CN112099023A - Multi-line laser radar - Google Patents

Multi-line laser radar Download PDF

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Publication number
CN112099023A
CN112099023A CN202010968174.2A CN202010968174A CN112099023A CN 112099023 A CN112099023 A CN 112099023A CN 202010968174 A CN202010968174 A CN 202010968174A CN 112099023 A CN112099023 A CN 112099023A
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module
laser beam
lens
reflector
reflected
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CN112099023B (en
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林建东
李安
任玉松
孙亨利
张恒
秦屹
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Whst Co Ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention belongs to the technical field of laser radars, and particularly relates to a multi-line laser radar which comprises a first transmitting module, a second transmitting module, a first receiving module, a second receiving module and a reflector module; the multiline laser radar provided by the invention is provided with two transmitting modules which respectively transmit laser beams from two opposite directions, a scanning range is formed by rotating and reflecting the laser beams by the reflector module, and the laser beams are received by the two corresponding transmitting modules after being reflected by a target, so that the detection of the target is realized; the multi-line laser radar is provided with symmetrical scanning tracks, so that a wider horizontal field angle is kept, the horizontal scanning angle and the vertical spatial resolution of a target are improved, and the spatial detection is more effectively realized.

Description

Multi-line laser radar
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a multi-line laser radar.
Background
The multi-line scanning scheme that the multi-face rotating reflecting mirrors with different pitching inclination angles are combined with the incident light and the rotating shaft to be vertical is widely applied due to the fact that the multi-line scanning scheme has the advantages of being large in scanning field angle, high in scanning speed, high in resolution, mature in technology and the like, and the 4-line SCALA laser radar of the Germany IBEO company adopts the scanning scheme to achieve 145-degree detection of the field of view and becomes a first-money mass-produced vehicle-scale laser radar product.
With the development of the technology, Velodyne 64 line laser radar with smaller volume and higher unit energy density is provided by Velodyne company, and is widely applied to vehicle navigation by virtue of good performance. The Velodyne 64 line laser radar is used for detecting most laser beams with the pitch angle downward, and is usually arranged at a higher position, such as the top of an automobile, about 1.6m for better detection effect, and the detection track of the Velodyne 64 line laser radar to the front 140-degree range can be further calculated to be a hyperbolic track through a space scanning equation. At a short distance, the Velodyne 64 line laser radar has a good detection effect on a person in front, but the spatial resolution is lower as the distance from the central azimuth is larger, the number of laser lines for detecting a target is less as the distance from the target to the central azimuth is larger, and the problems of small horizontal scanning angle and low vertical spatial resolution of the target exist.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a multiline laser radar to solve the problems of a conventional multiline radar that a horizontal scanning angle of a target is small and a vertical spatial resolution is low.
A first aspect of an embodiment of the present invention provides a multiline lidar including: the device comprises a first transmitting module, a second transmitting module, a first receiving module, a second receiving module and a reflector module;
the first emitting module is positioned at the first side of the reflector module and used for emitting a first laser beam to the reflector module from a first direction;
the second emitting module is positioned at the second side of the reflector module and used for emitting a second laser beam to the reflector module from a second direction; the first side of the reflector module and the second side of the reflector module are opposite sides, and the first direction and the second direction are opposite directions;
the first receiving module is positioned at the first side of the second reflector module and used for receiving the first laser beam reflected by the target;
the second receiving module is positioned at the second side of the second reflector module and used for receiving the second laser beam reflected by the target;
the reflector module rotates around the axis at a preset rotation speed and is used for reflecting a first laser beam emitted by the first emitting module from a first direction so that the first laser beam covers a first preset range, and reflecting a second laser beam emitted by the second emitting module from a second direction so that the second laser beam covers a second preset range.
Optionally, the mirror module includes a mirror composed of N mirror surfaces;
the N reflecting mirror surfaces form the side surfaces of the N prisms, and N is more than or equal to 3;
when the N reflecting mirror surfaces rotate around the axis at a preset rotating speed, two reflecting mirror surfaces in the N reflecting mirror surfaces respectively reflect a first laser beam emitted by the first emitting module from a first direction and a second laser beam emitted by the second emitting module from a second direction.
Optionally, the first emission module and the second emission module are symmetrically disposed at two sides of the reflector; the position of the first emitting module, the position of the second emitting module, the corresponding emergent angle of the first laser beam after being rotationally reflected by a reflecting mirror, the corresponding emergent angle of the second laser beam after being rotationally reflected by the reflecting mirror and the reflecting mirror meet a first preset relation;
establishing a coordinate system by taking the first plane as a plane and the intersection point of the axis and the first plane as an origin; wherein the first plane is a plane where the first laser beam and the second laser beam are located;
the first preset relationship comprises:
Figure BDA0002683107410000031
in the formula (I), the compound is shown in the specification,
Figure BDA0002683107410000032
the first laser beam is reflected by a reflector surface in a rotating way to correspond to the emergent angle range,
Figure BDA0002683107410000033
the second laser beam is rotated and reflected by a reflector to correspond to the emergent angle range,
Figure BDA0002683107410000034
x0is the abscissa of the first emitting module; defining c as the line segment formed by the projection of a reflecting mirror surface on the first plane, defining a as the line segment formed by connecting one end point of c and the original point, and b as the line segment formed by connecting the other end point of c and the original point, then raIs the length of the line segment a, rbAs is the length of the line segment b,
Figure BDA0002683107410000035
is the angle between line segment a and line segment b, and σ is the angle between line segment a and line segment c.
