CN110888145A - Laser radar, use method thereof and laser radar system - Google Patents
Laser radar, use method thereof and laser radar system Download PDFInfo
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- CN110888145A CN110888145A CN201911157717.6A CN201911157717A CN110888145A CN 110888145 A CN110888145 A CN 110888145A CN 201911157717 A CN201911157717 A CN 201911157717A CN 110888145 A CN110888145 A CN 110888145A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Aviation & Aerospace Engineering (AREA)
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Abstract
A laser radar applied to a mobile device, a using method thereof and a laser radar system are provided. Wherein, be applied to mobile device lidar and include: the radar body sends and receives laser beams to detect characteristic signals of a measured object; the communication module comprises a wireless communication module, and the laser radar realizes information interaction of the characteristic signal with the mobile terminal through the wireless communication module; and the radar body, the communication module and the power module are all arranged in the shell. The laser radar of this application is all independent in physical structure and function, and it carries out the remote information interaction through carrying out between wireless communication module and the conventional mobile terminal, and the user can be through the direct remote control laser radar of mobile terminal, and the operation of the laser radar of this application is simpler, can realize remote control. The laser radar can be quickly, simply and detachably installed on the mobile equipment or at a specific measuring position, and is simple to install and convenient to arrange.
Description
Technical Field
The invention relates to the field of radars, in particular to a laser radar, a using method thereof and a laser radar system.
Background
China is the biggest producing country and consuming country of global automobiles, the market of the Internet of vehicles is huge, and the vehicles become important parts of cities. The Internet of vehicles is another sign of future smart cities after the Internet and the Internet of things. In the technical aspect, the internet of vehicles needs to acquire various information through various sensors, such as radio frequency identification, infrared sensors, global positioning systems, laser scanners and other information sensing devices, and the devices can provide a basis for information exchange among vehicles, so that intelligent identification, positioning, tracking, monitoring and management are realized.
With the continuous development of vehicle equipment and computers, the automatic driving technology has become a hot research field, and the automatic driving technology is mature. The need for sensing surrounding obstacles and the environment of an autonomous vehicle requires the addition of necessary sensing devices for detection and sensing. Lidar has begun to find widespread use in automotive technology by virtue of its advantages in identification, ranging and positioning. Compared with the recognition processing of images collected by a camera, the laser radar has the main advantages of long detection distance, high precision, strong anti-interference capability, strong real-time performance, small influence of natural environments such as illumination, rain and snow weather and the like in actual use, strong adaptability and the like. In addition, laser radar is widely applied to the fields of intelligent mobile robots, automatic driving, unmanned aerial vehicles and the like.
The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a measured object to emit detection signals (laser beams) to the measured object, then the received signals (measured object echoes) reflected from a target are compared with the emitted signals, and after proper processing, the relevant information of the measured object, such as the distance, direction, height, speed, attitude, even shape and other parameters of the measured object, can be obtained, so that the measured objects of airplanes, missiles and the like are detected, tracked and identified.
The technique used by lidar is Time of Flight (TOF). Specifically, the relative distance between the object to be measured and the object to be measured is calculated according to the turn-back time of the laser after the laser encounters an obstacle. The laser beam can accurately measure the relative distance between the edge of the outline of the object in the view field and the equipment, the outline information forms a so-called point cloud and draws a 3D environment map, the precision can reach the centimeter level, and therefore the measurement precision is improved.
Lidar is classified by the presence or absence of mechanical rotating parts, including mechanical lidar and solid state lidar. While mechanical lidar has a rotating part that controls the angle of laser emission, solid-state lidar relies on electronic components to control the angle of laser emission without the need for mechanical rotating parts.
In the prior art, lidar products do not work individually. It needs to be integrated into the whole system to run, which includes some electronic devices and measurement system. Therefore, users cannot use them directly, and need to operate a plurality of software simultaneously to complete a job based on understanding the software.
