CN113552591A - Multi-line laser radar obstacle avoidance device and method - Google Patents
Multi-line laser radar obstacle avoidance device and method Download PDFInfo
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- CN113552591A CN113552591A CN202110640401.3A CN202110640401A CN113552591A CN 113552591 A CN113552591 A CN 113552591A CN 202110640401 A CN202110640401 A CN 202110640401A CN 113552591 A CN113552591 A CN 113552591A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a multi-line laser radar obstacle avoidance device and a method in the field of vehicle-mounted sensor components, wherein the multi-line laser radar obstacle avoidance device is provided with a cap peak, laser can be reflected by the cap peak, and after the laser is reflected by a reflection membrane on the inner side wall of the cap peak, the laser radar can detect obstacles at different distances, so that the problem of limited depression angle is effectively solved; the incidence angle to the ground is increased through the brim, and the problem that the cliff is difficult to detect by a common laser radar is solved; according to the invention, through the brim, the area in the scanning range becomes wider, the detection blind area of the laser radar is reduced, the vehicle obstacle avoidance is realized without additionally adding a plurality of radars, and the cost is saved; the buckle type structure of the buckle on the brim enables the brim to be convenient to assemble and disassemble, when the obstacle avoidance distance needs to be adjusted, only the brim needs to be replaced, the structure is simple, and the replacement is convenient; the differential GPS antenna mounting lug boss is arranged, so that the differential GPS antenna mounting position is reserved in the invention, and an antenna mounting scheme does not need to be specially designed for a vehicle.
Description
Technical Field
The invention belongs to the field of vehicle-mounted sensor components; in particular to a multi-line laser radar obstacle avoidance device.
Background
The multiline laser radar adopts a flight time measuring method. The method specifically comprises the following steps: the laser radar sends out laser pulses to start timing (t1), when the laser meets the light return of a target object, the receiving end stops timing (t2), and then the distance is obtained through the formula that distance is equal to the speed of light x (t 2-t 1)/2
Multiline lidar can also measure two or more distances and calculate their rate of change to determine speed. However, when the existing multiline lidar is used, when the height of the light beam emitted by the lidar is higher than that of an obstacle, the obstacle, namely the blind area of the lidar cannot be detected because the echo reflected from the obstacle is not received.
As a vehicle-mounted radar, when a vehicle adopts a laser radar to detect obstacles, the vehicle not only needs to detect far-distance obstacles in front of the vehicle, but also needs to detect near-distance obstacles, therefore, a plurality of laser radars need to be used for detection, the detection mode greatly increases the cost, and simultaneously increases the burden and the energy consumption of the vehicle, therefore, the radar obstacle avoidance device has the advantages of providing the near-distance obstacle identification and positioning capability of the laser radar under the condition of not using a plurality of laser radars, realizing the detection of the obstacles with different distances through one laser radar, and effectively solving the problem of limited depression angle and is urgent.
Disclosure of Invention
The invention aims to provide a multi-line laser radar obstacle avoidance device and method.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a barrier device is kept away to multi-thread laser radar, includes laser radar and difference GPS antenna, laser radar is fixed in on the base up end, be fixed with the brim of a hat on the laser radar up end, have the reflection configuration who increases the angle of incidence of laser radar laser to ground on the brim of a hat, solve the problem that ordinary laser radar is difficult to survey the cliff, reduced ordinary laser radar's protection and surveyed the blind area, be equipped with quick dismantlement structure on the brim of a hat, be equipped with antenna erection reservation structure on the brim of a hat up end, the brim of a hat passes through antenna erection reservation structure and difference GPS antenna fixed connection.