Optionally, N is 8, and each mirror surface is the same, and 8 mirror surfaces form a side surface of a regular octagonal prism; the first direction and the second direction are opposite directions;
the position of the first emission module, the position of the second emission module and the size of the reflector satisfy the following conditions:
Figure BDA0002683107410000036
in the formula, x0Is the abscissa, y, of the first emission module0Is a ordinate, x 'of the first transmit module'0Is the abscissa, y 'of the second transmitting module'0For the second emission modeThe ordinate of the block, l, is the base side length of the regular octagonal prism.
Optionally, the first laser beam and the second laser beam are flat-topped beams.
Optionally, the ratio of the diameter of the first laser beam to the side length of the bottom surface of the regular octagonal prism is a first preset value;
the ratio of the diameter of the second laser beam to the side length of the bottom surface of the regular octagonal prism is a second preset value;
the first preset value is determined according to the position of the first emitting module, the corresponding emergent angle range of the first laser beam after being rotationally reflected by a reflecting mirror and the relative intensity of the first laser beam after being reflected by the reflecting mirror;
the second preset value is determined according to the position of the second transmitting module, the corresponding emergent angle range of the second laser beam after being rotatably reflected by a reflecting mirror and the relative intensity of the second laser beam after being reflected by the reflecting mirror.
Optionally, the laser radar further includes: a first lens disposed in front of the first receiving module and a second lens disposed in front of the second receiving module;
the first lens is used for converging the first laser beam reflected by the target to the first receiving module;
the second lens is used for converging the second laser beam reflected by the target to the second receiving module.
Optionally, the projection of the first lens and the second lens on the receiving surface covers the projection of the mirror module on the receiving surface.
Optionally, the laser radar further includes: a first lens disposed in front of the first receiving module and a second lens disposed in front of the second receiving module;
the first lens is used for converging the first laser beam reflected by the target to the first receiving module;
the second lens is used for converging the second laser beam reflected by the target to the second receiving module;
the first lens and the second lens are both square, and the projection of the first lens on the receiving surface is the same as the projection of the reflection mirror surface on the receiving surface with the largest area when the reflection mirror surface reflects the first laser beam or the second laser beam;
the abscissa of the center of the first lens and the abscissa of the center of the second lens satisfy:
Figure BDA0002683107410000041
in the formula, xrThe abscissa of the center of the first lens or the abscissa of the center of the second lens, and l is the base side length of the regular octagonal prism.
Optionally, the N reflecting mirror surfaces and the first plane respectively form N tilt angles for satisfying scanning in a third direction; the first plane is a plane where the first laser beam and the second laser beam are located, and the third direction is a direction perpendicular to the first plane.
The embodiment of the invention provides a multiline laser radar which comprises a first transmitting module, a second transmitting module, a first receiving module, a second receiving module and a reflector module; the first emitting module and the second emitting module are respectively arranged on two opposite sides of the reflector module, and laser beams are emitted to the reflector module from two opposite directions; correspondingly, the laser beams reflected back by the target are received by a first receiving module and a second receiving module which are oppositely arranged at two sides of the reflector module; the reflector module is arranged to rotate around the axis at a preset rotation speed, so that a first laser beam of the first emitting module and a second laser beam emitted by the second emitting module are reflected, and a first preset range and a second preset range are formed respectively as detection ranges. Through setting up two emission modules and two receiving module, can avoid single emission module's scanning orbit asymmetry, appear deflecting when scanning angle grow to cause the problem that horizontal visual field angle diminishes. Two transmitting modules are arranged to respectively transmit laser beams from two opposite directions to detect, and symmetrical scanning tracks are formed, so that a wider horizontal field angle is kept, the horizontal scanning angle and the vertical spatial resolution of a target are improved, and spatial detection is more effectively realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a multiline lidar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the analysis of the space vector of the scanning light path of the rotating mirror provided by the embodiment of the present invention;
fig. 3 is a schematic diagram of scanning tracks of different mirror pitch angles at x equal to 10m according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the position of any one of the facets and the light source and the horizontal scan angle of the polygon mirror provided by an embodiment of the present invention;
FIG. 5 is a schematic three-dimensional structure diagram of a multiline lidar according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a top view of a multiline lidar according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a front view of a multiline lidar according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an integration region provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of the relationship between the exit angle and the relative intensity provided by an embodiment of the present invention;
FIG. 10 is a schematic diagram of the relationship between the scan angle and the maximum detection distance provided by the embodiment of the present invention;
FIG. 11 is a schematic diagram of a comparison between scanning detection of a multiline lidar and a Velodyne 64-line lidar at 10m according to an embodiment of the invention;
FIG. 12 is a schematic diagram of a comparison between a multiline lidar and a Velodyne 64 line lidar scanning probe at 50m according to an embodiment of the invention;
FIG. 13 is a schematic diagram of a comparison between scanning detection of a multiline lidar and a Velodyne 64-line lidar at 100m according to an embodiment of the invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The terms "comprises" and "comprising," as well as any other variations, in the description and claims of this invention and the drawings described above, are intended to mean "including but not limited to," and are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used to distinguish between different objects and are not used to describe a particular order.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a schematic structural diagram of a multiline lidar according to an embodiment of the present invention, and referring to fig. 1, the multiline lidar includes: a first transmitting module 101, a second transmitting module 102, a first receiving module 103, a second receiving module 104 and a mirror module 105.
