CN112789523B - Angular displacement measuring device, laser radar and angle adjusting method - Google Patents
Angular displacement measuring device, laser radar and angle adjusting method Download PDFInfo
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- CN112789523B CN112789523B CN201980064435.3A CN201980064435A CN112789523B CN 112789523 B CN112789523 B CN 112789523B CN 201980064435 A CN201980064435 A CN 201980064435A CN 112789523 B CN112789523 B CN 112789523B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000002093 peripheral effect Effects 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 description 12
- 238000001514 detection method Methods 0.000 description 7
- 239000011295 pitch Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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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
- 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)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
An angular displacement measuring device (100), a laser radar (10) and an angle adjusting method, the laser radar (10) including a base (12) and a rotating body (11) rotatable with respect to the base (12), the rotating body (11) including a peripheral wall (14) arranged around its own rotation axis and an end wall (15) located at one end of the peripheral wall (14) and close to the base (12), the angular displacement measuring device (100) including: the reflecting part (120) is connected with the end wall (15), the reflecting part (120) comprises a plurality of reflecting teeth (121) which extend towards the direction of the base and are spaced from each other, each reflecting tooth (121) is arranged in an arc line, the arc line extends around the rotation axis, the light emitting part (110) is connected with the base (12) and is used for emitting and receiving measuring light, and the path of the measuring light is perpendicular to the rotation axis; because the reflective teeth extend towards the direction close to the base, dirt is difficult to adhere to the gap between two adjacent teeth, and the problem that in the prior art, the precision becomes low after dirt is accumulated on the code disc is avoided.
Description
Technical Field
The present application relates to the technical field of laser detection, and in particular, to an angular displacement measurement device, a laser radar, and an angle adjustment method.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of an object by emitting laser beams, and the working principle of the laser radar is that the emitting system firstly emits emitted laser for detection to a detection area, then a receiving system receives reflected laser reflected from the object in the detection area, the reflected laser is compared with the emitted laser, and relevant information of the object such as parameters of distance, azimuth, height, speed, gesture, even shape and the like can be obtained after processing.
The present mechanical lidar includes a rotating body and a base, wherein the rotating body can rotate relative to the base, and an angular displacement measuring device is required to be added for knowing the rotation angle of the rotating body relative to the base. The existing angular displacement measuring device comprises a reflection code disc and an encoder, but the reflection code disc has higher requirements on the environment, and is easy to cause certain measuring errors due to the use environment of the reflection code disc, so that the normal operation of the radar is influenced.
Content of the application
The application provides an angular displacement measuring device, a laser radar and an angle adjusting method, which can improve the measuring precision of the angular displacement measuring device.
According to an aspect of the present application, there is provided an angular displacement measuring device for a laser radar including a base and a rotating body rotatable relative to the base, the rotating body including a peripheral wall disposed about its own rotation axis and an end wall located at one end of the peripheral wall and close to the base, the end wall being provided with a sink groove, the angular displacement measuring device comprising:
the reflecting part is connected with the end wall and comprises a plurality of reflecting teeth which extend towards the direction of the base and are spaced from each other, part of the reflecting part is positioned in the sinking groove, the reflecting teeth extend out of the sinking groove, the reflecting teeth are arranged in a same arc line, and the circle center of a circle where the arc line is positioned on the rotating shaft line; the reflection teeth are arranged at equal intervals, and the interval between two adjacent reflection teeth is the reflection interval along the extending direction of the arc line; the central angle of the arc line is smaller than three hundred sixty degrees, the two reflecting teeth positioned at the two ends of the arc line are a first initial tooth and a second initial tooth respectively, and the distance between the first initial tooth and the second initial tooth is larger than the reflecting distance and smaller than or equal to twice the reflecting distance;
a light emitting part connected with the base for emitting and receiving measuring light, the path of the measuring light being perpendicular to the rotation axis;
wherein the light emitting portion is configured to obtain a rotation angle of the reflecting portion with respect to the light emitting portion by obtaining the number of teeth of the reflecting teeth swept by the measuring light when the reflecting portion rotates with respect to the base following the rotating body.
