CN113109789A - Multi-line scanning laser radar device and control method - Google Patents
Multi-line scanning laser radar device and control method Download PDFInfo
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Abstract
The invention relates to the field of laser measurement, in particular to a multi-line scanning laser radar device and a control method. The device comprises: the device comprises a transmitting component, a receiving component, a first movable structure, a second movable structure and a control component: the emission component comprises an emission light source and an emission angle adjusting device, the emission component is fixed on the first movable structure, the emission angle adjusting device changes the emergent light direction of the emission light source, and the emission light source and the first movable structure are respectively connected with the control component; the receiving part comprises a receiving detector and a receiving angle adjusting device, the receiving part is fixed on the second movable structure, the receiving angle adjusting device enables the light path of the reflected light to face the receiving detector, and the receiving detector and the second movable structure are respectively connected with the control part. The invention can solve the problem that a plurality of transmitting light sources and detectors of the existing multi-line scanning radar interfere with each other, reduces the complexity of processing and control, and also solves the problems of high heating and power consumption.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of laser measurement, in particular to a multi-line scanning laser radar device and a control method.
[ background of the invention ]
The laser radar can be classified into single line and multi-line scanning laser radars according to the number of scanning lines. The single line laser radar can only acquire point cloud data in a single scanning plane through the rotation of the scanning motor, and if the point cloud data of a three-dimensional object needs to be detected, a rotating or plane moving device with one dimension needs to be additionally arranged for detecting the data of the other dimension. The mobile equipment is added on the single-line laser radar, the three-dimensional point cloud data detection can be realized through the matching motion of the scanning motor and the mobile equipment, but the method also has some limitations, such as overlong detection time, incapability of detecting in real time and the like. Therefore, in the application scenario requiring the point cloud detection in real time, the multi-line scanning laser radar is a necessary choice.
At present, the main technical scheme for realizing the multi-line scanning laser radar is to integrate a plurality of emission light sources and detectors to form emission and receiving array distribution, and each group of emission light sources and detectors performs scanning of one scanning plane. The emission light source and the detector at a plurality of different positions are used for scanning in the scheme, and the emission light source and the detector do not need to be moved, so that the scanning speed is high, real-time scanning can be realized, the device can be applied to special scenes such as automatic driving and the like, and has outstanding detection advantages. However, in this solution, each emission light source and the corresponding detector need to be designed and adjusted in a one-to-one correspondence manner, so as to ensure the one-to-one correspondence between the emission light source and the detector. Therefore, this solution also has certain technical drawbacks: (1) the mutual interference between a plurality of light sources is required to control the transmitting and receiving sequence through a time sequence so as to avoid simultaneous transmission; (2) the density of elements of the emission light source and the detector array is too high, so that application problems such as heat dissipation, power consumption and the like exist, and the long-term reliability of the emission light source and the detector array is possibly influenced; (3) the optical debugging and production process of the technical scheme is complex, the production efficiency is low, and the production cost of the laser radar is high.
In view of this, how to overcome the defects in the prior art and solve the defects of the prior multi-line scanning lidar technical scheme is a problem to be solved in the technical field.
[ summary of the invention ]
Aiming at the defects or improvement requirements of the prior art, the invention solves the problems of high control difficulty, poor use stability and higher cost of the existing multi-line laser scanning radar.
The embodiment of the invention adopts the following technical scheme:
in a first aspect, the present invention provides a multiline scanning lidar device, including a transmitting component 1, a receiving component 2, a first movable structure 3, a second movable structure 4 and a control component 5, specifically: the emission component 1 comprises an emission light source 11 and an emission angle adjusting device 12, the emission component 1 is fixed on the first movable structure 3, the emission angle adjusting device 12 changes the emergent light direction of the emission light source 11, and the emission light source 11 and the first movable structure 3 are respectively connected with the control component 5; the receiving part 2 comprises a receiving detector 21 and a receiving angle adjusting device 22, the receiving part 2 is fixed on the second movable structure 4, the receiving angle adjusting device 22 enables the light path of the reflected light to face the receiving detector 21, and the receiving detector 21 and the second movable structure 4 are respectively connected with the control part 5.
Preferably, the emission angle adjusting device 12 specifically includes an emission lens, the emission lens is located on an emission light path of the emission light source 11, the emission light source 11 is located on a focal plane of the emission lens, the emission light passes through the emission lens and is converted from divergent light into parallel light, and the emission light path has different emission angles after passing through different positions of the emission lens; the receiving angle adjusting device 22 specifically includes a receiving lens, the receiving lens is located on the incident light path of the receiving detector 21, the receiving light source 11 is located on the focal plane of the receiving lens, and the parallel incident light is refracted and focused on the light receiving component of the receiving detector 21 after passing through the emitting lens.
Preferably, the first movable structure 3 and the second movable structure 4 specifically include one or more of a rotating moving structure, a one-dimensional moving structure and a two-dimensional plane moving structure, and the first movable structure 3 and the second movable structure 4 drive the transmitting component 1 and the receiving component 2 to move synchronously.
Preferably, one or more first position sensors 6 are further included, the first capacitive position sensors 6 are positioned on one side or two sides of each dimension of the moving track of the emitting light source 11, and the first position sensors 6 are connected with the control component 5; one or more second position sensors 7 are also included, the second position sensors 7 are positioned on one side or two sides of each dimension of the movement track of the receiving detector 21, and the second position sensors 7 are connected with the control component 5.