The first emitting module 101 is located on a first side of the mirror module 105, and is configured to emit a first laser beam to the mirror module 105 from a first direction.
A second emitting module 102, located at a second side of the mirror module 105, for emitting a second laser beam to the mirror module 105 from a second direction; the first side of the mirror module 105 and the second side of the mirror module 105 are opposite sides, and the first direction and the second direction are opposite directions.
The first receiving module 103 is located on a first side of the second mirror module 105, and is configured to receive the first laser beam reflected by the target.
And a second receiving module 104, located at a second side of the second mirror module 105, for receiving the second laser beam reflected back by the target.
The mirror module 105 rotates around the axis at a predetermined rotation speed, and is configured to reflect a first laser beam emitted from the first emitting module 101 from the first direction so that the first laser beam covers a first predetermined range, and reflect a second laser beam emitted from the second emitting module 102 from the second direction so that the second laser beam covers a second predetermined range.
In the embodiment of the present invention, a reflection track formed by an incident light beam reflected by any one of the plane mirrors may be described first by a vector optical theory. Referring to fig. 2, the axis of the mirror, i.e. the axis of rotation, coincides with the z-axis of a cartesian coordinate system, where x is equal to xLAnd a right-hand rectangular coordinate system of the detection surface is arranged at the plane. ω is the rotation angle of the mirror about the rotation axis, and is located perpendicular to the yoz plane on the left side of the detection plane (i.e., y) when the mirror is at the initial position where ω is 0 °<0) The unit normal vector of the mirror is
Figure BDA0002683107410000071
Ray slave position vector r0＝(x0,y0,z0) Incident at point A, the unit vector of incident light is
Figure BDA0002683107410000072
Point r1＝(x1,y1,z1) Is the intersection of the incident ray and the mirror surface, and the unit vector of the reflected ray is
Figure BDA0002683107410000073
Let the distance of the reflector from the origin of coordinates be d, then
Figure BDA00026831074100000811
According to the vector transformation relation and the coordinate equation of the incident ray, the intersection point of the incident ray and the mirror surface can satisfy the following relation:
Figure BDA0002683107410000081
according to the law of optical reflection, the unit vector of incident light is
Figure BDA0002683107410000082
The unit normal vector of the mirror is
Figure BDA00026831074100000812
And unit vector of reflected light
Figure BDA0002683107410000083
The following relationship is satisfied:
Figure BDA0002683107410000084
after the light is reflected by the mirror surface, x is equal to xLThe trajectory equation of the detection plane at the plane is r ═ xLY, z) satisfying the following relationship:
Figure BDA0002683107410000085
assuming that the inclination angle of the reflector is, i.e. the included angle between the normal vector of the reflector and the yoz plane is, the unit normal vector of the reflector is
Figure BDA0002683107410000086
In the case where the light is incident from the left side perpendicular to the rotation axis,
Figure BDA0002683107410000087
the following can be obtained:
Figure BDA0002683107410000088
Figure BDA0002683107410000089
in the trajectory equation r ═ xLY, z) are:
Figure BDA00026831074100000810
as can be seen from the above scanning trajectories, the scanning trajectories are asymmetrically distributed, and are related to the mirror angle ω, and gradually decrease as the rotation angle ω increases. If the scanning angle of 140 degrees, namely-70 degrees, of the x axis is assumed to be right ahead, the rotation angle omega of the corresponding reflector around the rotation axis is from 10 degrees to 80 degrees, the distance d between the reflector and the origin of coordinates is assumed to be 8mm, and the position x of the incident light point is assumed to be0＝5mm，y0＝-10mm，z0Scanning trajectories of the four-line lidar at x of 10m at mirror tilt angles of-1 °,0 °,1 °, 2 ° are calculated, respectively, 2mm, and are shown in fig. 3. As can be seen from fig. 3, the longitudinal spatial resolution of the scanning probe is asymmetrically distributed, and the resolution is higher the larger the rotation angle ω is. For a pedestrian of 1.8m height, the radar is mounted at an angle range y to the right of 0.4m height>0, can detect four lines, and for the left angle range y<0, the scanning beam is gradually deflected upward and downward as the angle gradually becomes larger to the left, and gradually becomes 3 lines and 2 lines from the initial detection of 4 lines, and finally becomes 1 line.
