent structure and an optical receiving structure, and the two array laser transmitters and the array laser detectors are utilized for receiving and transmitting laser beams, so that the detection of the environment is realized. Meanwhile, as the two array laser transmitters are provided with a plurality of laser transmitters, each group of laser receiving and transmitting units can realize multi-line laser detection, and the detection precision of the multi-line laser radar can be increased through the combination of the two array laser transmitters and the plurality of groups of laser receiving and transmitting units; further, the setting density of the laser transmitters in each group of laser receiving and transmitting units can be relatively smaller, so that the angle debugging difficulty of the laser transmitters is reduced. The multi-line laser radar provided by the embodiment of the invention can ensure that the multi-line laser radar has smaller volume while increasing the number of laser lines, namely improving the laser detection precision, and reduces the angle debugging difficulty of the laser emitter and the laser detector in the multi-line laser radar.
The foregoing is the core idea of the present invention, and the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making any inventive effort are intended to fall within the scope of the present invention.
Fig. 1 is a schematic structural view of a multi-line laser radar according to an embodiment of the present invention, and referring to fig. 1, the multi-line laser radar includes a rotary table 10 and a set of laser transceiver units 20 located on the rotary table 10; the laser transmitting/receiving unit 20 includes: two array laser emitters 21, each array laser emitter 21 comprising a plurality of laser emitters 211 arranged in an array; an array laser detector 22, the array laser detector 22 including a plurality of laser detectors 221 arranged in an array; an optical emergent structure 23, which is located on the emergent light path of the plurality of laser emitters 211, and the plurality of laser beams emitted by the plurality of laser emitters 211 are irradiated to the outside through the optical emergent structure 23; the optical receiving structure 24 is located on the receiving light paths of the plurality of laser detectors 221, and the plurality of laser beams emitted by the plurality of laser emitters 211 in each array laser emitter 21 are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams are incident into the plurality of laser detectors 221 through the optical receiving structure 24 in a one-to-one correspondence.
Wherein each array laser transmitter 21 further comprises a transmitting plate 210, and a plurality of laser transmitters 211 arranged in an array are arranged on the transmitting plate 210; the array laser detector 22 further comprises a receiving plate 220, and a plurality of laser detectors 221 arranged in an array are disposed on the receiving plate 220; the optical outgoing structure 23 includes two emission mirror groups 231 and two emission collimating lens groups 232, and laser beams emitted from the plurality of laser emitters 211 of each array laser emitter 21 are irradiated to the outside through one emission mirror group 231 and one emission collimating lens group 232; the optical receiving structure 24 includes a receiving collimating lens group 241, and a plurality of laser beams emitted from the plurality of laser emitters 211 in each of the array laser emitters 22 are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams are incident into the plurality of laser detectors 221 through the receiving collimating lens group 241 in a one-to-one correspondence.
In particular, in setting the number of laser transmitters of the array laser transmitters and the number of laser detectors in the array laser detector, the source of the reflected light beam actually received by the laser detector needs to be considered and designed. Optionally, in each group of laser transceiver units, the number of the laser detectors may be set to be equal to the sum of the numbers of the laser transmitters in the two array laser transmitters, that is, the laser detectors in the array laser detectors are in one-to-one correspondence with all the laser transmitters in the two array laser transmitters, and are used for receiving reflected light beams reflected back by the laser beams emitted by the laser transmitters in one-to-one correspondence, so as to realize laser detection. It should be noted that, although all the laser transmitters and all the laser detectors are in one-to-one correspondence, in the actual driving process, the laser transmitters do not emit laser beams at the same time, but each corresponding laser transmitter and each corresponding laser detector emit laser beams and receive reflected beams in one detection period, so that interference of adjacent laser detectors during simultaneous detection can be avoided.
Or, the number of the laser detectors is equal to the number of the laser transmitters in each array laser transmitter, that is, each laser detector can respectively receive the reflected light beams reflected back by the laser beam emitted by each laser transmitter in the two array laser transmitters, that is, the laser detector is used for laser detection in a shared mode. Of course, the sharing mode of the laser detector mostly adopts time-sharing detection or wavelength-division detection, wherein the time-sharing detection refers to laser beams emitted by two laser transmitters sharing the same laser detector at different times, and the laser beams are received by corresponding laser detectors at different times, the laser detectors judge the external object position information according to the time, the phase and the like of the received reflected beams, the wavelength-division detection refers to different wavelengths of the laser beams emitted by the two laser transmitters sharing the same laser detector, the laser detectors determine the corresponding laser transmitters through analyzing the wavelengths, and judge the position information of the external object according to the time, the phase and the like of the reflected beams.