Further, the brim of a hat includes the brim of a hat body, there is a head space center round platform casing the brim of a hat body for not having the end, the fixed difference GPS antenna installation boss that is equipped with on the brim of a hat body up end, difference GPS antenna installation boss has a head space center round platform type for not having the end, and difference GPS antenna installation boss lower extreme runs through brim of a hat body up end and has a perfect understanding fixed connection with the brim of a hat body inboard, brim of a hat body up end downside evenly is fixed with a plurality of buckles, and is a plurality of the buckle is circular distribution, the brim of a hat body is fixed in on the casing up end through the buckle, and the buckle cooperatees with spacing card strip, evenly be equipped with a plurality of bar radiating grooves on the brim of a hat body up end, it is a plurality of bar radiating grooves are circular distribution, and a plurality of bar radiating grooves all pierce through the brim of a hat body up end and stretch into the brim of a hat body inboard.
Further, laser radar includes the casing, the casing has the end hollow cylinder casing for not having the top, and the casing makes for transparent material, on the casing was fixed in the base up end, and be fixed with the radar mount pad on the inboard bottom surface of casing, be fixed with laser emission receiving module on the radar mount pad, be equipped with spacing solid fixed ring on the laser emission receiving module lower extreme lateral wall, laser emission receiving module passes through spacing solid fixed ring and radar mount pad fixed coordination, the fixed top cap that is equipped with on the casing up end, evenly be fixed with a plurality of spacing card strips on the top cap lateral wall, be fixed with spacing card strip under the casing on the terminal surface.
Furthermore, a reflection membrane is fixedly attached to the inner side face of the cap peak body.
Further, the base includes base body, base body has end solid cylinder for having the top, be equipped with power connection on the base body lateral wall, power connection and wire one end electric connection, the wire other end is through piercing base body base up end and laser emission receiving module electric connection, pierce through and be equipped with spacing spout on the base body up end, spacing spout cooperatees with spacing card strip.
Furthermore, the laser transmitting and receiving module is a driving motor of a rotary laser transmitting and receiving device which rotates at the frequency of 5 Hz.
Further, the barrier avoiding method for the multi-line laser radar specifically comprises the following steps:
1) after the equipment is completely assembled, fixing the rotating base on a vehicle;
2) measuring and determining the installation height of the bottom of the rotating base as H;
3) measuring the height from the light-emitting middle shaft to the bottom of the rotating base, and recording as h;
4) rotating the height from the base to the top end of the laser radar, and recording as j;
5) determining the diameter of the upper end face of the cap peak body and marking as D;
6) determining a downward turning angle between the upper end surface of the cap peak body and the inner side surface of the cap peak body, and marking as beta;
7) determining an included angle between a laser emission line and the horizontal direction through a laser emission receiving module, and marking as alpha;
8) according to the formula
Obtaining a radar detection range of the device within which obstacles can be detected;
9) starting the rotation function of the laser transmitting and receiving module, and rotating the laser transmitting and receiving module at the moment;
10) at the moment, the laser transmitting and receiving module carries out 360-degree scanning ranging detection and carries out distance judgment on the scanned obstacles.
Compared with the prior art, the invention has the beneficial effects that: the invention is provided with the brim, the brim can reflect laser, after the reflection is carried out by the reflection membrane on the inner side wall of the brim, the detection of the laser radar on obstacles with different distances is realized, the problem of limited depression angle is effectively solved, the incidence angle to the ground is increased by the brim, and the problem that the common laser radar is difficult to detect the cliff is solved; according to the invention, through the brim, the area in the scanning range becomes wider, the detection blind area of the laser radar is greatly reduced, and meanwhile, the vehicle obstacle avoidance is realized without additionally adding a plurality of radars, so that the cost is greatly saved; the buckle type structure of the buckle on the brim enables the brim to be convenient to assemble and disassemble, when the obstacle avoidance distance needs to be adjusted, only the brim needs to be replaced, the structure is simple, and the replacement is convenient; the differential GPS antenna mounting lug boss is arranged, so that the differential GPS antenna mounting position is reserved in the invention, and an antenna mounting scheme does not need to be specially designed for a vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a side view of the general structure of a multi-line lidar obstacle avoidance device of the invention;
FIG. 2 is an isometric side view of the general structure of a multiline lidar obstacle avoidance apparatus of the present invention;
FIG. 3 is a schematic structural diagram of a lidar of the multi-line lidar obstacle avoidance apparatus of the present invention;
FIG. 4 is a schematic structural diagram of a brim of a multi-line lidar obstacle avoidance device of the present invention;
FIG. 5 is a schematic structural diagram of a base of the multi-line lidar obstacle avoidance device of the present invention;
fig. 6 is a diagram illustrating the working principle of the multi-line lidar obstacle avoidance device of the invention.