Therefore, in the embodiment of the invention, the scanning track y of each transmitting module is taken through the two transmitting modules>The portion of 0, i.e., the first predetermined range of the first transmitting module and the second predetermined range of the second transmitting module, can be prevented from occurring at y<The deflection problem of the scanning light beam at 0 time avoids the phenomenon that the light beam is too high at a far distance and is scanned to the sky or the light beamThe problem that the probe beam of the multi-line laser radar cannot be effectively utilized due to the fact that the probe beam is too low to scan the ground is solved, so that a wider horizontal field angle is maintained, the vertical spatial resolution of target scanning is improved, and the inclination angles of two adjacent reflecting surfaces are assumed to be respectively1And2then the corresponding vertical spatial resolution is
Figure BDA0002683107410000091
Since omega is greater than
Figure BDA0002683107410000092
The angle range of (c) is determined by the above equation, and the left side (y) in the multi-line scanning track as shown in FIG. 3 does not appear<0) The vertical spatial resolution is made smaller and smaller as ω becomes smaller and larger, but as in the case of the right-hand scan trajectory of fig. 3, the vertical spatial resolution is made smaller and larger at ω
Figure BDA0002683107410000093
The longitudinal interval of the multi-line scanning beam becomes smaller and smaller along with the gradual increase of omega, and the multi-line scanning beam tends to be approximately parallel, so that the vertical spatial resolution is homogenized, and the utilization rate of the multi-line scanning beam on target detection is improved.
In some embodiments, the mirror module comprises a mirror comprised of N mirror faces; the N reflecting mirror surfaces form the side surfaces of the N prisms, and N is more than or equal to 3; when the N reflecting mirror surfaces rotate around the axis at a preset rotating speed, two reflecting mirror surfaces in the N reflecting mirror surfaces respectively reflect a first laser beam emitted by the first emitting module from a first direction and a second laser beam emitted by the second emitting module from a second direction.
In some embodiments, the first and second emission modules are symmetrically disposed on two sides of the reflector; the position of the first emitting module, the position of the second emitting module, the corresponding emergent angle of the first laser beam after being rotationally reflected by a reflecting mirror, the corresponding emergent angle of the second laser beam after being rotationally reflected by the reflecting mirror and the reflecting mirror meet a first preset relation; establishing a coordinate system by taking the first plane as a plane and the intersection point of the axis and the first plane as an origin; wherein the first plane is a plane where the first laser beam and the second laser beam are located;
the first preset relationship comprises:
Figure BDA0002683107410000101
in the formula (I), the compound is shown in the specification,
Figure BDA0002683107410000102
the first laser beam is reflected by a reflector surface in a rotating way to correspond to the emergent angle range,
Figure BDA0002683107410000103
the second laser beam is rotated and reflected by a reflector to correspond to the emergent angle range,
Figure BDA0002683107410000104
x0is the abscissa of the first emitting module; defining c as the line segment formed by the projection of a reflecting mirror surface on the first plane, defining a as the line segment formed by connecting one end point of c and the original point, and b as the line segment formed by connecting the other end point of c and the original point, then raIs the length of the line segment a, rbAs is the length of the line segment b,
Figure BDA0002683107410000105
is the angle between line segment a and line segment b, and σ is the angle between line segment a and line segment c.
In the embodiment of the invention, after the arrangement mode of the double emission modules is determined, the positions of the emission modules, the preset scanning ranges and the positions of the reflector modules and the relationship between the shapes and the sizes of the positions and the preset scanning ranges are discussed. Referring to fig. 4, fig. 4 is a schematic view of any one of the facets and the light source position and horizontal scanning angle. In this embodiment, the emitting module generates the laser beam, that is, the position of the emitting module is the light source position, the first preset range and the second preset rangeThe horizontal part in the summation is the horizontal scan angle. Referring to fig. 4, for the case of a tilt angle of 0 °, the line segment formed by the projection of the mirror surface on the xoy plane, i.e. the first plane, is c and has a length rc(ii) a a is a line segment formed by connecting one end point of c and the origin, and the length of the line segment is r shown in the figureaB is a line segment formed by connecting the other end point of c and the origin, and the length of the line segment is r shown in the figureb，
Figure BDA0002683107410000107
Is the angle between line segment a and line segment b, and σ is the angle between line segment a and line segment c. The reflecting mirror surface rotates around the origin, the rotation angle is omega, and the coordinates of two light source points A and A' (corresponding to the first emission module and the second emission module) on the xoy surface are (x)0，y0)，(x0’，y0') respectively incident from the left and right sides, the incident vectors are respectively [0,1,0]And [0, -1,0]The range of the emergent angle corresponding to the rotary reflection of the reflector is
Figure BDA0002683107410000106
Figure BDA0002683107410000111
Constraints placed on the scan size:
Figure BDA0002683107410000112
Figure BDA0002683107410000113
order to
Figure BDA0002683107410000114
From the trigonometric relationship:
Figure BDA0002683107410000115
further, according to the law of reflection, the following first predetermined relationship can be obtained:
Figure BDA0002683107410000116
the meanings of the parameters in the formula can be referred to above, and are not described in detail herein. Based on the above relation, the range of the emergent angle corresponding to the rotary reflection of the reflecting mirror surface is preset
Figure BDA0002683107410000117
Then, unique solutions α, β, σ, and
Figure BDA0002683107410000118
based on the four quantities, the prism made up of the plurality of mirror surfaces that realize the above-described exit angle range can be determined to be a few prisms, i.e., the number of N can be determined based on the exit angle range.