Fig. 2 is a schematic structural view of another multi-line laser radar according to an embodiment of the present invention, and referring to fig. 2, the multi-line laser radar includes a rotary table 10 and two sets of laser transceiver units 20 located on the rotary table 10; the laser emission directions of the two sets of laser transceiver units 20 are away from each other.
The two sets of laser receiving and transmitting units 20 opposite to each other are arranged in the multi-line laser radar, so that the space on the rotary table 10 can be fully utilized, and the space waste caused by arranging a single set of laser receiving and transmitting units is avoided. Meanwhile, the laser emission directions of the two groups of laser receiving and transmitting units deviate from each other, so that objects in the two mutually deviating directions on the horizontal plane can be detected simultaneously, the detection area at a single moment is ensured, and the overall detection frequency is increased.
Further, referring to fig. 2, the array laser transmitter 21 further includes a transmitting plate 210, and a plurality of laser transmitters 211 arranged in an array are disposed on the transmitting plate 210; the array laser detector 22 further includes a receiving plate 220, and a plurality of laser detectors 221 arranged in an array are disposed on the receiving plate 220. Optionally, each of the array laser transmitters 21 includes one transmitting plate 210, four transmitting plates 210 in two groups of laser transceiving units 20 are disposed parallel to each other, and two array laser transmitters 21 in the same group of laser transceiving units 20 are respectively located at a side of the two transmitting plates 210 facing away from the transmitting plate 210 in another group of laser transceiving units 20; the array laser detector 22 includes a receiving plate 220, and two receiving plates 220 of the two sets of laser transceiver units 20 are located at two sides of the rotation axis of the rotation table 10 facing away from each other.
Fig. 3 is a schematic diagram of an arrangement of a laser detector of the multi-line laser radar shown in fig. 2, and fig. 4 is a schematic diagram of an arrangement of laser transmitters of the multi-line laser radar shown in fig. 2, referring to fig. 2 and 3, in which a plurality of laser transmitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and in which a plurality of laser transmitters 211 in different laser transceiver units 20 are alternately staggered one by one in the direction perpendicular to the turntable 10. Referring to fig. 2 and 4, the plurality of laser detectors 221 in the same laser transceiving unit 20 are distributed in a direction perpendicular to the turntable 10, and the plurality of laser detectors 221 in different laser transceiving units 20 are alternately shifted one by one in the direction perpendicular to the turntable 10.
Fig. 5 is a schematic diagram of an arrangement of a laser detector of the multi-line laser radar shown in fig. 2, and fig. 6 is a schematic diagram of an arrangement of laser transmitters of the multi-line laser radar shown in fig. 2, referring to fig. 2 and 5, alternatively, a plurality of laser transmitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and a plurality of laser transmitters 211 in different laser transceiver units 20 are alternately staggered in groups in the direction perpendicular to the turntable 10. Referring to fig. 2 and 6, the plurality of laser detectors 221 in the same laser transceiving unit 20 are distributed in a direction perpendicular to the rotary table 10, and the plurality of laser detectors 221 in different laser transceiving units 20 are alternately staggered by groups in the direction perpendicular to the rotary table 10.
In the multi-line laser radar, the laser transmitters 211 in the same group of laser receiving and transmitting units can be ensured to be positioned at different positions in the direction vertical to the rotary table 10 by means of one-to-one alternate dislocation or group alternate dislocation, and the laser transmitters 211 in different groups of laser receiving and transmitting units are also positioned at different positions in the direction vertical to the rotary table 10, so that the laser transmitters in the multi-line laser radar can obtain more detection points in the vertical direction of the detection surface, and the detection precision is increased.
Fig. 7 is a schematic structural diagram of another multi-line laser radar according to an embodiment of the present invention, and referring to fig. 7, optionally, the multi-line laser radar further includes two transmitting boards 210, each of the array laser transmitters 21 shares one transmitting board 210 with one array laser transmitter 21 in another group of laser transceiver units 20, and two array laser transmitters 21 sharing one transmitting board 210 are respectively disposed on two side surfaces of the transmitting board 210 facing away from each other; each array laser detector 22 includes a receiving plate 220, and two receiving plates 220 of the two sets of laser transceiver units 20 are located at two sides of the rotation axis of the rotation table 10 facing away from each other.
At this time, the positions of the laser transmitters 211 in each group of the laser transceiver units 20 in the vertical direction are different, and after the emission angle of each laser transmitter 211 is adjusted, it is ensured that the emission directions of the laser beams emitted from each laser transmitter 211 are different. In the rotation process of the rotary table 10, the projection points of the plurality of laser transmitters in each group of laser transceiver units 20 on the scanning surface are different in position, so that the scanning points on the scanning surface can be increased, the object information on the scanning surface can be acquired more precisely, and the detection precision can be increased.