Disclosure of Invention
The laser radar system aims to solve the problems that in the prior art, a laser radar can be used only by being integrated in a system with a complex structure, and the regulation and control operation is complex and tedious.
According to a first aspect of the present invention, the present invention provides a lidar for use in a mobile device, comprising:
the radar body sends and receives laser beams to detect characteristic signals of a measured object;
the communication module comprises a wireless communication module, and the laser radar realizes information interaction of the characteristic signal with the mobile terminal through the wireless communication module; and
the casing, the radar body with communication module all sets up in the casing.
Further, the wireless communication module is one or more of a low-power wide area network module, a bluetooth module, a WiFi module, a cellular communication module, and a low-power local area network module.
Further, the characteristic signal includes one or more of a shape, a height, an attitude, a position, a moving direction, a moving speed, and a relative distance between the object to be measured and the laser radar.
Further, the communication module further comprises a wired communication module, the wired communication module is used for setting initial parameters for the radar body, and the wireless communication module of the laser radar is used for performing information interaction with the wireless communication module of the mobile terminal and is regulated and controlled by the mobile terminal.
Furthermore, the wireless communication module is used for setting initial parameters for the radar body, exchanging information with the wireless communication module of the mobile terminal and being regulated and controlled by the mobile terminal.
Further, the initial parameters include one or more of a measurement range, a work area, an alert level, a sensitivity of distance measurement, a rotation number, a measurement condition, an angular field of view, a scanning frequency, an angular resolution, a measurement accuracy, and a ranging adoption rate.
Furthermore, the regulation and control mode of the wireless communication module is one or more of adjusting the measuring distance, adjusting the working area, starting the laser radar and turning off the laser radar.
Further, lidar further includes the mounting structure who is used for installing lidar, mounting structure set up in the casing or outside the casing, mounting structure is magnetic part and/or adsorbs piece and/or clamping device.
Further, the mobile device is an autopilot-type device and/or an unmanned aerial vehicle and/or an intelligent robot.
Further, the radar body is a mechanical laser radar body or a solid laser radar body.
Further, the mechanical lidar body comprises:
the reflector module is used for reflecting the laser emitted by the laser emitter to a measured object and reflecting the laser reflected by the measured object back to the light receiver;
the laser emitter is used for reflecting the laser out through the reflector module;
the light receiver is used for receiving the laser reflected from the measured object through the reflector module;
a rotating mechanism including a motor that drives the mirror module to rotate;
the rotation angle detection device comprises a grating disc driven by the rotating mechanism to rotate and a sensor for acquiring the rotation parameters of the grating disc, and the sensor sends the rotation parameters of the grating disc to the signal processing unit;
a control circuit comprising a signal processing unit that receives and processes the initial parameter, the rotational parameter, and the signature signal;
and the power supply module is electrically connected with the reflector module, the laser transmitter, the light receiver, the control circuit, the rotating mechanism and the rotating angle detection device respectively.
Further, the laser radar includes a photoelectric element, the laser beam has a superimposed frequency, information of the characteristic signal is added to the superimposed frequency in the form of a superimposed signal, and the photoelectric element receives the information of the characteristic signal.
According to a second aspect of the present invention, there is provided a lidar system comprising:
the lidar as described in the above embodiments; and
a mobile terminal for regulating the lidar, the mobile terminal comprising:
a control software for controlling the lidar,
a wireless communication module for wireless communication with the wireless communication module of the laser radar, and
a display.
According to a third aspect of the present invention, the present invention provides a method for using a laser radar as described in the above embodiments, including the steps of:
mounting the lidar to a mobile device via a mounting structure; and
and remotely regulating and controlling the laser radar through regulation and control software in the mobile terminal.
Further, before remotely regulating and controlling the laser radar through regulation and control software in the mobile terminal, the method comprises the following steps:
the mobile terminal downloads regulation and control software; and
and the mobile terminal is wirelessly connected with the laser radar.