In some embodiments, N-8, and each mirror face is the same, with 8 mirror faces forming the sides of a regular octaprism; the first direction and the second direction are opposite directions; the position of the first emission module, the position of the second emission module and the size of the reflector satisfy the following conditions:
Figure BDA0002683107410000119
in the formula, x0Is the abscissa, y, of the first emission module0Is a ordinate, x 'of the first transmit module'0Is the abscissa, y 'of the second transmitting module'0And l is the length of the bottom surface side of the regular eight prism.
In the embodiment of the present invention, a three-dimensional structure of the multiline lidar according to the embodiment of the present invention is shown in fig. 5, fig. 6 is a top view of the multiline lidar, and fig. 7 is a front view of the multiline lidar. N-8, i.e. the mirror module comprises an octahedral reflecting prism, the sides of which areFor each mirror surface, there is
Figure BDA0002683107410000121
Based on the first predetermined relationship described above, it is possible to obtain
Figure BDA0002683107410000122
That is, based on 8 reflecting mirror surfaces in the present embodiment and forming the side surfaces of the regular octagonal prism, it can be determined that the absolute values of the abscissas of the first emitting module and the second emitting module are equal, the directions of the laser beams emitted by the first emitting module and the second emitting module are opposite, and specifically, the size of each reflecting mirror surface satisfies a second preset relationship:
Figure BDA0002683107410000123
the meanings of the parameters in the formula can be referred to above, and are not described in detail herein. The arrangement mode provided by the embodiment of the invention can realize that two symmetrically arranged emission modules carry out large-angle scanning detection, wherein the horizontal scanning angle which can be met by one emission module is-90-0 degrees, and the horizontal scanning angle which can be met by the other emission module is 0-90 degrees.
In some embodiments, the first laser beam and the second laser beam are flat-topped beams.
In the embodiment of the present invention, the actual laser beam has a certain width, and the analysis is performed by using a flat-top beam, that is, a laser beam having a circular cross section.
In some embodiments, the ratio of the diameter of the first laser beam to the side length of the bottom surface of the regular octagonal prism is a first preset value; the ratio of the diameter of the second laser beam to the side length of the bottom surface of the regular octagonal prism is a second preset value; the first preset value is determined according to the position of the first emitting module, the corresponding emergent angle range of the first laser beam after being rotationally reflected by a reflecting mirror and the relative intensity of the first laser beam after being reflected by the reflecting mirror; the second preset value is determined according to the position of the second transmitting module, the corresponding emergent angle range of the second laser beam after being rotatably reflected by a reflecting mirror and the relative intensity of the second laser beam after being reflected by the reflecting mirror.
In the embodiment of the invention, the position and the size of the module of the multiline laser radar can be determined according to a first preset relation, the absolute value of the abscissa of the first transmitting module or the second transmitting module is in direct proportion to the side length l of the reflector, and the smaller the abscissa is, the smaller the side length l of the reflector is, and the smaller the overall size is. In practice, however, the laser beam has a certain width, so that the relationship between the width of the laser beam, the emission module, the scanning angle and the size of the reflector needs to be analyzed, and the structural design of the multi-line laser radar is more reasonable by combining the receiving aperture of the radar. Assume the left laser beam is at position A (x)0，y0，z0) P of incident and laser beam emergent power0The laser beam has a circular cross section, a width (diameter) w, and a laser beam energy density distribution function g (x, z), then:
Figure BDA0002683107410000131
any emergent angle of the octahedral reflecting prism can be obtained by neglecting the beam transmission transformation and diffraction effect and according to the first preset relation
Figure BDA0002683107410000132
The relative intensity distribution of (a) is:
Figure BDA0002683107410000133
wherein D is a function of
Figure BDA0002683107410000134
Line x ═ x0-w/2 and a straight line x ═ x0+ w/2 of an integration region in which
Figure BDA0002683107410000135
Figure BDA0002683107410000136
As shown in fig. 8.