Similar to the multi-line laser radar shown in fig. 2, the multi-line laser radar shown in fig. 7 may also have a plurality of laser transmitters disposed in the same laser transceiver unit and distributed in a direction perpendicular to the turntable, where the plurality of laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups; the plurality of laser detectors in the same laser transceiver unit are distributed in the direction perpendicular to the rotary table, and in the direction perpendicular to the rotary table, the plurality of laser detectors in different laser transceiver units are alternately staggered one by one or alternately staggered in groups, and are not repeated here.
The invention also provides a driving method of the multi-line laser radar in real time, which is used for driving any multi-line laser radar provided by the embodiment of the invention. Fig. 8 is a flowchart of a driving method of a multi-line laser radar according to an embodiment of the present invention, and referring to fig. 1 and 8, the driving method includes:
s110, driving two array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in each array laser transmitter transmit laser beams through an optical emergent structure;
the laser transmitters in the two array laser transmitters are distributed at different positions in the direction perpendicular to the rotary table due to the array arrangement, and the laser transmitting directions of the laser transmitters are different at the moment, so that objects on a vertical surface can be scanned and detected.
S120, receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in a corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in an array laser detector in a one-to-one correspondence manner.
When the laser beam is emitted to an external object, reflection is generated, and the reflected beam formed at the moment is incident into the multi-line laser radar through the optical receiving structure. And through reasonable arrangement of the optical receiving structure, a plurality of reflected light beams correspondingly enter a plurality of laser detectors, and the information of the detected object is acquired by the laser detectors. Meanwhile, the information such as the position and the distance of the detected object can be judged by comparing and analyzing the emergent laser beam and the reflected beam, so that the detection of the environment is realized. The multi-line laser radar provided by the embodiment of the invention has the beneficial effects.
In the actual multi-line radar driving process, the driving method needs to be adapted and adjusted according to the quantity proportion of the laser transmitters and the laser detectors in each group of laser receiving and transmitting units. When the number of laser detectors in each set of laser transceiving units is equal to the number of laser transmitters in each array of laser transmitters, it is necessary that the two laser transmitters share one laser detector. Aiming at the problem, the embodiment of the invention also provides a driving method of the multi-line laser radar. Fig. 9 is a flowchart of another driving method of a multi-line laser radar according to an embodiment of the present invention, and referring to fig. 1 and 9, the driving method includes:
s210, driving two array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in each array laser transmitter sequentially transmit laser beams through an optical emergent structure;
in this process, all laser transmitters in each group of laser transceiver units emit laser beams in respective detection periods, so that interference between the laser transmitters does not exist. It should be noted that, in the actual driving process, the two array laser transmitters may detect by alternately emitting laser beams, and the laser transmitters in the same array laser transmitters do not sequentially emit laser beams according to the position sequence, alternatively, when the laser transmitters in the same array laser transmitters sequentially emit laser beams, the laser transmitters in non-adjacent positions are preferably sequentially emitted. Illustratively, for a first array of laser emitters including four laser emitters (numbered a1, a2, a3, a 4) and a second array of laser emitters including four laser emitters (numbered b1, b2, b3, b 4), the laser beams may be sequentially emitted in the order a1-b4-a3-b2-a4-b1-a2-b 3. At this time, the correspondingly received laser detectors are sequentially changed, so that the condition that the same laser detector receives reflected light beams in two adjacent detection periods does not occur, and the detection accuracy is ensured.
S220, sequentially receiving a plurality of reflected light beams formed by the laser light beams after external reflection through the optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detector in a one-to-one correspondence manner.
As exemplified above, in each detection period, the laser emitter emits a laser beam, and correspondingly, the laser detector receives an external reflected beam. And because the two array laser transmitters of the same group can be set to have different detection points, the object accuracy detected by the laser detector is improved, and the three-dimensional scanning detection of the environment can be realized by matching with the rotation of the rotary table.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A multi-line lidar comprising at least one rotation stage and two sets of laser transceiver units located on the rotation stage, the laser transceiver units comprising:
two array laser emitters, each comprising a plurality of laser emitters arranged in an array;
an array laser detector comprising a plurality of laser detectors arranged in an array;
the optical emergent structure is positioned on emergent light paths of the plurality of laser transmitters, and a plurality of laser beams emitted by the plurality of laser transmitters irradiate the outside through the optical emergent structure;
the optical receiving structure is positioned on the receiving light paths of the plurality of laser detectors, a plurality of laser beams emitted by the plurality of laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams are incident into the plurality of laser detectors in a one-to-one correspondence manner through the optical receiving structure;
the laser emission directions of the two groups of laser receiving and transmitting units are mutually deviated;
the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;
the array laser detector comprises one receiving plate, and two receiving plates in the two groups of laser receiving and transmitting units are positioned on two sides of the rotating shaft of the rotating platform, which are away from each other.