In the figure: laser radar 1, brim of a hat 2, difference GPS antenna 3, base 4, casing 101, top cap 102, spacing card strip 103, laser emission receiving module group 104, radar mount pad 105, spacing solid fixed ring 106, spacing card strip 107, buckle 201, brim of a hat body 202, difference GPS antenna installation boss 203, bar radiating groove 204, power connection 401, wire 402, base body 403 and spacing spout 404.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides a barrier device is kept away to multi-thread laser radar, including laser radar 1 and difference GPS antenna 3, laser radar 1 is fixed in on the 4 up end of base, be fixed with brim of a hat 2 on the 1 up end of laser radar, the reflecting structure of 1 laser of reflection laser radar has on the brim of a hat 2, and brim of a hat 2 has increaseed the angle of incidence to ground through reflecting structure, solve the problem that ordinary laser radar is difficult to survey the cliff, the protection detection blind area of ordinary laser radar has been reduced, be equipped with quick dismantlement structure on the brim of a hat 2, be equipped with antenna erection reservation structure on the 2 up end of the brim of a hat, brim of a hat 2 passes through antenna erection reservation structure and 3 fixed connection of difference GPS antenna.
As shown in fig. 3, the laser radar includes a housing 101, the housing 101 is a hollow cylindrical housing without a top and with a bottom, and the housing 101 is made of a transparent material, the housing 101 is fixed on the upper end surface of the base 4, and a radar mounting base 105 is fixed on the bottom surface of the inner side of the housing 101, 16 pairs of laser transmitting and receiving modules 104 are fixed on the radar mounting base 105, 16 pairs of limiting fixing rings 106 are arranged on the outer side wall of the lower end of the laser transmitting and receiving modules 104, 16 pairs of laser transmitting and receiving modules 104 are fixedly matched with the radar mounting base 105 through the limiting fixing rings 106, a top cover 102 is fixed on the upper end surface of the housing 101, a plurality of limiting clamping strips 103 are uniformly fixed on the outer side wall of the top cover 102, and a limiting clamping strip 107 is fixed on the lower end surface of the housing 101.
As shown in fig. 4, the brim 2 includes a brim body 202, the brim body 202 is a bottomless top-hollow circular truncated cone housing, a differential GPS antenna mounting boss 203 is fixedly arranged on the upper end surface of the brim body 202, the differential GPS antenna mounting boss 203 is a bottomless top-hollow circular truncated cone, the lower end of the differential GPS antenna mounting boss 203 penetrates through the upper end surface of the brim body 202 and is fixedly connected with the inner side of the brim body 202 in a penetrating manner, a plurality of buckles 201 are uniformly fixed on the lower side of the upper end surface of the brim body 202, the plurality of buckles 201 are circularly distributed, the brim body 202 is fixed on the upper end surface of the housing 101 through the buckles 201, the buckles 201 are matched with the limiting buckles 103, a plurality of strip-shaped heat dissipation grooves 204 are uniformly arranged on the upper end surface of the brim body 202, the plurality of strip-shaped heat dissipation grooves 204 are circularly distributed, and the plurality of strip-shaped heat dissipation grooves 204 all penetrate through the upper end surface of the brim body 202 and extend to the inner side of the brim body 202.
A reflective membrane is fixedly attached to the inner side surface of the visor body 202.
As shown in fig. 5, the base 4 includes a base body 403, the base body 403 is a solid cylinder with a top and a bottom, a power connector 401 is disposed on the outer side wall of the base body 403, the power connector 401 is electrically connected to one end of a wire 402, the other end of the wire 402 is electrically connected to the laser emitting and receiving module 104 by penetrating the upper end face of the base body 403 and 16 pairs of laser emitting and receiving modules, a limiting sliding groove 404 is disposed on the upper end face of the base body 403, and the limiting sliding groove 404 is matched with the limiting clamping strip 107.