For laser beams with uniform intensity distribution, i.e. flat-topped beams, there are
Figure BDA0002683107410000137
The width of the first laser beam is equal to that of the second laser beam, the first preset value is equal to the second preset value, the relation between the emergent angle and the relative intensity is simulated through laser beam and emergent angle integral and Zemax respectively, and the results obtained by the two methods are consistent. When the ratio of the diameter of the laser beam to the side length of the bottom surface of the regular octagonal prism is a first preset value, the relationship between the outgoing angle and the relative intensity is as shown in fig. 9, since the radar is formed by symmetrically arranging the left side and the right side of the double-emitting module, only the characteristic of the laser beam on one side needs to be analyzed. In fig. 9, the first preset values are 1/16, 1/10, and 1/8, respectively. It can be seen that the smaller the width of the laser beam, the more concentrated the relative intensity within the preset angle range, because the abscissa of each point of the laser beam corresponds to different emitting angles, and the abscissa x of the center of the emitting module0Corresponding to the preset emergent angle, the larger the width of the laser beam is, the larger the superposition range of different emergent angles is, and the relative intensity is more dispersed in the preset angle range.
Therefore, under the same condition, the smaller the width of the laser beam is, the smaller the side length of the corresponding reflector is, the smaller the abscissa of the emitting module is, the smaller the volume of the whole machine is, and the more compact the structure is. In fact, the width of the laser beam cannot be too small, and under the condition that the emitting lens has the same numerical aperture, the smaller the width of the light source, the smaller the focal length, so that the divergence angle of the beam becomes larger, and under the condition of the same focal length, the outgoing aperture of the lens is reduced, so that the width of the laser beam is reduced, and the emitting power is also reduced. By comprehensively considering the overall performance and design constraint relationship of the radar system, the ratio of the width of the laser beam to the side length of the reflector can be set to 1/10, and the scanning system parameters of the multi-line laser radar arranged by the octahedral reflecting prism and the double-emitting module can be obtained.
In some embodiments, the lidar further comprises: a first lens disposed in front of the first receiving module and a second lens disposed in front of the second receiving module; the first lens is used for converging the first laser beam reflected by the target to the first receiving module; the second lens is used for converging the second laser beam reflected by the target to the second receiving module.
In the embodiment of the invention, the receiving system of the radar has great influence on the radar ranging performance, and the echo receiving power is proportional to the projection area of the reflector on the receiving plane. The first lens and the second lens are arranged in front of the corresponding receiving modules, so that the received echo receiving power can be increased.
In one embodiment, in order to increase the received echo reception power as much as possible, the projection of the first lens and the second lens on the receiving surface should cover the projection of the mirror module on the receiving surface.
In one embodiment, in order to maximize the received echo power without receiving unnecessary stray light, the projection of the first lens and the second lens on the receiving surface should be the same as the projection of the mirror module on the receiving surface.
In a particular embodiment, the exit angle is such that the mirror module is an octahedral reflecting prism
Figure BDA0002683107410000141
When the reflection angle is larger than zero, the projection center abscissa of the reflection mirror surface on the receiving plane is
Figure BDA0002683107410000142
Figure BDA0002683107410000143
Projection width of
Figure BDA0002683107410000144
The first lens and the second lens are both square, and the projection of the first lens on the receiving surface and the reflection of the reflection mirror surface on the first laser beam or the second laser beamThe maximum projections of the two light beams on the receiving surface are the same; the first lens and the second lens have a width of
Figure BDA0002683107410000151
The abscissa of the center of the first lens and the abscissa of the center of the second lens satisfy:
Figure BDA0002683107410000152
in the formula, xrThe abscissa of the center of the first lens or the abscissa of the center of the second lens, and l is the length of the base side of the regular octagonal prism, and the corresponding projection receiving area
Figure BDA0002683107410000153
In some embodiments, the detection range corresponding to any scanning angle is set by the lidar equation based on the size parameters of the mirror module.
In the embodiment of the invention, the maximum detection distance corresponding to each scanning angle is different according to the relation between the relative light-emitting power and the effective receiving area and the scanning angle. For example, in the case where the reflector module described above includes an octahedral reflecting prism as an example, if the detection distance in the 140 ° scanning range right in front of the radar is ensured to be more than 100m, the distance detection at the lateral 70 ° scanning angle needs to reach 100m, and according to the conditions and constraint relations to be satisfied by the system parameters, for a diffuse reflection surface target with 10% reflectivity, based on the laser radar equation:
Figure BDA0002683107410000154
preset Pm＝10nW、P0＝25W、ρ＝10％、
Figure BDA0002683107410000155
ηr＝0.9、ηe＝0.85、θ＝70°、
Figure BDA0002683107410000156
And LmThe length l of the bottom surface of the obtained octahedral reflecting prism is 5.86 cm; in the formula, PmTo the minimum detectable power, P0For the light source emission power, ρ is the target reflectivity, ArIn order to be an effective receiving area of the echo signal,
Figure BDA0002683107410000157
relative intensity distribution of exit angle, ηrFor receiving the lens efficiency, ηeFor the efficiency of the emitting lens, θ is the angle between the normal of the beam and the normal of the target surface, LmIs the maximum detection distance; that is, the length of the bottom side of the octahedral reflecting prism can meet the distance detection requirement as long as the length is more than 5.86 cm. FIG. 10 is a graph showing the relationship between the scan angle and the maximum detection distance under the condition that the side length l of the octagon is 4.86cm, 5.86cm, 6.68cm and 7.86cm, and it can be known from the calculation result that the side length l of the bottom surface of the octahedral reflecting prism is proportional to the maximum detection distance of the radar under the condition of the same emergent angle, because the minimum detectable power P ismFor stationary systems, LmThe ratio a is constant, and the square of the bottom side length l of the octahedral reflecting prism is proportional to the receiving area, so that the square of the bottom side length l is also proportional to the echo power.