Preferably, the first position sensor 6 and the second position sensor 7 are embodied as one or more of a capacitive displacement transducer, an optical position sensor, an ultrasonic position sensor, a magnetic position sensor and an inductive position sensor.
On the other hand, the invention provides a control method of a multi-line scanning laser radar, which specifically comprises the following steps: with the multiline scanning lidar means provided in the first aspect of the claims, the transmitting means 1 and the receiving means 2 perform a single line laser scan at the initial position; the first movable structure 3 and the second movable structure 4 drive the transmitting part 1 and the receiving part 2 to synchronously move to each scanning position, and after each scanning position is in place, single-line laser scanning is carried out again.
Preferably, when the first movable structure 3 and the second movable structure 4 are rotational moving structures, the transmitting part 1 and the receiving part 2 integrally perform synchronous rotational movement; when the first movable structure 3 and the second movable structure 4 are one-dimensional moving structures and/or two-dimensional plane moving structures, the transmission section 1 and the reception section 2 perform one-dimensional and/or two-dimensional plane movement in synchronization.
Preferably, when the multiline scanning lidar apparatus provided in the preferred aspect of the first aspect of the multiline scanning lidar apparatus, the multiline scanning lidar apparatus further comprises: after the synchronous movement is in place, the positions of the transmitting part 1 and the receiving part 2 are obtained by using a first position sensor 6 and a second position sensor 7; judging whether the transmitting part 1 and the receiving part 2 are accurate in place or not; if the position is accurate, carrying out one-time scanning laser emission and receiving of scanning laser reflected light; if not, the position of the transmitting part 1 and the receiving part 2 is finely adjusted.
Preferably, an alarm signal is sent if the difference between the measured values of the first position sensor 6 and the second position sensor 7 is greater than a preset measured value difference threshold.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: the multi-line scanning laser radar device that this embodiment provided uses single transmitting light source and single detector cooperation to remove the structure and carries out multi-line scanning, has solved current multi-line scanning radar and has leaded to the problem of interfering each other because of having a plurality of transmitting light sources and detector, has also reduced the complexity of processing and control, has also solved the problem that the big consumption of generating heat is high simultaneously. In the preferred scheme, the position sensor is used, so that the in-place precision of the emission light source and the detector is improved, and the acquisition precision of scanning data is further improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of a multi-line scanning lidar apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another multi-line scanning lidar apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of another multi-line scanning lidar apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another multi-line scanning lidar apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating the moving positions of the transmitting structure 1 and the receiving structure 2 in the multiline scanning lidar apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another multi-line scanning lidar apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another multi-line scanning lidar apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another multi-line scanning lidar apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a control unit 5 in another structure of a multiline scanning lidar apparatus according to an embodiment of the present invention;
FIG. 10 is a flowchart illustrating a method for controlling a multi-line scanning lidar apparatus according to an embodiment of the present invention;
FIG. 11 is a flowchart illustrating another exemplary method for controlling a multi-line scanning lidar apparatus according to an embodiment of the present invention;
wherein the reference numbers are as follows:
1: transmitting section, 11: emission light source, 12: an emission angle adjusting device for adjusting the emission angle of the light source,
2: reception section, 21: reception detector, 22: a reception angle adjusting means for receiving the angle-adjusting means,
3: first movable structure, 4: the second movable structure is arranged on the first movable structure,
5: control means, 51: a processor; 52: a memory for storing a plurality of data to be transmitted,
6: first position sensor, 61: first capacitance, 62: a capacitive detector is provided which is capable of detecting,
7: second position sensor, 71: a second capacitance.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The present invention is a system structure of a specific function system, so the functional logic relationship of each structural module is mainly explained in the specific embodiment, and the specific software and hardware implementation is not limited.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The invention will be described in detail below with reference to the figures and examples.
Example 1:
the multi-line laser radar is a laser rotation range radar which simultaneously emits and receives a plurality of laser beams, the market is divided into 4 lines, 8 lines, 16 lines, 32 lines, 64 lines and 128 lines at present, the multi-line laser radar can obtain scanning data of a plurality of scanning planes, and therefore a three-dimensional point cloud model of the surface of an object to be scanned can be identified, and a 3D scanning image of the surrounding environment can be obtained. In the current technical scheme of the multi-line laser radar, each scanning plane is scanned by one group of laser light source and detector, and the multi-line scanning needs to use a plurality of groups of laser light sources and detectors, so that the structure, the light path calibration, the control and the processing process of the multi-line laser radar are complex. In view of this, in order to avoid the solution of multiple laser light sources and multiple detectors, the present embodiment provides a technical solution of a multi-line scanning lidar using a single laser light source and a single detector.
Fig. 1 is a schematic structural diagram of a multi-line scanning lidar apparatus according to an embodiment of the present invention. The device comprises: a transmitting part 1, a receiving part 2, a first movable structure 3, a second movable structure 4 and a control part 5.