2. The multi-line lidar of claim 1, wherein in each set of the laser transceiving units, the number of laser detectors is equal to the number of the laser transmitters in each of the array laser transmitters, or the number of laser detectors is equal to the sum of the number of the laser transmitters in both of the array laser transmitters.
3. The multi-line lidar of claim 1, wherein the multi-line lidar is further configured to,
each array laser emitter further comprises an emitting plate, and a plurality of laser emitters arranged in an array are arranged on the emitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;
the optical emergent structure comprises two emission reflecting mirror groups and two emission collimating lens groups, and laser beams emitted by a plurality of laser emitters of each array laser emitter are irradiated to the outside through one emission reflecting mirror group and one emission collimating lens group;
the optical receiving structure comprises a receiving collimating lens group, a plurality of laser beams emitted by a plurality of laser emitters in each array laser emitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams are incident into a plurality of laser detectors in a one-to-one correspondence manner through the receiving collimating lens group.
4. The multi-line lidar of claim 1, wherein the multi-line lidar is further configured to,
the array laser transmitter further comprises a transmitting plate, and the plurality of laser transmitters arranged in an array mode are arranged on the transmitting plate.
5. The multi-line lidar of claim 4, wherein the multi-line lidar is further configured to,
each array laser transmitter comprises a transmitting plate, four transmitting plates in two groups of laser receiving and transmitting units are arranged in parallel, and two array laser transmitters in the same group of laser receiving and transmitting units are respectively positioned at one side of each transmitting plate, which is away from the transmitting plate in the other group of laser receiving and transmitting units.
6. The multi-line lidar of claim 4, further comprising two transmitting plates, wherein each of the array laser transmitters shares one transmitting plate with one of the array laser transmitters in the other group of the laser transceiving units, and two of the array laser transmitters sharing one transmitting plate are respectively arranged on two side surfaces of the transmitting plates facing away from each other;
each array laser detector comprises one receiving plate, and two receiving plates in two groups of laser receiving and transmitting units are positioned at two sides of the rotating shaft of the rotating table, which are away from each other.
7. The multi-line lidar of claim 5 or 6, wherein the multi-line lidar is further characterized by,
the plurality of laser transmitters in the same laser receiving and transmitting unit are distributed in the direction vertical to the rotating table, and the plurality of laser transmitters in different laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups in the direction vertical to the rotating table;
the plurality of laser detectors in the same laser receiving and transmitting unit are distributed in the direction perpendicular to the rotating table, and the plurality of laser detectors in different laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups in the direction perpendicular to the rotating table.
8. A driving method of a multi-line lidar, characterized by being used for driving the multi-line lidar according to any of claims 1 to 7, the driving method comprising:
driving two array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in each array laser transmitter transmit laser beams through an optical emergent structure;
and receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in an array laser detector in a one-to-one correspondence manner.
9. The driving method according to claim 8, wherein the number of the laser detectors in each group of the laser transceiving units is equal to the number of the laser transmitters in each of the array laser transmitters;
the driving of two array laser transmitters in each group of laser transceiver units, a plurality of laser transmitters that make in the array arrangement in each array laser transmitter transmit laser beam through optical exit structure includes:
driving two array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in each array laser transmitter sequentially transmit laser beams through the optical emergent structure;
the receiving the plurality of reflected light beams formed by the laser light beams after external reflection through the optical receiving structure in the corresponding laser receiving and transmitting unit, and the incidence of the plurality of reflected light beams into the plurality of laser detectors in the array laser detector in a one-to-one correspondence manner comprises the following steps:
and sequentially receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the array laser detector in a one-to-one correspondence manner.
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| CN202310950935.5A CN116930926A (en) | 2019-07-19 | 2019-07-19 | Multi-line laser radar and driving method thereof |
| PCT/CN2020/101220 WO2021012963A1 (en) | 2019-07-19 | 2020-07-10 | Multi-line lidar and drive method thereof |
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| CN112639514B (en) * | 2020-07-07 | 2024-02-23 | 深圳市速腾聚创科技有限公司 | Laser receiving device, laser radar and intelligent induction equipment |
| CN111856429B (en) * | 2020-07-13 | 2023-07-25 | 武汉万集信息技术有限公司 | Multi-line laser radar and control method thereof |
| CN115436959A (en) * | 2021-06-02 | 2022-12-06 | Oppo广东移动通信有限公司 | Measurement module, electronic equipment and control method |
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