In some embodiments, the N reflecting mirror surfaces and the first plane respectively form N tilt angles for satisfying scanning in a third direction; the first plane is a plane where the first laser beam and the second laser beam are located, and the third direction is a direction perpendicular to the first plane.
In the embodiment of the invention, each reflecting mirror surface and the first plane can be arranged to have an inclination angle so as to meet the scanning of the field range in the vertical direction right in front of the radar. Taking the reflector module comprising an octahedral reflecting prism as an example, if the requirement for the radar right ahead (i.e. straight ahead) is satisfied
Figure BDA0002683107410000161
) Field of view range psi in vertical directioniIs-1.5 degree, -1.0 degree, -0.5 degree, -0.0 degree and +0.5 degree, +1.0, +1.5, +2.0 according to angle resolution formula of calculation
Figure BDA0002683107410000162
The inclination angle of each reflecting mirror surface can be obtainediIs set to be-1.06 degrees, -0.71 degrees, -0.35 degrees, 0 degrees, 0.35 degrees, 0.71 degrees, 1.06 degrees and 1.41 degrees; in the formula (I), the compound is shown in the specification,idenotes the ith inclination angle, i 1, …,8, psiiRepresenting the ith field of view range in the vertical direction directly in front of the radar.
Compared with the Velodyne 64-line laser radar, the multi-line laser radar provided by the embodiment of the invention has better detection performance. The field of view of the Velodyne 64 line laser radar in the vertical direction is-24.9 degrees- +2.0 degrees, the Velodyne 64 line laser radar is usually installed at a higher position, such as the top of an automobile, about 1.6m for better detection effect due to the fact that most of the laser beam pitch angles face downwards, the detection track of the Velodyne 64 line laser radar in the range of 140 degrees ahead can be calculated according to the space scanning equation, and the multiline laser radar provided by the embodiment of the invention is usually installed at a lower position due to the fact that most of the laser beam pitch angles face upwards and the calculation is 0.5 m. FIGS. 11-13 show a comparison of the detection effect at 10m, 50m and 100m for a person about 1.8m tall at the front, side and edge of the field of view. In the detection distance of 10m in the near place, the light spot tracks are calculated by using a vector optical method and Zemax non-sequential analog simulation respectively, the calculation results of the two are matched, the result shows that the Velodyne 64 line laser radar has a good detection effect on people in front, the number of laser lines for detecting the target is less as the target is larger from the central azimuth angle, only 4 laser beams detect the target at the edge, because the scanning track of the multi-line laser radar is a hyperbolic track at the detection surface and the spatial resolution of the multi-line laser radar is lower as the target is larger from the central azimuth angle, the scanning lines of the multi-line laser radar provided by the embodiment of the invention are approximately parallel lines, so that the target can be detected by 8 laser beams no matter in the central azimuth or the edge azimuth. With the increase of the detection distance, the difference between the two is about obvious, at a distance of 50m far away, the Velodyne 64 line laser radar can detect 3 lines to the object in the right front, and only 1 line can be detected at the edge, while the multiline laser radar provided by the embodiment of the invention can detect 5 lines to the object in the right front, and the object can still detect 6 lines at the side and the edge. When the detection distance is increased to 100m, only 1 line can be detected by the Velodyne 64-line laser radar for the target in different directions, 2 lines can be detected by the multiline laser radar provided by the embodiment of the invention for the target in the front, and 3 lines can still be detected by the target in the direction and at the edge. Therefore, the multiline laser radar provided by the embodiment of the invention has the advantage of high spatial resolution in the aspect of long-distance lateral edge scanning detection.
It is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the above functions may be distributed by different functional units and modules as needed, that is, the internal structure of the multiline lidar setting device is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and each module in the embodiments may be separate units physically, or two or more units may be integrated into one unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A multiline lidar comprising: the device comprises a first transmitting module, a second transmitting module, a first receiving module, a second receiving module and a reflector module;
the first emitting module is positioned at the first side of the reflector module and used for emitting a first laser beam to the reflector module from a first direction;
the second emitting module is positioned at the second side of the reflector module and used for emitting a second laser beam to the reflector module from a second direction; the first side of the reflector module and the second side of the reflector module are opposite sides, and the first direction and the second direction are opposite directions;
the first receiving module is positioned at the first side of the second reflector module and used for receiving the first laser beam reflected by the target;
the second receiving module is positioned at the second side of the second reflector module and used for receiving the second laser beam reflected by the target;
the reflector module rotates around the axis at a preset rotation speed and is used for reflecting a first laser beam emitted by the first emitting module from a first direction so that the first laser beam covers a first preset range, and reflecting a second laser beam emitted by the second emitting module from a second direction so that the second laser beam covers a second preset range.