Further, the reflecting portion includes a connecting member screwed with the end wall, and each of the reflecting teeth extends along an end of the connecting member facing away from the end wall toward a direction approaching the base.
Further, the connecting piece is in a circular frame shape, the connecting piece extends around the rotation axis, and the circle center of the connecting piece is located on the rotation axis.
Further, a sinking groove is formed in the end wall, the connecting piece is embedded in the sinking groove, and the reflecting teeth extend out of the sinking groove.
Each of the reflective teeth extends in a direction perpendicular to the end wall.
Further, each of the reflective teeth is a rectangular tooth.
Further, the thickness of each of the reflective teeth in the extending direction of the arc line is the same.
Further, the thickness dimension of each of the reflection teeth in the extending direction of the arc line is equal to the pitch dimension of two adjacent reflection teeth.
Further, the number of the reflection teeth is an integer multiple of thirty-six.
A second aspect of the present application provides a lidar comprising:
a base;
a rotating body connected to the base and configured to be rotatable with respect to the base;
an angular displacement measuring device according to any one of the preceding claims.
The third aspect of the present application also provides an angle adjustment method for the laser radar, comprising:
controlling the rotating body to rotate to an initial position relative to the base;
acquiring a rotation angle and a rotation direction of the rotating body from the initial position to a working position;
and controlling the rotating body to rotate to the working position according to the rotation angle and the rotation direction.
Further, the step of controlling the rotation of the rotating body to the initial position includes:
the rotating body is controlled to rotate until the emission path of the measuring light passes through the area between the first initial tooth and the second initial tooth.
The application provides an angular displacement measuring device which comprises a reflecting part and a light-emitting part, wherein the reflecting part is connected with the end wall of a rotating body and comprises a plurality of reflecting teeth which are arranged at intervals, and each reflecting tooth extends towards the direction close to a base. The path of the measuring light emitted from the light emitting portion is perpendicular to the direction of the rotation axis of the rotating body, and the light emitting portion is configured to obtain the rotation angle of the reflecting portion with respect to the light emitting portion by obtaining the number of the reflection teeth swept by the measuring light when the reflecting portion rotates with respect to the base following the rotating body. Because two parts of the angular displacement measuring device are arranged on the rotating body, and one part is arranged on the base, the assembly between the light-emitting part and the reflecting part can be completed through the rotation of the base and the rotating body, the assembly process between the light-emitting part and the reflecting part is reduced, and the installation efficiency is accelerated. Meanwhile, the reflective teeth extend towards the direction close to the base, dirt is difficult to adhere to the gap between two adjacent teeth, and therefore the problem that the accuracy is low after dirt is accumulated on the code disc in the prior art is avoided.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other drawings may be obtained from them without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a lidar according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a first explosion of a lidar according to an embodiment of the present application;
FIG. 3 is an enlarged partial schematic view of FIG. 2;
FIG. 4 is a schematic front view of an angular displacement measuring device according to an embodiment of the present application;
FIG. 5 is a second schematic explosion diagram of a lidar according to an embodiment of the present application;
FIG. 6 is a schematic perspective view of an assembled rotator and angular displacement measuring device according to an embodiment of the present application;
FIG. 7 is a schematic top view of an angular displacement measuring device according to another embodiment of the present application;
FIG. 8 is an enlarged partial schematic view of FIG. 7;
FIG. 9 is a schematic side view of an angular displacement measuring device according to another embodiment of the present application;
fig. 10 is a flow chart of an angle adjusting method according to an embodiment of the application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. As shown in fig. 1 to 7, a preferred embodiment of the present application is shown.
The laser radar 10 is a radar system for detecting the position, speed and other characteristic quantities of an object by emitting laser beams, and the working principle of the laser radar is that the emitting system firstly emits emitted laser beams for detection to a detection area, then a receiving system receives reflected laser beams reflected by the object in the detection area, the reflected laser beams are compared with the emitted laser beams, and relevant information of the object such as parameters of distance, azimuth, height, speed, gesture, even shape and the like can be obtained after processing.