When laser scanning is carried out, scanning laser needs to be emitted to the surface of an object to be scanned, reflected light is received, the distance between an emitting light source and a scanning point on the surface of the object to be scanned is calculated according to the difference between the emitting time and the time of receiving the reflected light, and then the coordinate of the scanning point in a three-dimensional space coordinate system is calculated and is used as a point coordinate in a three-dimensional point cloud model of the surface of the object to be scanned. Each group of the emitting light source and the receiving detector can only acquire point cloud data in one scanning plane, and in order to acquire a three-dimensional point cloud model of the surface of an object to be scanned, point cloud data in a plurality of scanning planes need to be acquired. In the existing multi-line laser radar technical scheme, a plurality of groups of transmitting light sources and receiving detectors at different positions are used, and each group of transmitting light sources and receiving detectors acquires point cloud data of a scanning plane. In the solution of the present embodiment, scanning is performed using only one transmitting section 1 and one receiving section 2, and the transmitting section 1 and the receiving section 2 are moved to different positions by the first movable structure 3 and the second movable structure 4 to obtain point cloud data of different scanning planes.
The emission part 1 includes an emission light source 11 and an emission angle adjusting device 12. The emission light source 11 emits scanning laser, and in particular use, in order to obtain the arrival time of the emission light, the emission light source 11 is preferably a pulse laser light source, and each pulse corresponds to one scanning point position. The emission light source 11 is connected with the control part 5, and emits emergent light according to the laser parameters and the control signals sent by the control part 5. In order to scan a plurality of scanning planes, the emission light source 11 needs to be moved, and in the solution of the embodiment, the first movable structure 3 is used to move the emission light source 11. The first movable structure 3 is connected with the control part 5, moves according to the movement parameters and the control signals sent by the control part 5, and feeds back motion state information to the control part 5. Furthermore, in order to avoid the deviation of the optical path between the optical devices in the emitting component 1 due to movement, the emitting component 1 as a whole is fixed on the first movable structure 3, and the relative positions of the components inside the emitting component 1 are kept unchanged during movement. In order to obtain point cloud data on different scanning planes, scanning lasers with different angles need to be used, and the emitting direction of the emitting light source 11 generally does not change, so that the emitting direction of the emitting light source 11 needs to be changed by using the emitting angle adjusting device 12, and the emitting light generated by the emitting light source 11 needs to be adjusted to a required angle. In specific use, the emission angle adjusting device 12 may use an optical device such as a lens or a prism that can directly change the exit angle of the light path; or a rotating motor or other moving parts can be used to drive the emission light source 11 to rotate or adjust the direction of the light outlet, and the light path emergent angle can be changed by matching with a corresponding optical device. When the emission angle adjusting device 12 is a moving device, the emission angle adjusting device 12 is connected to the control unit 5, and performs angle adjustment according to the angle parameter and the control signal sent from the control unit 5.
The receiving section 2 includes a receiving detector 21 and a receiving angle adjusting device 22. The receiving detector 21 receives the reflected light and acquires the arrival time of the reflected light, and the receiving detector 21 is connected with the control part 5 and sends the arrival time of the reflected light to the control part 5 for coordinate calculation. In order to ensure that the outgoing light path and the reflected light path are as stable as possible during ranging and improve the accuracy of calculation, the relative positions of the receiving detector 21 and the transmitting light source 11 need to be as consistent as possible, and therefore the receiving detector 21 needs to move synchronously with the transmitting light source 11. In the solution of the present embodiment, the second movable structure 4 is used to move the receiving detector 21. The second movable structure 4 is connected with the control part 5, moves according to the movement parameters and the control signals sent by the control part 5, and feeds back motion state information to the control part 5. Similarly, in order to avoid the deviation of the optical path between the optical devices in the receiving member 2 due to movement, the receiving member 2 is fixed to the second movable structure 4 as a whole. Because the exit angles of the scanning laser at different positions are different, the incident angles of the reflected light are also different, and the receiving component 2 also needs to change the angle of the reflected light, so that the reflected light directly enters the detection port of the receiving detector 21 to obtain the maximum light intensity, and the accuracy of the detection signal is ensured. In a specific use, the receiving angle adjusting device 22 may use a lens or a prism to make the optical path of the reflected light face the receiving detector 21 by refraction; or a rotating motor or other moving parts can be used to drive the receiving detector 21 to rotate or adjust the orientation of the detection port, so that the incident light path is opposite to the detection port. When the reception angle adjusting device 22 is a moving device, the reception angle adjusting device 22 is connected to the control unit 5, and performs angle adjustment according to the angle parameter and the control signal sent from the control unit 5.
In a specific implementation scenario of the present embodiment, the first movable structure 3 and the second movable structure 4 may use a rotation moving structure, a one-dimensional moving structure, or a two-dimensional plane moving structure, as required, or may use a combination of multiple moving structures. In order to ensure that the relative positions of the receiving detector 21 and the transmitting light source 11 are consistent, the first movable structure 3 and the second movable structure 4 need to drive the transmitting component 1 and the receiving component 2 to synchronously move, and the motion control of the receiving detector 21 needs to keep consistent time sequence, consistent motion angle, consistent motion direction and consistent motion distance with the motion control of the transmitting light source 11. In a specific implementation, the synchronous movement of the first movable structure 3 and the second movable structure 4 can be implemented by selecting an appropriate technical scheme according to needs: the emitting light source 11 and the receiving detector 21 are arranged on the same movable platform or movable bracket; or, the emitting light source 11 and the receiving detector 21 are mounted on different movable platforms or movable supports and driven by the same power source; or, the emitting light source 11 and the receiving detector 21 are driven by different power sources, and the control part 5 simultaneously sends motion control signals with the same motion parameters to all the power sources, so that all the power sources synchronously move in the same way. In the following description of the present embodiment, only the transmitting light source 11 and the receiving detector 21 are driven by different power sources as an example, and other moving schemes can be implemented by referring to the scheme according to actual needs. Further, in the case of multiple power sources, a motion state monitoring device may be added to the apparatus or a motion control system having a synchronization control function may be used to ensure that the first movable structure 3 and the second movable structure 4 maintain accurate synchronized motion.