2. The multiline lidar of claim 1 wherein said mirror module includes a mirror comprised of N mirror faces;
the N reflecting mirror surfaces form the side surfaces of the N prisms, and N is more than or equal to 3;
when the N reflecting mirror surfaces rotate around the axis at a preset rotating speed, two reflecting mirror surfaces in the N reflecting mirror surfaces respectively reflect a first laser beam emitted by the first emitting module from a first direction and a second laser beam emitted by the second emitting module from a second direction.
3. The multiline lidar of claim 2 wherein said first and second transmit modules are symmetrically disposed on opposite sides of said mirror; the position of the first emitting module, the position of the second emitting module, the corresponding emergent angle of the first laser beam after being rotationally reflected by a reflecting mirror, the corresponding emergent angle of the second laser beam after being rotationally reflected by the reflecting mirror and the reflecting mirror meet a first preset relation;
establishing a coordinate system by taking the first plane as a plane and the intersection point of the axis and the first plane as an origin; wherein the first plane is a plane where the first laser beam and the second laser beam are located;
the first preset relationship comprises:
Figure FDA0002683107400000021
in the formula (I), the compound is shown in the specification,
Figure FDA0002683107400000022
the first laser beam is reflected by a reflector surface in a rotating way to correspond to the emergent angle range,
Figure FDA0002683107400000023
the second laser beam is rotated and reflected by a reflector to correspond to the emergent angle range,
Figure FDA0002683107400000024
xois the abscissa of the first emitting module; defining c as the line segment formed by the projection of a reflecting mirror surface on the first plane, defining a as the line segment formed by connecting one end point of c and the original point, and b as the line segment formed by connecting the other end point of c and the original point, then raIs the length of the line segment a, rbAs is the length of the line segment b,
Figure FDA0002683107400000025
is the angle between line segment a and line segment b, and σ is the angle between line segment a and line segment c.
4. Multiline lidar of claim 3 wherein N is 8 and each mirror is identical, 8 mirrors forming the sides of a regular octagonal prism; the first direction and the second direction are opposite directions;
the position of the first emission module, the position of the second emission module and the size of the reflector satisfy the following conditions:
Figure FDA0002683107400000026
in the formula, xoIs the abscissa, y, of the first emission moduleoIs a ordinate, x 'of the first transmit module'oIs the abscissa, y 'of the second transmitting module'oAnd l is the length of the bottom surface side of the regular eight prism.
5. The multiline lidar of claim 4 wherein said first laser beam and said second laser beam are flat-topped beams.
6. The multiline lidar of claim 5 wherein the ratio of the diameter of said first laser beam to the side length of the base of said regular octagonal prism is a first predetermined value;
the ratio of the diameter of the second laser beam to the side length of the bottom surface of the regular octagonal prism is a second preset value;
the first preset value is determined according to the position of the first emitting module, the corresponding emergent angle range of the first laser beam after being rotationally reflected by a reflecting mirror and the relative intensity of the first laser beam after being reflected by the reflecting mirror;
the second preset value is determined according to the position of the second transmitting module, the corresponding emergent angle range of the second laser beam after being rotatably reflected by a reflecting mirror and the relative intensity of the second laser beam after being reflected by the reflecting mirror.
7. The multiline lidar of any of claims 1-6, wherein said lidar further comprises: a first lens disposed in front of the first receiving module and a second lens disposed in front of the second receiving module;
the first lens is used for converging the first laser beam reflected by the target to the first receiving module;
the second lens is used for converging the second laser beam reflected by the target to the second receiving module.
8. The multiline lidar of claim 7 wherein the projection of said first and second lenses onto the receiving surface overlays the projection of said mirror module onto the receiving surface.
9. The multiline lidar of claim 4 wherein said lidar further comprises: a first lens disposed in front of the first receiving module and a second lens disposed in front of the second receiving module;
the first lens is used for converging the first laser beam reflected by the target to the first receiving module;
the second lens is used for converging the second laser beam reflected by the target to the second receiving module;
the first lens and the second lens are both square, and the projection of the first lens on the receiving surface is the same as the projection of the reflection mirror surface on the receiving surface with the largest area when the reflection mirror surface reflects the first laser beam or the second laser beam;
the abscissa of the center of the first lens and the abscissa of the center of the second lens satisfy:
Figure FDA0002683107400000041
in the formula, xrBeing the abscissa of the center of the first lens or the center of the second lensThe abscissa, l is the base side length of the regular octagonal prism.
10. The multiline lidar of claim 2 wherein said N mirror surfaces and said first plane each form N tilt angles for satisfying a scan in a third direction; the first plane is a plane where the first laser beam and the second laser beam are located, and the third direction is a direction perpendicular to the first plane.
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