The conventional mechanical lidar 10 includes a rotating body 11 and a base 12, and the rotating body 11 is rotatable relative to the base 12. The rotating body 11 is internally provided with a laser emitting device and a laser receiving device, and the path of the outgoing laser emitted by the laser emitting device can be changed by rotating the rotating body 11 relative to the base 12, so that the object in different areas can be detected. In order to accurately detect a predetermined area, it is necessary to accurately control the rotation angle of the rotating body 11. In the prior art, an angular displacement measuring device is disposed in the laser radar 10, the angular displacement measuring device is used for measuring a rotation angle of the rotating body 11 relative to the base 12, and a control center of the laser radar 10 correspondingly controls the rotation of the rotating body 11 by obtaining a measured value of the measuring device. After the conventional angular displacement measuring device is used for a long time, dirt can be accumulated on the angular displacement measuring device, so that the measuring precision is inaccurate.
As shown in fig. 1 to 6, the present embodiment provides an angular displacement measuring device 100 for a laser radar 10. The lidar 10 includes a base 12 and a rotator 11 rotatable with respect to the base 12. The rotary body 11 includes a peripheral wall 14 disposed about its own rotation axis, and an end wall 15 located at one end of the peripheral wall 14 and close to the base 12. When the rotary body 11 has a cylindrical shape, the wall surface on which the peripheral wall 14 is located may be a cylindrical surface, and the rotation axis thereof is the center axis of the cylindrical surface. The wall surface where the end wall 15 is located is circular.
The angular displacement measuring device 100 in the present embodiment includes a reflecting portion 120 and a light emitting portion 110. The angular displacement information can be transmitted by the cooperation between the light emitting portion 110 and the reflecting portion 120. The reflecting portion 120 is connected to the end wall 15, and the reflecting portion 120 includes a plurality of reflecting teeth 121 extending toward the base 12 and spaced apart from each other, and each of the reflecting teeth 121 is disposed in a common arc line, and the arc line extends around the rotation axis. The "arrangement of the reflecting teeth 121 in common with an arc" means that there is one arc segment capable of passing through all the reflecting teeth 121 in turn, and for convenience of description, "arc" hereinafter means an arc segment passing through each reflecting tooth 121 (specifically, a core of each reflecting tooth 121 may be passed), the arc segment having a start point and an end point, and each of the start point and the end point is provided with one reflecting tooth 121. Each of the reflection teeth 121 is disposed in a common arc, and each of the reflection teeth 121 is disposed around the rotation axis of the rotary body 11.
The light emitting portion 110 is connected to the base 12 for emitting and receiving the measuring light. The measuring light may be laser, infrared or ultraviolet (related principles of linear displacement and angular displacement measurement by light are well known in the art, and are not described here). The path of the measuring light is arranged perpendicular to said axis of rotation, in particular, the measuring light may be arranged laterally when the axis of rotation is arranged vertically. Also, the path of the measuring light may be parallel to the end wall 15 of the rotator 11 when the rotator 11 is assembled with the base 12.
In this embodiment, when the rotator 11 and the base 12 of the lidar 10 are assembled, the measuring light of the light emitting portion 110 will be emitted to the reflecting portion 120, and if the measuring light is emitted to the reflecting teeth 121, the reflected measuring light is received by the light emitting portion 110, for example, if the measuring light is emitted to the gap between the two reflecting teeth 121, the measuring light is not reflected but is still received by the light emitting portion 110. However, since the two receiving portions of the measuring beam are different, it is possible to know whether the measuring beam is directed to the reflective tooth 121 according to the receiving portion of the measuring beam. When the rotating body 11 rotates, the reflective teeth 121 follow the rotation of the rotating body 11, and the measuring light continuously sweeps each reflective tooth 121. The light emitting part 110 is configured such that when the reflecting part 120 rotates relative to the base 12 following the rotating body 11, the rotation angle of the reflecting part 120 relative to the light emitting part 110 is obtained by acquiring the number of teeth of the reflecting teeth 121 swept by the measuring light.