Compared with the prior art, the invention has the advantages that:
1. the prior art lidar needs to be physically and functionally integrated into other systems with complex structures, and when the lidar is used, a user needs to understand and operate a plurality of unrelated devices and software simultaneously to complete the detection, tracking or identification of the lidar.
The laser radar of this application is all independent in physical structure and function, and it carries out the remote information interaction through carrying out between wireless communication module and the conventional mobile terminal, and the user can be through the direct remote control laser radar of mobile terminal, and the operation of the laser radar of this application is simpler, can realize remote control.
2. The laser radar in the prior art adopts a wired communication mode, a cable needs to be erected or a cable trench needs to be excavated, and when the laser radar is installed, a communication line needs to be adopted to establish data connection with other software or equipment, so that the wiring work is time-consuming and tedious. If the wire mode is adopted, the wire needs to be re-wired, the construction is troublesome, and the original communication line can be damaged.
According to the wireless communication method, information interaction is achieved by the wireless communication mode, cables do not need to be erected or cable trenches do not need to be excavated, manpower and material resources are saved, in addition, communication lines do not need to be adopted, and therefore the wireless communication method is low in cost, simple in installation and operation, short in engineering period and good in adaptability, the wireless communication data transmission mode has wider adaptability compared with wired communication, is almost not limited by geographical environments, and has better expansibility compared with the wired communication data transmission mode.
3. In the prior art, because the laser radar adopts a wired communication mode to establish a connection relationship with other equipment, different communication lines are arranged between the laser radar and the other equipment. If the position of the laser radar is displaced, the communication line may be dropped. There are also some devices for fixedly mounting lidar in the prior art, but once mounted, it is cumbersome and time consuming to disassemble the lidar.
The laser radar is provided with the mounting structure, so that the laser radar can be quickly, simply and detachably mounted on mobile equipment or at a specific measuring position, and the laser radar is simple to mount and convenient to arrange.
Drawings
FIG. 1 is a schematic diagram illustrating the operation principle of a lidar according to an embodiment of the present disclosure;
FIG. 2 is a schematic longitudinal sectional view of the laser radar according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a rotation mechanism and a rotation angle detection device of a laser radar according to an embodiment of the present application.
Reference numerals:
111-first mirror, 112-second mirror, 113-third mirror, 114-laser transmitter, 115-light receiver, 116-rotation mechanism, 1171-grating disc, 1172-sensor, 13-housing, 20-wireless network, 31-display, 40-measured object.
Detailed Description
The advantages of the invention are explained in detail below with reference to the drawings and the embodiments.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings, in which like numerals refer to the same or similar elements throughout the different views, unless otherwise specified. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are used for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are used in a broad sense, and for example, they may be mechanically or electrically connected, or they may be connected internally to two elements, directly or indirectly through an intermediate, and those skilled in the art will understand the specific meaning of the terms as they are used in the specific case.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
According to a first aspect of the present invention, as shown in fig. 1, the present invention provides a lidar for application to a mobile device, such as an autopilot-type device and/or an unmanned aerial vehicle and/or an intelligent robot, comprising:
a housing 13;
a radar body that emits and receives a laser beam to detect a characteristic signal of the object to be measured 40, the radar body being disposed in the housing 13, the laser beam having a superposition frequency; and
a communication module, the communication module with the radar body set up in the casing 13, the communication module includes wireless communication module, wireless communication module is LPWAN module (Low Power Wide Area Network, Low Power consumption Wide Area Network module, such as lora module, NB-IOT module, ENOCEAN module, 6LoWPAN module etc.), bluetooth module, wiFi module, cellular communication module (for example 2G Network module, 3G Network module, 4G Network module, 5G Network module), Low Power consumption local Area Network module (for example ZigBee module)433MHz wireless communication module, Z-WAVE module, NFC module, etc.), the lidar implements information interaction of the characteristic signal with a mobile terminal through the wireless communication module, the laser beam has a superposition frequency, and the information of the characteristic signal is added to the superposition frequency in the form of a superposition signal. The