Further, in the specific implementation, the first movable structure 3 and the second movable structure 4 may adopt different moving modes and power sources according to different scenes, and may select one of a rotating moving structure, a one-dimensional moving structure and a two-dimensional plane moving structure, or a mixture of a plurality of moving modes, and some optional moving modes are briefly listed below.
(1) A rotational movement structure is used. The whole structure of the transmitting part 1 and the receiving part 2 is arranged on a scanning motor or other rotating and moving structures to rotate in a two-dimensional plane, so that the function of the standard multi-line scanning laser radar can be realized. The scheme can be used for replacing the existing common multi-line laser radar, only the transmitting light source 11 and the receiving detector 21 are required to be controlled to move in a single direction, the electromechanical structure is simple, and the control mode is simple.
(2) A one-dimensional moving structure is used in conjunction with a rotating control structure. The integral structure of the transmitting component 11 and the receiving component 21 is arranged on a rotary moving structure, and then the integral structure is matched with a one-dimensional linear motor, a one-dimensional stepping motor or other linear moving structures to rotate within a certain angle range and is matched with one-dimensional linear motion. The scheme can realize layered scanning and is used in scenes with small scanning range, fixed object to be scanned and low scanning precision requirement.
(3) A two-dimensional moving structure is used in conjunction with a rotating control structure. The whole structure of the transmitting light source 11 and the receiving detector 21 is arranged on a rotary moving structure, and then the structure which can move in a two-dimensional plane by matching with a two-dimensional linear motor and the like rotates within a certain angle range, and the synchronous movement of the two-dimensional plane is matched. The scheme can realize the light beam rotation detection in the two-dimensional plane of the scanning light beam, has larger scanning range relative to the scheme (2), and is particularly suitable for front-end scanning application, in particular to a multi-line scanning laser radar installed at the front end of an automobile.
The above-mentioned solutions all enable the apparatus provided by the present embodiment to perform the function of multi-line scanning using only a single transmitting light source 11 and a single receiving detector 21. In a specific application, an appropriate technical scheme can be selected according to needs, or a plurality of schemes can be combined, or other moving schemes capable of meeting the requirement of multi-line scanning can be used.
In the technical scheme of the embodiment, a single light source and a single detector are used for fixed-point scanning at different positions, so that the effect of emitting light beams at multiple angles is realized. In order to make the outgoing light path of the emission light source 11 and the incident light path angle of the receiving detector 21 both meet the scanning requirement, the light path angle adjustment of outgoing light and incident light is required to be performed using the emission angle adjusting device 12 and the receiving angle adjusting device 22. In specific implementation, optical devices such as lenses, prisms, mirrors and the like capable of changing the light path may be used, and moving devices such as a rotating motor capable of driving the angle change of the light outlet and the light inlet may also be used. Since the emergent light of the emitting light source 11 is scattered light, the measuring laser needs to use parallel light, and at the same time, when the reflected light is received, the parallel light needs to be focused to the light receiving port of the receiving detector 21, in either scheme, the emitting angle adjusting device 12 and the receiving angle adjusting device 22 need to include an optical lens, and the emergent light path of the emitting light source 11 and the receiving detector 21 need to be kept on the front focal plane of the optical lens to move, so as to ensure accurate focusing.
In the preferred embodiment, the transmission angle adjusting device 12 and the reception angle adjusting device 22 are each implemented using an optical lens with appropriate parameters in view of power consumption, cost, simplified device structure, and simplified control flow. As shown in fig. 2, the emission angle adjusting device 12 is specifically an emission lens, the emission lens is located on an emission light path of the emission light source 11, the emission light source 11 is located on a focal plane of the emission lens, the emission light passes through the emission lens and is converted from divergent light into parallel light, and the emission light path has different emission angles after passing through different positions of the emission lens. The receiving angle adjusting device 22 specifically includes a receiving lens, the receiving lens is located on the incident light path of the receiving detector 21, the receiving light source 11 is located on the focal plane of the receiving lens, and the parallel incident light is refracted and focused on the light receiving component of the receiving detector 21 after passing through the emitting lens. As shown in fig. 3 and 4, which are schematic diagrams of the angle change of the light path when the emitting light source 11 and the receiving detector 21 move to different positions, because the emitting light source 11 and the receiving detector 21 are located on the focal plane of the optical lens, when the emitting light source 11 moves to different positions, the emergent light transmits through different positions of the emitting lens to form parallel emergent light with different angles; the parallel reflected light of different angles is transmitted through different positions of the receiving lens and focused on the receiving detector 21 moved to different positions.