For example, when the central angle of the line connecting the centers of the two reflection teeth 121 to the rotation axis is ten degrees, the receiving portion of the measuring light changes three times (the specific process is not disclosed here, and it is recognized that the rotation body 11 rotates ten degrees in total in the time of three times of the change of the receiving portion of the measuring light. The above is merely an example of a specific implementation manner of performing the angular measurement by using the light emitting portion 110 and the reflecting portion 120, and the configuration of the angular displacement measuring device 100 is not limited, and other principles may be adopted for performing the angular displacement measurement by using the light emitting portion 110 and the reflecting portion 120, and no example is given here.
In order to enable the light emitting part 110 to receive both the measuring light reflected by the reflective teeth 121 and the measuring light not reflected by the reflective teeth 121, the light emitting part 110 may have a first working body 111 and a second working body 112 disposed opposite to each other, the first working body 111 being configured to emit and receive the measuring light, the second working body 112 being configured to receive the measuring light, and the reflective teeth 121 being disposed between the first working body 111 and the second working body 112. When the measuring light is reflected by the reflecting teeth 121, the first working body 111 receives the reflected measuring light, and when the measuring light is not reflected by the reflecting teeth 121, the second working body 112 receives the measuring light. In particular, the light emitting part 110 may be further connected to the circuit board 13 on the base 12, and transmit the acquired angular displacement signal of the rotating body 11 to the circuit board 13, so that the lidar 10 may perform rotational control on the rotating body 11 according to the angular displacement signal.
In the present embodiment, since the light emitting portion 110 of the angular displacement measuring device 100 is positioned on the base 12 of the laser radar 10 (i.e. the light emitting portion 110 has a specific structure connected to the base 12), the light emitting portion 110 can be assembled with other components of the base 12 at the same time, and the assembly process of the light emitting portion 110 does not consume excessive additional man-hours. Similarly, the reflecting portion 120 is mounted on the rotating body 11 (i.e., the reflecting portion 120 has a specific structure connected to the rotating body 11), and the assembling process of the light emitting portion 110 does not take excessive extra man-hours. Because the reflective teeth 121 are vertically arranged (when the rotation axis of the rotating body 11 is vertically arranged) and the measuring light is horizontally arranged, the reflective teeth 121 and the light emitting part 110 do not generate position interference in the vertical direction, namely, after the rotating body 11 of the laser radar 10 is assembled on the base 12, the light emitting part 110 is directly matched with the reflective part 120 on the rotating body 11, and the relative positions of the reflective teeth 121 and the light emitting part 110 do not need to be adjusted, compared with the prior art of assembling the light emitting part 110 and the reflective part 120 in the vertical direction (the prior art of generating position interference in the vertical direction, the prior art of assembling the reflective part 120 on the rotating body 11 and the light emitting part 110 on the base 12 in the process of assembling the rotating body 11 on the base 12, so that the installation efficiency is greatly improved.
The arc line in this embodiment may be an arc line, and the center of the circle where the arc line is located on the rotation axis. I.e. there is a circular arc segment passing through each of the reflective teeth 121 (specifically, the core of each of the reflective teeth 121), and the center of the circle where the circular arc segment is located on the rotation axis. Such a structure makes the relative distance between each of the reflection teeth 121 reflecting the measuring light and the light emitting part 110 constant when the rotating body 11 rotates. When the reflective teeth 121 extend between the first working body 111 and the second working body 112 of the light emitting portion 110, the relative distance between each reflective tooth 121 for reflecting the measuring light and the first working body 111 and the second working body 112 is unchanged no matter how small the rotation body 11 is driven, so that the paths of the measuring light reflected by each reflective tooth 121 are substantially the same, and the reflected measuring light is more conveniently received.
The measuring range of the angular displacement measuring device 100 may be correspondingly set according to the rotatable angle of the rotating body 11, for example, when the rotating body 11 can only rotate within a range of ninety degrees, the central angle corresponding to the circular arc line where each of the reflection teeth 121 is located may be only ninety degrees, that is, the maximum range of the angular displacement measuring device 100 is ninety degrees. In one embodiment, in order to make the angular displacement measuring device 100 more adaptive, the central angle of the arc line where each of the reflective teeth 121 is located may be equal to three hundred sixty degrees, that is, it may be understood that each of the reflective teeth 121 is disposed around the rotation axis of the rotating body 11, and specifically, the intervals between each of adjacent two of the reflective teeth 121 may be equal. This allows the theoretical range of angular displacement measuring device 100 to be infinite.