The 16 pairs of laser transmitter/receiver modules 104 are rotary laser transmitter/receiver drive motors that rotate at a frequency of 5Hz (or 10Hz and 20 Hz).
Further, the working principle and the steps of the multi-line laser radar obstacle avoidance device are as follows:
1) after the equipment is completely assembled, the rotating base 4 is fixed on a vehicle;
2) measuring and determining the installation height of the bottom of the rotating base 4 and recording as H;
3) measuring the height from the light-emitting middle axis to the bottom of the rotating base 4, and recording as h;
4) the height from the rotating base 4 to the top end of the laser radar 1 is marked as j;
5) determining the diameter of the upper end surface of the brim body 202 and marking as D;
6) determining a downward turning angle between the upper end surface of the cap peak body 202 and the inner side surface of the cap peak body 202, and marking as beta;
7) determining an included angle between a laser emission line and the horizontal direction through 16 pairs of laser emission and receiving modules, and marking as alpha;
8) according to the formula
Obtaining a radar detection range of the device within which obstacles can be detected;
9) starting the rotation function of the 16 pairs of laser transmitting and receiving modules 104, wherein at the moment, the 16 pairs of laser transmitting and receiving modules 104 rotate;
10) at this time, 16 performs 360-degree scanning ranging detection on the laser transmitting and receiving module 104, and performs distance judgment on the scanned obstacle.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The utility model provides a barrier device is kept away to multi-thread laser radar, includes laser radar (1) and difference GPS antenna (3), its characterized in that, on laser radar (1) was fixed in base (4) up end, be fixed with brim of a hat (2) on laser radar (1) up end, have on brim of a hat (2) and increase the reflection configuration of laser radar (1) laser to the angle of incidence on ground, be equipped with quick dismantlement structure on brim of a hat (2), be equipped with antenna installation reservation structure on brim of a hat (2) up end, brim of a hat (2) are through antenna installation reservation structure and difference GPS antenna (3) fixed connection.
2. The multi-line lidar barrier avoiding device according to claim 1, wherein the visor (2) comprises a visor body (202), the visor body (202) is a bottomless truncated cone with a top hollow, a differential GPS antenna mounting boss (203) is fixedly arranged on the upper end surface of the visor body (202), the differential GPS antenna mounting boss (203) is of a bottomless truncated cone with a top hollow, the lower end of the differential GPS antenna mounting boss (203) penetrates through the upper end surface of the visor body (202) and is fixedly connected with the inner side of the visor body (202), a plurality of buckles (201) are uniformly fixed on the lower side of the upper end surface of the visor body (202), the plurality of buckles (201) are distributed in a circular shape, the visor body (202) is fixed on the upper end surface of the shell (101) through the buckles (201), and the buckles (201) are matched with the limit clamping strip (103), evenly be equipped with a plurality of bar radiating groove (204) on brim of a hat body (202) up end, it is a plurality of bar radiating groove (204) are circular distribution, and a plurality of bar radiating groove (204) all penetrate brim of a hat body (202) up end and stretch in brim of a hat body (202) inboard.
3. The multi-line lidar barrier avoiding device according to claim 1, wherein the lidar (1) comprises a housing (101), the housing (101) is a hollow cylindrical housing with a bottom and no top, the housing (101) is made of a transparent material, the housing (101) is fixed on the upper end surface of the base (4), a radar mounting seat (105) is fixed on the bottom surface of the inner side of the housing (101), a laser transmitting and receiving module (104) is fixed on the radar mounting seat (105), a limiting fixing ring (106) is arranged on the outer side wall of the lower end of the laser transmitting and receiving module (104), the laser transmitting and receiving module (104) is fixedly matched with the radar mounting seat (105) through the limiting fixing ring (106), the upper end surface of the housing (101) is fixedly provided with a top cover (102), and a plurality of limiting clamping strips (103) are uniformly fixed on the outer side wall of the top cover (102), and a limiting clamping strip (107) is fixed on the lower end face of the shell (101).