In the case of using an optical lens as the angle adjusting means, the moving distance of the transmission light source 11 and the reception detector 21 can be calculated from the optical parameters of the optical lens. For example, in the two-dimensional movement scheme shown in fig. 5, each rectangular point represents one scanning location position of the emitting light source 11 and the receiving detector 21, and the scanning beam angles corresponding to the x and y directions are calculated as formula 1 and formula 2, respectively.
ΔθxAthan (Δ x/f) (equation 1)
ΔθyAthan (Δ y/f) (equation 2)
Wherein,Δθxand Δ θyThe variation values of the scanning angles in the x and y directions are respectively, the focal length of the emitting lens is f, and Δ x and Δ y are respectively the distances of a single movement of the emitting light source 11 and the receiving detector 21 in the x and y directions, i.e. the coordinate difference of the geometric centers of two adjacent rectangular points in fig. 5.
If an N-line lidar is to be implemented, the corresponding moving distances in both directions can be calculated by equations 3 and 4.
DxNot to scale (N × Δ x (formula 3))
DyNot N × Δ y (formula 4)
Wherein D isxAnd DyThe moving distances of the emitting light source 11 and the receiving detector 21 in the x and y directions relative to the origin of the moving coordinate system, respectively, N is the moving times, and Δ x and Δ y are the distances of a single movement of the emitting light source 11 and the receiving detector 21 in the x and y directions, respectively.
For other moving modes, the corresponding moving coordinate position calculation or angle deflection calculation can be carried out by referring to the formula.
Further, in the technical scheme provided by this embodiment, the transmitting light source 11 and the receiving detector 21 are installed on a movable structure, and the effect of scanning the multi-line laser radar is achieved by synchronously and rapidly moving the transmitting light source 11 and the receiving detector 21. However, the movable structure generally has the problem of insufficient repetition precision, and motion errors are accumulated after multiple movements, so that the in-place position deviation of the transmitting light source 11 and the receiving detector 21 is caused, and the scanning precision is influenced, particularly when the movable structure is used for a long time. In general, the repetitive errors can be eliminated by changing the moving parts, but in practical use, if the changing frequency is low, the elimination effect of the repetitive errors is poor, and if the changing frequency is high, the scanning efficiency is affected. To address this issue, the present embodiment further provides a structural design including a position sensor.
The device provided by the present embodiment further comprises one or more first position sensors 6, the first capacitive position sensors 6 are located on one or both sides of each dimension of the moving track of the emitting light source 11, and the first position sensors 6 are connected with the control part 5. One or more second position sensors 7 are also included, the second position sensors 7 are positioned on one side or two sides of each dimension of the movement track of the receiving detector 21, and the second position sensors 7 are connected with the control component 5. In a specific implementation, the first position sensor 6 and the second position sensor 7 are embodied as one or more of a capacitive displacement transducer, an optical position sensor, an ultrasonic position sensor, a magnetic position sensor and an inductive position sensor, according to actual needs. In a preferred embodiment of the present embodiment, a capacitive displacement sensor is used in view of measurement accuracy, control complexity, cost, and the like.
In a specific use scene, the position sensor can be set in different types, quantities and positions according to actual needs. In the following, some simple sensor arrangement and displacement control schemes are provided, and for simplicity of description, only a scheme using a capacitive displacement sensor is provided, and in specific use, the type of the position sensor can be changed, the number of the sensors can be increased or decreased, or the arrangement position of the sensors can be adjusted according to needs.
(1) In the rotational movement mode, the transmitting member 11 and the receiving sensor 21 move in only one direction along one dimension, and as shown in fig. 6, only one capacitive sensor may be disposed on the motion trajectory. Wherein, the first capacitor 61 of the first position sensor 6 is arranged on the motion track to directly acquire the displacement data. The capacitance detector 62 may be arranged in the vicinity of the first capacitance 61, or may be arranged elsewhere or integrated in the control unit 5, and is electrically connected to the first capacitance 61. Since the capacitance of the capacitive sensor can be calculated by equation 5.
Wherein C is capacitance, epsilon is dielectric permittivity between capacitor plates, A is area covered by the two parallel plates, and d is distance between the two parallel plates.
As can be seen from equation 5, varying the capacitor parallel plate spacing and varying the area can vary the capacitance. In practical application, the capacitive sensor with the changed parallel plate spacing can measure displacement in micrometer scale, and the capacitive sensor with the changed area is only suitable for measuring displacement in centimeter scale. In this embodiment, the distance between the capacitor plates changes due to the position change of the transmitting component 11 and the receiving sensor 21, so for convenience of calculation and improvement of calculation accuracy, it is preferable to adopt a technical scheme of changing the distance to detect the change of the capacitor, and further calculate the distance change of the capacitor plates, that is, calculate the accurate moving positions of the transmitting light source 11 and the receiving detector 21. After acquiring capacitance information, the capacitance detector transmits the capacitance information to the control part 5, the control part 5 calculates the actual positions of the transmitting light source 11 and the receiving detector 21 according to the capacitance change information, and performs corresponding position fine adjustment according to the deviation between the actual position and the preset position, and the actual position and the preset position form a closed-loop accurate control system. Specifically, the position change values of the transmission light source 11 and the reception detector 21 can be calculated by equation 6.