When the circular arc line is smaller than three hundred sixty degrees, the circular arc line has two ends, so the initial position of the angular displacement measurement can be determined by finding the two ends of the circular arc line (the circular arc line is a virtual line, does not exist actually, and is actually determined by finding the position of the reflection tooth 121 located at the most end of the circular arc line). When the arc line is three hundred sixty degrees, the initial position of the angular displacement measuring device 100 cannot be determined after the positions of the reflective teeth 121 are rotationally symmetrical with respect to the rotation axis of the rotating body 11.
In order to maximize the range of the angular displacement measuring device 100 and to determine the initial position conveniently, in one embodiment, the distance between two adjacent reflective teeth 121 along the extending direction of the circular arc is equal to each other and is the reflection distance, the central angle of the circular arc is smaller than three hundred sixty degrees, the two reflective teeth 121 at two ends of the circular arc are respectively a first initial tooth 1211 and a second initial tooth 1212, and the distance between the first initial tooth 1211 and the second initial tooth 1212 is larger than the reflection distance and smaller than or equal to twice the reflection distance. When the pitch between the first initial tooth 1211 and the second initial tooth 1212 is equal to twice the reflection pitch, the present embodiment corresponds to a structure in which one of the teeth is removed on the basis of the above structure, with respect to a structure in which each of the reflection teeth 121 is wound around the rotation shaft and the pitches of each of the adjacent two reflection teeth 121 are equal. Since the spacing between the first initial tooth 1211 and the second initial tooth 1212 is different from the spacing between the other teeth, the difference can be used to determine the initial position.
In one embodiment, the reflecting portion 120 may include only the reflecting teeth 121, and the reflecting teeth 121 of the reflecting portion 120 may be integrally formed with the end wall 15 of the rotary body 11, which makes the reflecting portion 120 unnecessary to be additionally processed and also eliminates the mounting process of the reflecting portion 120. Of course, in other embodiments, the reflective teeth 121 may be mounted on the end wall 15 of the rotary body 11 in a one-to-one correspondence.
In one embodiment, the reflector 120 may further include a connector 122, where the connector 122 is threadably coupled to the end wall 15 of the rotator 11. Each of the reflective teeth 121 extends along an end of the connecting member 122 facing away from the end wall 15 in a direction towards the base 12. That is, the reflecting portion 120 is connected to the end wall 15 of the rotating body 11 by the connecting member 122, and each reflecting tooth 121 is connected to the connecting member 122, so that each reflecting tooth 121 is fixed to the end wall 15 of the rotating body 11, and the connecting member 122 and the reflecting tooth 121 are integrally formed, and when the reflecting portion 120 is mounted, the mounting member is merely required to be mounted to the end wall 15 of the rotating body 11 by using a screw fastener.
To save material, the connector 122 may be elongated and may also be curved in a circular arc shape. And the central angle of the connecting piece 122 having the circular arc shape may be determined according to the arrangement position of the respective reflection teeth 121. In one embodiment, the connecting member 122 is a circular frame, the connecting member 122 extends around the rotation axis, and the center of the connecting member 122 is located on the rotation axis. Such a structure may make the relative distance between each of the reflection teeth 121 reflecting the measuring light and the light emitting part 110 constant when the rotating body 11 rotates. When the reflective teeth 121 extend between the first working body 111 and the second working body 112 of the light emitting portion 110, the relative distance between each reflective tooth 121 for reflecting the measuring light and the first working body 111 and the second working body 112 is unchanged no matter how small the rotation body 11 is driven, so that the paths of the measuring light reflected by each reflective tooth 121 are substantially the same, and the reflected measuring light is more conveniently received.