4. The multi-line lidar obstacle avoidance device of claim 1, wherein a reflective membrane is fixedly attached to an inner side surface of the visor body (202).
5. The multi-line lidar obstacle avoidance device of claim 1, wherein the base (4) comprises a base body (403), the base body (403) is a solid cylinder with a top and a bottom, a power connector (401) is arranged on an outer side wall of the base body (403), the power connector (401) is electrically connected with one end of a wire (402), the other end of the wire (402) is electrically connected with the laser transmitting and receiving module (104) by penetrating through an upper end face of the base body (403), a limiting sliding groove (404) is arranged on an upper end face of the penetrating base body (403), and the limiting sliding groove (404) is matched with a limiting clamping strip (107).
6. The multi-line lidar obstacle avoidance device of claim 3, wherein the laser transmitting and receiving module (104) is a rotating laser transceiver rotating at a certain rotation speed.
7. The multi-line lidar obstacle avoidance method according to any of claims 1-6, characterized by comprising the steps of:
1) after the equipment is completely assembled, the base (4) is fixed on a vehicle;
2) measuring and determining the installation height of the bottom of the base (4) as H;
3) measuring the height from the light-emitting middle axis to the bottom of the base (4) and recording as h;
4) the height from the base (4) to the top end of the laser radar (1) is marked as j;
5) determining the diameter of the upper end surface of the cap peak body (202), and recording the diameter as D;
6) determining a downward turning angle between the upper end surface of the cap peak body (202) and the inner side surface of the cap peak body (202), and marking as beta;
7) determining an included angle between a laser emission line and the horizontal direction through a laser emission receiving module, and marking as alpha;
8) according to the formula
Obtaining a radar detection range of the device within which obstacles can be detected;
9) starting the rotation function of the laser transmitting and receiving module (104), and rotating the laser transmitting and receiving module (104) at the moment;
10) at the moment, the laser transmitting and receiving module (104) carries out 360-degree scanning ranging detection and carries out distance judgment on the scanned obstacles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110640401.3A CN113552591A (en) | 2021-06-09 | 2021-06-09 | Multi-line laser radar obstacle avoidance device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110640401.3A CN113552591A (en) | 2021-06-09 | 2021-06-09 | Multi-line laser radar obstacle avoidance device and method |
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| CN210270163U (en) * | 2019-04-22 | 2020-04-07 | 阿里巴巴集团控股有限公司 | Radar subassembly, robot and autopilot subassembly |
| CN111252010A (en) * | 2020-02-21 | 2020-06-09 | 南京朗禾智能控制研究院有限公司 | Vehicle-mounted radar system for automatic driving of automobile |
| CN211236227U (en) * | 2019-12-10 | 2020-08-11 | 无锡太机脑智能科技有限公司 | Laser radar short-distance obstacle recognition device |
| CN112698349A (en) * | 2020-12-17 | 2021-04-23 | 金景(海南)科技发展有限公司 | Overwater and underwater synchronous integrated space measurement system and method for shallow sea island |
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2021
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180329036A1 (en) * | 2017-05-11 | 2018-11-15 | Ford Global Technologies, Llc | Autonomous vehicle lidar mirror |
| CN208444010U (en) * | 2018-05-29 | 2019-01-29 | 北京京东尚科信息技术有限公司 | Map data collecting equipment |
| CN210270163U (en) * | 2019-04-22 | 2020-04-07 | 阿里巴巴集团控股有限公司 | Radar subassembly, robot and autopilot subassembly |
| CN110095782A (en) * | 2019-05-07 | 2019-08-06 | 深圳越登智能技术有限公司 | Multi-thread range laser radar |
| CN211236227U (en) * | 2019-12-10 | 2020-08-11 | 无锡太机脑智能科技有限公司 | Laser radar short-distance obstacle recognition device |
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