Where Δ C is the capacitance change, ε is the dielectric permittivity between the capacitor plates, A is the area covered by the two parallel plates, d0The initial value of the capacitor plate distance is delta d, and the distance change value of the capacitor substrate is delta d. The solution using only one capacitive probe is computationally simple and less costly, but due to the only one position sensor, there may be measurement errors and therefore the position information accuracy is relatively low.
(2) In the one-dimensional moving mode, the transmitting unit 11 and the receiving sensor 21 move in two directions along one dimension, and as shown in fig. 7, capacitive detectors are installed on both sides of the moving track of the transmitting light source 11 and the receiving detector 21. The first capacitor 61 of the first position sensor 6 and the second capacitor 71 of the second position sensor 7 are respectively arranged on the motion trail twice, and displacement data are directly acquired. According to actual needs and specific electrical design, the capacitance detectors of the first position sensor 6 and the second position sensor 7 may be separately arranged, or may share one capacitance detector, and fig. 7 illustrates that one capacitance detector 62 is shared. When the calculation is performed, Δ d in equation 6 needs to be calculated according to equation 7.
Wherein, Delta d is the distance variation value of the capacitor substrate1And Δ d2Respectively are the distance change values detected by the capacitance detectors at the two sides of the moving track. Since the motion track is a straight line, when the emitting component 11 or the receiving detector 21 moves to one side, absolute values of distance change values detected by the detectors at the two sides should be consistent, and therefore, after absolute values of the distance change values at the two sides of the motion track are obtained and averaged, measurement errors can be reduced, more accurate position information can be obtained, and fluctuation of measured values can be well inhibited.
(3) In the two-dimensional movement mode, the transmitting section 11 and the receiving sensor 21 are moved bidirectionally in two dimensions, and therefore it is necessary to measure position information in two dimensions at the same time. In the case of lower accuracy requirements, as shown in fig. 8, the scheme (1) is used for each dimension, and a position sensor is provided on one side of the motion trajectory in each dimension. In the case of a high accuracy requirement, as shown in fig. 8, the scheme (2) is used for each dimension, and position sensors are provided on both sides of the motion trajectory in each dimension. For clarity, the remaining elements are omitted in fig. 8, and only a schematic diagram of the relative positional relationship of the transmission light source 11 and the reception sensor 21 to the position sensor is given. In particular use, the position information for each dimension is calculated according to equations 6 and 7.
By using the position sensors, the movement of the first movable structure 3 and the second movable structure 4 can be controlled more accurately, so that the positioning of the transmitting light source 11 and the receiving sensor 21 is more accurate, and the scanning accuracy of the device is improved.
On the other hand, the control unit 5 comprises at least one processor and a memory connected by a data bus, said memory storing instructions executable by said at least one processor, said instructions, after being executed by said processor, the control unit 5 sending corresponding control signals to the emitting unit 1, the receiving unit 2, the first movable structure 3, the second movable structure 4, the first position sensor 5 and the second position sensor 6. In fig. 9, one processor 51 is taken as an example. The processor 51 and the memory 52 may be connected by a bus or other means, and fig. 9 illustrates the connection by a bus as an example. The memory 52, which is a nonvolatile computer-readable storage medium for a control method of the multi-line scanning lidar apparatus, may be used to store nonvolatile software programs, nonvolatile computer-executable programs, and modules, such as the control method of the multi-line scanning lidar apparatus in embodiment 2. The processor 51 executes various functional applications and data processing of the multi-line scanning lidar apparatus, i.e., implements the method of embodiment 2, by executing non-volatile software programs, instructions, and modules stored in the memory 52. The memory 52 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 52 may optionally include memory located remotely from the processor 51, and these remote memories may be connected to the processor 51 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. Program instructions/modules are stored in the memory 52, and when executed by the one or more processors 51, perform the method of controlling the multiline scanning lidar apparatus of embodiment 2 described above, e.g., perform the various steps illustrated in fig. 10 and 11 described above. Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the embodiments may be performed by associated hardware as instructed by a program, which may be stored in a computer-readable storage medium, which may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
The multi-line scanning laser radar device provided by the embodiment uses a single transmitting light source and a single receiving detector, and is matched with a movable structure and a light path angle adjusting device to complete the multi-line scanning function, so that the defects of the existing schemes of a plurality of transmitting light sources and a plurality of receiving detectors are overcome. In the preferred scheme of the embodiment, different moving modes of the transmitting light source and the receiving detector are realized through different moving schemes of the movable structure, and corresponding scanning modes are provided for different use scenes; and the in-place precision of the transmitting light source and the receiving detector is improved through the position sensor, and the scanning precision of the laser radar is further improved.
Example 2:
based on the multi-line scanning lidar device provided in embodiment 1, this embodiment provides a control method of the multi-line scanning lidar device.
As shown in fig. 10, the control method includes the following steps.
Step 101: using the multi-line scanning lidar apparatus provided in embodiment 1, the transmitting apparatus 1 and the receiving apparatus 2 perform one single-line laser scanning at the initial position.
The multi-line scanning lidar device provided in embodiment 1 uses a single transmitting light source 11 and a single receiving detector 21 to complete multi-line scanning, and needs to complete the functions of a group of transmitting light sources and receiving detectors in the existing multi-line scanning radar at each scanning position, that is, complete one-line laser scanning, and acquire point cloud data on one scanning plane.