An angular displacement measuring device 100 is required to be arranged between the base 12 and the rotating body 11 of the lidar 10, which makes the gap between the rotating body 11 and the base 12 larger, and is disadvantageous for positioning the rotating body 11. To address this problem, in one embodiment, a sink 16 may be provided on the end wall 15 with the connector 122 embedded within the sink 16. The connecting member 122 may be partially embedded in the sink 16, but in order to reduce the gap between the rotator 11 and the base 12 as much as possible, in this embodiment, the connecting member 122 is completely embedded in the sink 16, i.e. the depth dimension of the sink 16 is larger than the thickness dimension of the connecting member 122 along the depth direction of the sink 16. Since the reflective tooth 121 needs to reflect the measuring light, it extends out of the sink 16. And the portion of the reflective tooth 121 protruding from the sink 16 reflects the measuring light.
The shape of the reflective teeth 121 may be determined according to the actual situation, and the reflective teeth 121 may be rectangular teeth or tapered teeth, and when the reflective teeth 121 are rectangular teeth, the thickness of the reflective teeth 121 along the extending direction of the arc may be set according to the actual situation, preferably, the thickness of the reflective teeth 121 along the extending direction of the arc may be equal to the distance between two adjacent rectangular teeth.
The reflective teeth 121 may extend perpendicular to the end wall 15 of the rotator 11 or may be at an acute angle to the end wall 15 of the rotator 11. The number of teeth of the reflection teeth 121 has a large influence on the measurement accuracy of the angular displacement measurement device 100, and when the number of teeth of the reflection teeth 121 is larger, the measurement accuracy of the angular displacement measurement device 100 is higher. To facilitate the resolution of the integer angles, the number of the reflective teeth 121 may be an integer multiple of thirty-six, for example, thirty-two or one hundred and eight reflective teeth 121 may be provided.
As shown in fig. 7 to 9, the present application also provides another angular displacement measuring device 10, which changes the structure of the reflecting portion 120 and the light emitting direction of the light emitting portion 110, compared with the angular displacement measuring device 10 in the above-described embodiment. In the present embodiment, the reflecting portion 120 is connected to the bottom wall of the rotating body 11, and the reflecting portion 120 also includes reflecting teeth 121, and the reflecting teeth 121 extend in a direction parallel to the end wall of the rotating body 11. The measuring light emitted from the light emitting portion 110 is parallel to the rotation axis of the rotating body 11.
The reflecting portion 120 has a ring-shaped plate shape, and a plurality of light transmitting holes 123 are formed at an outer edge of the reflecting portion 120 and arranged in a circular array around a center thereof, and two reflecting teeth 121 are respectively provided at both sides of each light transmitting hole 123. The light emitting part 110 emits measuring light in a direction parallel to the rotation axis of the rotation body 11, and reflects when the measuring light is directed to the reflecting teeth 121, and does not reflect when the measuring light is directed to the light transmitting holes 123. The measuring light is received by the light emitting part 110 regardless of whether the measuring light is reflected or not. The number of teeth of the reflective teeth 121 swept by the measurement light can be obtained by analyzing the reflection condition of the light, so as to obtain the angle rotated by the reflective part 120, and finally obtain the angular displacement of the rotating body 11.
In order to enable the light emitting part 110 to receive both the measuring light reflected by the reflective teeth 121 and the measuring light not reflected by the reflective teeth 121, the light emitting part 110 may have a first working body and a second working body disposed opposite to each other, the first working body being configured to emit and receive the measuring light, the second working body being configured to receive the measuring light, and the reflective teeth 121 being disposed between the first working body and the second working body. The first working body receives the reflected measuring light when the measuring light is reflected by the reflecting teeth 121, and the second working body receives the measuring light when the measuring light is not reflected by the reflecting teeth 121. In particular, the light emitting part 110 may be further connected to a circuit board on the base 12 and transmit the acquired angular displacement signal of the rotating body 11 to the circuit board, so that the lidar may perform rotational control on the rotating body 11 according to the angular displacement signal.
When the reflection teeth 121 of the reflection part 120 extend in a direction parallel to the end wall of the rotation body 11, the first working body of the light emitting part 110 is located between the reflection part 120 and the base 12, the second working body of the light emitting part 110 is located between the reflection part 120 and the end wall of the rotation body 11, and when the rotation axis of the rotation body 11 is vertically arranged, the first working body of the light emitting part 110 is located below the reflection part 120, and the second working body of the light emitting part 110 is located above the reflection part 120.