superimposed frequency includes the overall frequency of the new signal and its frequency content. Optionally, the lidar further comprises a photoelectric element, and the photoelectric element receives the information of the characteristic signal. Illustratively, the characteristic signal information detected by the lidar is transmitted through a wireless network 2020 and displayed on the display 31 of the mobile terminal, and the wireless network 20 is a wireless network 20 implemented by a public mobile communication network (e.g., 2G ═ GSM, second generation communication network; 3G ═ CDMA, third generation communication network; 4G ═ LTE, fourth generation communication network; 5G network, fifth generation mobile communication network), a wireless local area network (abbreviated as WLAN, e.g., WiFi and bluetooth), a wireless local area network (abbreviated as WRAN), a wireless metropolitan area network (abbreviated as MAN), a LPWAN (low power wide area network), and a low power local area network (e.g., ZigBee, short-range, low power wireless communication technology based on ieee802.15.4 standard). The wireless communication module of the laser radar is used for setting initial parameters for a radar body, exchanging information with the wireless communication module of the mobile terminal, and receiving regulation and control of the mobile terminal, such as real-time regulation of a measurement range, regulation of a working area, starting of the laser radar, closing of the laser radar and the like. Wherein the initial parameters of the lidar include a measurement range (maximum measurement distance), a working area, a warning level, a sensitivity of distance measurement, a rotation number, measurement conditions, an angular field of view (vertical angular field of view and horizontal angular field of view, preferably, the lidar of the present application can perform full-scale measurement, that is, the vertical angular field of view and the horizontal angular field of view are both 360 degrees0) Scanning frequency (how many times the laser radar scans in one second), angular resolution (angular stepping of two adjacent range points), measurement accuracy (minimum amount of distance change perceived in one second), range mining rate (how many range outputs are made in one second), etc. The initial parameters can be adjusted at a later stage,preferably, the initial parameter of the laser radar of the present application realizes the setting and the later regulation and control of the initial parameter of the laser radar by the mobile terminal through a wireless communication module of the laser radar. The meaning of adjusting the measurement range in real time is, for example, if the measurement range at the initial setting is 1 km, and the measurement range of the laser radar is reduced to 500 m according to actual needs, as will be understood by those skilled in the art, this is only an exemplary description for facilitating understanding of the present application, and is not a limitation to the present application. In the application, the laser radar is taken as a center, different distance ranges are divided into different warning levels, for example, according to the fact that the relative distance between the laser radar and a measured object is from large to small, the warning levels sequentially include safety (for example, 600 + 1000 meters), attention (for example, 300 + 600 meters), danger (for example, 200 + 300 meters), and stop immediately (for example, 10-100 meters), and according to actual needs, the mobile terminal can regulate and control and set the relative distance range corresponding to the warning level in real time. When the warning level is attention, dangerous and immediately stopped, the mobile terminal remotely controls the laser radar to change the moving direction to move to a safe area. Preferably, the laser radar of this application's warning level shows step by step, and the sentence says, by noticing safely, arrive danger again, finally to stopping immediately, sensitivity and real-time are good, can in time give warning level feedback at the beginning at the possibility of collision between measured object and the laser radar to in time remind mobile terminal to regulate and control laser radar, prevent that mobile terminal is in good measures, too late to regulate and control laser radar. Illustratively, the working area may be set as a safety area, a warning area, an absolute prohibition area, etc., and when the lidar is working in the safety area, the lidar does not give any notice or gives a notice of safety to the mobile terminal; when the laser radar works in a warning area, the laser radar prompts a prompt to the mobile terminal; when the laser radar works in an absolutely forbidden area, the laser radar prompts danger to the mobile terminal. The mobile terminal sends a corresponding regulation and control instruction to the laser radar according to the prompt message sent by the laser radar so as to enable the laser radar to workThe lidar is moved into a safe area. The above work area division is merely an example for the convenience of understanding, and does not constitute any limitation to the present application. The characteristic signal of the object to be measured 40 includes a shape, a height, an attitude, a position, a moving direction, a moving speed, a relative distance between the object to be measured 40 and the laser radar, and the like. For example, in smart factories and smart warehouses, a plurality of automated guided vehicles (AGVs, a type of mobile