Step 102: the first movable structure 3 and the second movable structure 4 drive the transmitting part 1 and the receiving part 2 to synchronously move to each scanning position, and after each scanning position is in place, single-line laser scanning is carried out again.
In order to complete the multi-line scanning function, after the transmitting light source 11 and the receiving detector 21 complete one-line scanning, the control unit 5 sends corresponding motion signals to the first movable structure 3 and the second movable structure 4 to drive the transmitting unit 1 and the receiving unit 2 to rapidly move to the next scanning position for scanning again, so as to obtain point cloud data on other scanning planes, and the steps of moving and scanning are repeated until the scanning is completed, or the user stops scanning.
In the concrete implementation, the concrete manner of the synchronous movement differs according to the difference of the movable structure, and according to the movable structure and the example of the movement manner provided in embodiment 1, this embodiment provides some concrete examples of the synchronous movement manner. In different implementation scenarios, the specific control is performed according to the movable structure or other movement modes.
(1) When the first movable structure 3 and the second movable structure 4 are rotating structures, the transmitting part 1 and the receiving part 2 are driven to integrally rotate synchronously by controlling the first movable structure 3 and the second movable structure to rotate 360 degrees, so that the function of the standard multi-line scanning laser radar is completed.
(2) When the first movable structure 3 and the second movable structure 4 are one-dimensional movable structures or two-dimensional plane movable structures, the first movable structure 3 and the second movable structure are controlled to perform one-dimensional or two-dimensional plane movement, so that the transmitting component 1 and the receiving component 2 are driven to perform one-dimensional or two-dimensional plane movement synchronously, and the two-dimensional plane light beam rotation detection of the scanning light beam is realized.
Further, when the multi-line scanning laser radar device comprises the first position sensor 6 and the second position sensor 7, the moving position needs to be accurately regulated and controlled through the value of the position sensors, so that the precision of point cloud data is improved. As shown in fig. 11, the reference steps for in-place confirmation and position fine-tuning.
Step 201: after the synchronous movement into position, the positions of the transmitting part 1 and the receiving part 2 are acquired using the first position sensor 6 and the second position sensor 7.
After the transmitting part 1 and the receiving part 2 are in place, it is first necessary to acquire the current positions of the transmitting part 1 and the receiving part 2, respectively. Specifically, the amount of change Δ d, or Δ d, can be obtained by calculation using equations 6 and 7 in embodiment 1, respectively, based on the amount of change Δ C in capacitance of the position sensors received by the control section 5, and the number and set positions of the position sensors1And Δ d2And thus the current positions of the transmitting part 1 and the receiving part 2 are obtained.
Step 202: it is determined whether the transmitting part 1 and the receiving part 2 have been accurately positioned. If the position is accurate, go to step 203; if not, go to step 204.
When synchronous movement is carried out, the step length of each movement or the position in place each time is required to accord with a preset value, and whether the synchronous movement is accurate in place can be determined by comparing the displacement distance of the transmitting part 1 and the receiving part 2 or the position value of the current position. Specifically, Δ d, or Δ d1And Δ d2And comparing the current position value with a preset position compensation value or comparing the preset position value with the current position value. If the positions are consistent, the scanning is performed in step 203, which indicates that the positions are accurate; if not, it indicates that the position is not accurately located, go to step 204 to adjust the position again, and scan again after locating.
Step 203: and carrying out one-time scanning laser emission and receiving of scanning laser reflected light.
And after the radar moves to the right position, single-line laser scanning is carried out at the position once, and the functions of a group of transmitting parts and receiving parts of the common multi-line scanning radar at the position are completed.
Step 204: the transmitting part 1 and the receiving part 2 are finely adjusted in position.
If the movement is not in place, the movement is required to be carried out again until the movement is in place, and the distance of the movement again can be the difference between the preset position value and the current position value or the difference between the preset displacement and the current displacement. For the two position sensor solution, since the displacement distances of the two position sensors should be theoretically the same, the calculation can also be performed using equation 8.
Δd3＝(|Δd1-Δd2I)/2 (equation 8)
Wherein, Δ d3For adjusting the distance, Δ d, for the displacement1And Δ d2Respectively are the distance change values detected by the capacitance detectors at the two sides of the moving track.
Further, Δ d1And Δ d2Under normal conditions, only a small amount of measurement error exists, and the difference is not too large. Therefore, before the position calculation, the measured values Δ d of the first position sensor 6 and the second position sensor 7 may also be measured1And Δ d2If the difference between the two exceeds a predetermined measurement value difference thresholdIf the value is too large, the function of a certain capacitive sensor is invalid, and the system sends an alarm signal to prompt a user to carry out maintenance and replacement. Therefore, the technical scheme of using the two position sensors can judge detection failure besides detecting position variation, and the detection stability of the system is improved.
Further, in the fine adjustment of the position in step 204, a moving part with higher precision is generally used, so that the fine adjustment is usually performed only once or twice, and if the fine adjustment is still not performed for many times, a mechanical or electrical fault may exist. In order not to affect the use, the number of times of fine adjustment of the position needs to be limited, and when the number of times of fine adjustment is larger than a threshold value of the number of times of fine adjustment, an alarm signal is sent to prompt a user to carry out fault check.
Through steps 201 to 204, the in-place confirmation and the position fine adjustment of the transmitting part 1 and the receiving part 2 can be completed.