When the end wall 15 of the rotating body 11 has the sink 16, the reflecting portion 120 of the present embodiment may be embedded in the sink 16, but at the same time, since the light emitting portion 110 is connected to the base 12, a part of the light emitting portion 110 needs to be embedded in the sink 16.
To be able to determine the initial position of the reflecting portion in the present embodiment, the width of one of the reflecting teeth 121 may be made larger than the width of the other reflecting teeth 121, and specifically, the width of the reflecting tooth 121 having a wider width may be twice the width of the other reflecting teeth 121.
The second aspect of the present application also provides a lidar 10, the lidar 10 comprising a base 12 and a rotator 11, the rotator 11 being rotatable relative to the base 12. The rotating body 11 is internally provided with a laser emitting device and a laser receiving device, and the path of the outgoing laser emitted by the laser emitting device can be changed by rotating the rotating body 11 relative to the base 12, so that the object in different areas can be detected. In order to accurately detect a predetermined area, it is necessary to accurately control the rotation angle of the rotating body 11. The lidar 10 in this embodiment further includes the angular displacement measurement device 100 in any of the embodiments described above. The light emitting portion 110 of the angular displacement measuring device 100 is provided on the base 12 of the laser radar 10, and the reflecting portion 120 is provided on the rotating portion of the laser radar 10. The angular displacement measuring device 100 is used to measure the rotation angle of the rotator 11 of the laser radar 10 with respect to the base 12.
As shown in fig. 10, the third aspect of the present application also provides a method for adjusting an angle of a lidar 10, the lidar 10 comprising a base 12 and a rotator 11, the rotator 11 being rotatable with respect to the base 12. The rotating body 11 is internally provided with a laser emitting device and a laser receiving device, and the path of the outgoing laser emitted by the laser emitting device can be changed by rotating the rotating body 11 relative to the base 12, so that the object in different areas can be detected. In order to accurately detect a predetermined area, it is necessary to accurately control the rotation angle of the rotating body 11. The lidar 10 also includes an angular displacement measurement device 100. The light emitting portion 110 of the angular displacement measuring device 100 is provided on the base 12 of the laser radar 10, and the reflecting portion 120 is provided on the rotating portion of the laser radar 10. The angular displacement measuring device 100 is used to measure the rotation angle of the rotator 11 of the laser radar 10 with respect to the base 12. The angle adjusting method comprises the following steps:
s102: the rotating body 11 is controlled to rotate to an initial position with respect to the base 12.
After the laser radar 10 is switched on, the rotary body 11 of the laser radar 10 does not immediately turn to the operating position, but rather the reference point for the angle is found first. I.e. the rotation body 11 is first rotated to an initial position with respect to the base 12, which may be any reference point where setting is achieved.
S104: the rotation angle and the rotation direction of the rotating body 11 from the initial position to the operating position are obtained.
When the rotary body 11 rotates to a preset initial position, it can rotate to a working position according to the rotation signal. Further, since the position of the entire laser radar 10 with respect to the external environment may vary, the rotation signal varies every time, that is, the data such as the rotation angle and the rotation direction of the rotary body 11 from the initial position to the operation position varies every time.
S106: the rotary body 11 is controlled to rotate to the operating position in the rotation angle and the rotation direction.
Further, as shown in fig. 3, in the present embodiment, the reflective teeth 121 of the angular displacement measuring device 100 of the laser radar 10 are disposed in a co-circular arc, and the center of the circle where the circular arc is located on the rotation axis. The reflective teeth 121 are equally spaced. Along the extending direction of the circular arc line, the distance between two adjacent reflecting teeth 121 is the reflecting distance. The central angle of the circular arc line is smaller than three hundred sixty degrees, the two reflecting teeth 121 positioned at two ends of the circular arc line are a first initial tooth 1211 and a second initial tooth 1212, and the distance between the first initial tooth 1211 and the second initial tooth 1212 is larger than the reflecting distance and smaller than or equal to twice the reflecting distance.