device) and automated driving and transporting devices (a type of mobile device) may be operated simultaneously. When two vehicles are traveling towards each other, a decision must be made immediately to avoid a collision. In a general Warehouse Management System (WMS), mobile objects in these warehouses are managed. Particularly, in warehouses with mixed workers and transport vehicles, strict working standards are set by all countries, and safety management mechanisms are established. In view of these problems, the present invention provides a method for transmitting a characteristic signal that can determine the advancing direction of each mobile device in a plurality of transportation vehicles by detecting the advancing direction of each mobile device, for example, the characteristic signal is the advancing direction of each mobile device and/or the distance between the mobile devices and/or the position and/or the moving speed, and the like, and a plurality of characteristic signals are transmitted to an optoelectronic element of a laser radar in the form of a superimposed signal added to a superimposed frequency by a laser beam. Then the laser radar transmits the information of the characteristic signals to the mobile terminal through the communication module, and then the laser radar regulates and controls the laser radar according to the received information of the characteristic signals so as to avoid collision between the mobile devices provided with the laser radar. The mobile terminal is a mobile phone, a notebook computer, a tablet computer, a vehicle-mounted computer, a palm computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, an intelligent bracelet, a pedometer, and the like.
Optionally, in some embodiments of the present application, the communication module further includes a wired communication module, and the wired communication module is configured to set initial parameters to the radar body. And the wireless communication module of the laser radar is used for carrying out information interaction with the wireless communication module of the mobile terminal and is regulated and controlled by the mobile terminal. In other words, the initial parameter of laser radar of this application carries out initial setting through laser radar's wired communication module, and the regulation and control of later stage to laser radar then carries out wireless remote control through laser radar's wireless communication module.
Wherein, the radar body is a mechanical laser radar body or a solid laser radar body. It should be noted that, in the present application, the specific structure of the radar body (mechanical lidar body or solid-state lidar body) is not limited, and the radar body is included in the content of the present invention as long as the above-mentioned object can be achieved.
Illustratively, as shown in fig. 2-3, the mechanical lidar body includes:
a mirror module for reflecting the laser emitted from the laser emitter 114 to the object to be measured 40 and reflecting the laser reflected from the object to be measured 40 back to the light receiver 115, for example, as shown in fig. 2, the mirror module includes a first mirror 111, a second mirror 112, and a third mirror 113, specifically, the present application does not limit the specific type of the mirror module, and the present application includes the content of the present application as long as it can achieve the above purpose;
a laser transmitter 114 for reflecting the laser light by the mirror module, for example, as shown in fig. 2, the laser transmitter 114 reflects the laser light by the first mirror 111 and the second mirror 112;
a light receiver 115 for receiving laser light to be reflected from the object to be measured 40 by the mirror module, for example, as shown in fig. 2, the light receiver 115 receives laser light to be reflected from the object to be measured 40 by the first mirror 111 and the third mirror 113;
a rotating mechanism 116, which includes a motor that drives the mirror module to rotate, for example, as shown in fig. 2, the rotating mechanism drives the first mirror 111 and the third mirror 113 to rotate, and specifically, the present application does not limit the specific structure and model of the motor, so long as it can achieve the above purpose, and all of them are included in the present application;
the rotation angle detection device comprises a grating disk 1171 driven to rotate by the rotating mechanism 116 and a sensor 1172 for acquiring rotation parameters of the grating disk 1171, wherein the sensor 1172 sends the rotation parameters of the grating disk 1171 to the control circuit;
the control circuit comprises a signal processing unit, the signal processing unit receives and processes the initial parameter, the rotation parameter and the characteristic signal, then the laser radar sends one or more of the initial parameter, the rotation parameter and the characteristic signal to the mobile terminal (such as a mobile phone) through a wireless communication module, and then the mobile device (such as an automatic driving device) sends a corresponding remote control instruction to the laser radar in a wireless communication mode;
a power module electrically connected to the laser transmitter 114, the light receiver 115, the control circuit, the rotating mechanism 116, the rotation angle detection device, and the communication module, respectively. Preferably, the power supply module includes a dc power supply module and/or an external power interface for accessing external ac power to the lidar.