With steps 101 to 102 provided in this embodiment, the scanning lidar provided in embodiment 1, which only includes a single transmitting component and a single receiving component, can complete the function of the multi-line scanning radar through the position change of the transmitting component and the receiving component, and avoid the problems of mutual interference, complex control, high power and high cost of the existing multi-line scanning radar light sources using multiple transmitting components and receiving components. Furthermore, the accuracy of the in-place of the transmitting component and the receiving component is ensured through position confirmation and fine adjustment, and the accuracy of the point cloud data of multi-line scanning is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A multiline scanning lidar device comprising a transmitting unit (1), a receiving unit (2), a first movable structure (3), a second movable structure (4), and a control unit (5), in particular:
the emitting component (1) comprises an emitting light source (11) and an emitting angle adjusting device (12), the emitting component (1) is fixed on the first movable structure (3), the emitting angle adjusting device (12) changes the emergent light direction of the emitting light source (11), and the emitting light source (11) and the first movable structure (3) are respectively connected with the control component (5);
the receiving part (2) comprises a receiving detector (21) and a receiving angle adjusting device (22), the receiving part (2) is fixed on the second movable structure (4), the receiving angle adjusting device (22) enables the light path of the reflected light to be opposite to the receiving detector (21), and the receiving detector (21) and the second movable structure (4) are respectively connected with the control part (5).
2. Multi-line scanning lidar apparatus of claim 1, further comprising:
the emission angle adjusting device (12) specifically comprises an emission lens, the emission lens is positioned on an emission light path of the emission light source (11), the emission light source (11) is positioned on a focal plane of the emission lens, the emission light passes through the emission lens and is converted into parallel light by divergent light, and the emission light path has different emission angles after passing through different positions of the emission lens;
the receiving angle adjusting device (22) specifically comprises a receiving lens, the receiving lens is positioned on an incident light path of the receiving detector (21), the receiving light source (11) is positioned on a focal plane of the receiving lens, and parallel incident light is refracted and focused on a light receiving part of the receiving detector (21) after passing through the emitting lens.
3. Multiline scanning lidar apparatus of claim 1, wherein:
the first movable structure (3) and the second movable structure (4) specifically comprise one or more of a rotating movable structure, a one-dimensional movable structure and a two-dimensional plane movable structure, and the first movable structure (3) and the second movable structure (4) drive the transmitting component (1) and the receiving component (2) to synchronously move.
4. Multiline scanning lidar apparatus of claim 1, wherein:
the device also comprises one or more first position sensors (6), wherein the first capacitive position sensors (6) are positioned on one side or two sides of each dimension of the moving track of the emission light source (11), and the first position sensors (6) are connected with the control component (5);
the device also comprises one or more second position sensors (7), wherein the second position sensors (7) are positioned on one side or two sides of each dimension of the moving track of the receiving detector (21), and the second position sensors (7) are connected with the control part (5).
5. Multiline scanning lidar apparatus of claim 4, wherein:
the first position sensor (6) and the second position sensor (7) are embodied as one or more of a capacitive displacement transducer, an optical position sensor, an ultrasonic position sensor, a magnetic position sensor and an inductive position sensor.
6. Multiline scanning lidar device according to any one of claims 4 or 5, wherein:
the control unit (5) comprises at least one processor and a memory, said at least one processor and memory being connected by a data bus, said memory storing instructions executable by said at least one processor, said instructions, after being executed by said processor, the control unit (5) sending corresponding control signals to the emitting unit (1), the receiving unit (2), the first movable structure (3), the second movable structure (4), the first position sensor (5) and the second position sensor (6).
7. A multi-line scanning laser radar control method is characterized by specifically comprising the following steps:
-using the multiline scanning lidar device of any one of claims 1-6, the transmitting device (1) and the receiving device (2) perform a single line laser scan at an initial position;
the first movable structure (3) and the second movable structure (4) drive the transmitting component (1) and the receiving component (2) to synchronously move to each scanning position, and after each scanning position is in place, single-line laser scanning is carried out again.
8. The multiline scanning lidar control method of claim 7 wherein the synchronizing step comprises:
when the first movable structure (3) and the second movable structure (4) are rotating moving structures, the transmitting part (1) and the receiving part (2) integrally perform synchronous rotating movement;
when the first movable structure (3) and the second movable structure (4) are a one-dimensional movable structure and/or a two-dimensional plane movable structure, the transmitting component (1) and the receiving component (2) synchronously perform one-dimensional and/or two-dimensional plane movement.
9. The multiline scanning lidar control method of claim 8, wherein when the multiline scanning lidar apparatus is the multiline scanning lidar apparatus of any one of claims 4-6, further comprising:
after the synchronous movement is in place, acquiring the positions of the transmitting part (1) and the receiving part (2) by using a first position sensor (6) and a second position sensor (7);
judging whether the transmitting component (1) and the receiving component (2) are accurate in place or not;
if the position is accurate, carrying out one-time scanning laser emission and receiving of scanning laser reflected light;
if not, the position of the transmitting part (1) and the receiving part (2) is finely adjusted.
10. The multiline scanning lidar control method of claim 9 further comprising:
and if the difference between the measured values of the first position sensor (6) and the second position sensor (7) is larger than a preset measured value difference threshold value, sending an alarm signal.
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