The step of controlling the rotation of the rotating body 11 to the initial position includes:
the rotating body 11 is controlled to rotate such that the emission path of the measuring light passes through the region between the first preliminary tooth 1211 and the second preliminary tooth 1212. That is, the present embodiment determines the initial position of the lidar 10 by the difference in the pitch between the first initial tooth 1211 and the second initial tooth 1212.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present application and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.
Claims (11)
1. An angular displacement measuring device for a lidar, the lidar comprising a base and a rotator rotatable relative to the base, the rotator comprising a peripheral wall arranged about its own axis of rotation and an end wall located at one end of the peripheral wall and close to the base, characterized in that the end wall is provided with a countersink, the angular displacement measuring device comprising:
the reflecting part is connected with the end wall and comprises a plurality of reflecting teeth which extend towards the direction close to the base and are spaced from each other, part of the reflecting part is positioned in the sinking groove, the reflecting teeth extend out of the sinking groove, the reflecting teeth are arranged in a co-circular arc line, and the circle center of a circle where the circular arc line is positioned on the rotating axis; the reflection teeth are arranged at equal intervals, and the interval between two adjacent reflection teeth is the reflection interval along the extending direction of the arc line; the central angle of the arc line is smaller than three hundred sixty degrees, the two reflecting teeth positioned at the two ends of the arc line are a first initial tooth and a second initial tooth respectively, and the distance between the first initial tooth and the second initial tooth is larger than the reflecting distance and smaller than or equal to twice the reflecting distance;
a light emitting part connected with the base for emitting and receiving measuring light, the path of the measuring light being perpendicular to the rotation axis;
wherein the light emitting portion is configured to obtain a rotation angle of the reflecting portion with respect to the light emitting portion by obtaining the number of teeth of the reflecting teeth swept by the measuring light when the reflecting portion rotates with respect to the base following the rotating body.
2. The angular displacement measuring device according to claim 1, wherein,
the reflection part comprises a connecting piece, the connecting piece is in threaded connection with the end wall, each reflection tooth extends along the end part of the connecting piece, which is far away from the end wall, towards the direction close to the base, and the connecting piece is embedded in the sinking groove.
3. The angular displacement measuring device according to claim 2, wherein,
the connecting piece is circular frame-shaped, the connecting piece extends around the rotation axis, and the circle center of the connecting piece is located on the rotation axis.
4. The angular displacement measuring device according to claim 1, wherein,
each of the reflective teeth extends in a direction perpendicular to the end wall.
5. The angular displacement measuring device according to claim 1, wherein,
each of the reflection teeth is a rectangular tooth.
6. The angular displacement measuring device of claim 5, wherein,
the thickness of each reflection tooth along the extending direction of the arc line is the same.
7. The angular displacement measuring device of claim 6, wherein,
the thickness dimension of each reflecting tooth along the extending direction of the arc line is equal to the interval dimension of two adjacent reflecting teeth.
8. The angular displacement measuring device according to claim 1, wherein,
the number of the reflection teeth is an integer multiple of thirty-six.
9. A lidar, comprising:
a base;
a rotating body connected to the base and configured to be rotatable with respect to the base;
an angular displacement measuring device as claimed in any one of claims 1 to 8.
10. A method for angle adjustment of the lidar of claim 9, comprising:
controlling the rotating body to rotate to an initial position relative to the base;
acquiring a rotation angle and a rotation direction of the rotating body from the initial position to a working position;
and controlling the rotating body to rotate to the working position according to the rotation angle and the rotation direction.
11. The angle adjustment method of claim 10, wherein the step of controlling the rotation of the rotating body to the initial position includes:
the rotating body is controlled to rotate until the emission path of the measuring light passes through the area between the first initial tooth and the second initial tooth.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/115026 WO2021051488A1 (en) | 2019-11-01 | 2019-11-01 | Angular displacement measurement apparatus, lidar, and angle adjustment method |
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| CN112789523A CN112789523A (en) | 2021-05-11 |
| CN112789523B true CN112789523B (en) | 2023-11-28 |
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| WO (1) | WO2021051488A1 (en) |
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| CN115825922B (en) * | 2021-12-14 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Optical sensing structure and laser radar |
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| WO2021051488A1 (en) | 2021-03-25 |
| CN112789523A (en) | 2021-05-11 |
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