Optionally, in an embodiment of the present invention, the lidar further includes a mounting structure for mounting the lidar, and the mounting structure is disposed inside the housing 13 or outside the housing 13, and specifically, the present application does not limit the specific structure and model of the motor, so long as it can achieve the above-mentioned purpose, and all of the structures are included in the present application. The mounting structure is, for example, a magnetic member (e.g., a magnet) disposed inside the housing 13 or outside the housing 13, and/or an attraction member (e.g., a suction cup) disposed outside the housing 13, and/or a clamping device (e.g., a clip) disposed outside the housing 13. Through the installation structure, the laser radar can be directly installed on mobile equipment (such as automatic pilot equipment and/or unmanned aerial vehicles and/or intelligent robots) or installed at a fixed measurement position, and the laser radar can become an area sensing radar which is simple to use and convenient to arrange.
According to a second aspect of the present invention, there is provided a lidar system comprising:
the lidar as described in the above embodiments; and
a mobile terminal for regulating the lidar, the mobile terminal comprising:
a control software for controlling the lidar,
a wireless communication module for wireless communication with the wireless communication module of the laser radar, and
and the display 31 is used for displaying one or more information of the initial parameter, the rotation parameter and the characteristic signal which are sent by the laser radar through a wireless communication module.
According to a third aspect of the present invention, there is provided a method of using a lidar comprising the steps of:
the laser radar is installed on the mobile equipment through an installation structure, and the installation structure is a magnetic part and/or an adsorption part and/or a clamping device; and
and remotely regulating and controlling the laser radar through regulation and control software in the mobile terminal. The laser radar that this patent provided can arrange in required position fast to regulation and control software through the wireless remote control laser radar of mobile terminal. After the installation is finished, the working area is set, the warning level is divided by taking the laser radar as the circle center, and then the normal use can be carried out. Simple installation, simple and convenient setting and use and simple and convenient regulation and control.
Preferably, before remotely regulating and controlling the laser radar through the regulation and control software in the mobile terminal, the method comprises the following steps:
the mobile terminal downloads regulation and control software; and
the mobile terminal is wirelessly connected to the lidar, and specifically, the present application does not specifically limit the wireless connection manner, and the content of the present application is included as long as it can achieve the above object. Exemplarily, the mobile terminal is wirelessly connected to the lidar and comprises the following steps: the mobile terminal is connected to a wireless network 20(WLAN) via a wireless router, and further connected to a WiFi module of the lidar. Exemplarily, the laser radar and/or the mobile terminal establish a wireless connection with the mobile terminal through a WiFi hotspot of other equipment; illustratively, the Bluetooth module of the laser radar is paired with the Bluetooth module of the mobile terminal, and when pairing is successful, a wireless connection is formed between the laser radar and the mobile terminal; illustratively, a wireless connection is established between the mobile terminal and the laser radar through a mobile network (2G network/3G network/4G network/5G network) and/or an LPWAN (Low Power Wide area network) and/or a low Power local area network (e.g. ZigBee).
The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications and substitutions to those skilled in the art are also within the scope of the present invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.
Claims (15)
1. A laser radar applied to mobile equipment is characterized by comprising:
the radar body sends and receives laser beams to detect characteristic signals of a measured object;
the communication module comprises a wireless communication module, and the laser radar realizes information interaction of the characteristic signal with the mobile terminal through the wireless communication module; and
the casing, the radar body with communication module all sets up in the casing.
2. The lidar of claim 1, wherein the wireless communication module is one or more of a low power wide area network module, a bluetooth module, a WiFi module, a cellular communication module, and a low power local area network module.
3. The lidar of claim 1, wherein the characteristic signal comprises one or more of a shape, a height, an attitude, a position, a direction of movement, a speed of movement, a relative distance between an object under test and the lidar.
4. The lidar of claim 1, wherein the communication module further comprises a wired communication module, the wired communication module is configured to set initial parameters for the radar body, and the wireless communication module of the lidar is configured to perform information interaction with and be controlled by the wireless communication module of the mobile terminal.
5. The lidar of claim 1, wherein the wireless communication module is configured to set initial parameters for a radar body, and to perform information interaction with and be controlled by the wireless communication module of the mobile terminal.
6. Lidar according to claim 4 or 5, wherein said initial parameters comprise one or more of a measurement range, a working area, an alert level, a sensitivity of distance measurement, a number of rotations, measurement conditions, an angular field of view, a scanning frequency, an angular resolution, a measurement accuracy, a ranging adoption rate.
7. The lidar of claim 4 or 5, wherein the wireless communication module is controlled in one or more of adjusting a measured distance, adjusting a work area, activating the lidar, and deactivating the lidar.
8. The lidar of claim 1, further comprising a mounting structure for mounting the lidar, the mounting structure being disposed within or outside the housing, the mounting structure being a magnetic member and/or a suction member and/or a clamping device.
9. Lidar according to claim 1, wherein the mobile device is an autopilot-like device and/or an unmanned aerial vehicle and/or an intelligent robot.
10. Lidar body of claim 1, wherein the radar body is a mechanical lidar body or a solid state lidar body.
11. The lidar of claim 10, wherein the mechanical lidar body comprises:
the reflector module is used for reflecting the laser emitted by the laser emitter to a measured object and reflecting the laser reflected by the measured object back to the light receiver;
the laser emitter is used for reflecting the laser out through the reflector module;
the light receiver is used for receiving the laser reflected from the measured object through the reflector module;
a rotating mechanism including a motor that drives the mirror module to rotate;
the rotation angle detection device comprises a grating disc driven by the rotating mechanism to rotate and a sensor for acquiring the rotation parameters of the grating disc, and the sensor sends the rotation parameters of the grating disc to the signal processing unit;
a control circuit comprising a signal processing unit that receives and processes the initial parameter, the rotational parameter, and the characteristic signal;
and the power supply module is electrically connected with the reflector module, the laser transmitter, the light receiver, the control circuit, the rotating mechanism and the rotating angle detection device respectively.
12. The lidar of claim 1, further comprising an optoelectronic element, the laser beam having a superimposed frequency, information of the characteristic signal being applied to the superimposed frequency in the form of a superimposed signal, the optoelectronic element receiving the information of the characteristic signal.
13. A lidar system, comprising:
the lidar as defined in any one of claims 1-12; and
a mobile terminal for regulating the lidar, the mobile terminal comprising:
a control software for controlling the lidar,
a wireless communication module for wireless communication with the wireless communication module of the laser radar, and
a display.
14. A method of using a lidar according to any of claims 1 to 12, comprising the steps of: mounting the lidar to a mobile device via a mounting structure; and
and remotely regulating and controlling the laser radar through regulation and control software in the mobile terminal.
15. A method for using the lidar according to claim 14, wherein before the lidar is remotely controlled by the control software in the mobile terminal, the method comprises the steps of:
the mobile terminal downloads regulation and control software; and
and the mobile terminal is wirelessly connected with the laser radar.
Priority Applications (2)
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| CN201911157717.6A CN110888145A (en) | 2019-11-22 | 2019-11-22 | Laser radar, use method thereof and laser radar system |
| PCT/CN2020/116082 WO2021098365A1 (en) | 2019-11-22 | 2020-09-18 | Laser radar for moving device and method for using laser radar, and laser radar system |
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| CN201911157717.6A CN110888145A (en) | 2019-11-22 | 2019-11-22 | Laser radar, use method thereof and laser radar system |
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