CN206773192U - Laser radar based on multiple non-uniform Distribution lasers - Google Patents
Laser radar based on multiple non-uniform Distribution lasers Download PDFInfo
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- CN206773192U CN206773192U CN201720713800.7U CN201720713800U CN206773192U CN 206773192 U CN206773192 U CN 206773192U CN 201720713800 U CN201720713800 U CN 201720713800U CN 206773192 U CN206773192 U CN 206773192U
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Abstract
The utility model provides a kind of laser radar based on multiple non-uniform Distribution lasers, and the laser radar includes rotor and stator；Supporting body, multiple lasers are set on supporting body；The supporting body is arranged in rotor；Light collimation device, subpoint of the laser on the perpendicular of the main shaft including the light collimation device on the supporting body have density distribution in the vertical direction；The light collimation device is arranged in the rotor.The utility model has the advantages that high vertical angular resolution, high-level angular resolution, high scan frequency, scanning result are more accurate.
Description
Technical field
It the utility model is related to laser radar, the more particularly to laser radar based on multiple non-uniform Distribution lasers.
Background technology
It is at present to use multi-line laser radar for the three-dimensional information as much as possible for obtaining scanned region more, it can cover
Cover more vertical field of view regions.The beam angulation distribution of multi-line laser radar is all taken in certain angle scope on the market at present
The interior method (value that i.e. vertical angular resolution is to determine) divided equally, such as Velodyne 16 lines, 32 lines and 64 line laser radars, its
Vertical angular resolution is 2 degree, 1.33 degree and 0.43 degree respectively, and Ibeo 4 lines, the vertical angular resolution of 8 line laser radars are 0.8
Degree.
The concrete application scene of mobile lidar, pedestrian, vehicle mainly on detection ground etc..This mean that as
If fruit divides equally visual field up and down in vertical direction, the laser wire harness launched upwards is largely wasted.
In addition, if according to the angular divisions scheme of existing market product, all angles of visual field are all divided equally, then reach
Higher vertical resolution just needs more multi-thread, and this also implies that higher cost, bigger volume and lower reliability
Stability.Due to being limited to the data capacity of Ethernet and vehicle-mounted CPU processing speed, the laser radar of higher line number is (such as
Velodyne high-level angular resolution and high scan frequency) can not be taken into account simultaneously
And line number is reduced based on the reason for reduce cost, then angle interval is again too big, in not far distance range (such as
40 meters) just can not resolution target, such as according to total 32 ° of vertical field of view angle, 2 ° of intervals (vertical resolution) are, it is necessary to 16 lines, then
Laser rays interfascicular is away from about in 1.4m at 40m distances, it is easy to just misses a pedestrian.
Utility model content
To solve the deficiency in above-mentioned prior art, the utility model provides a kind of high vertical angular resolution, height
The laser radar of horizontal angular resolution, high sweep speed, scanning result accurately based on multiple non-uniform Distribution lasers.
The purpose of this utility model is achieved through the following technical solutions：
A kind of laser radar based on multiple non-uniform Distribution lasers, the laser radar include rotor and stator；Institute
Laser radar is stated to further comprise：
Supporting body, multiple lasers are set on supporting body；The supporting body is arranged in rotor；
Light collimation device, the laser on the supporting body is on the perpendicular of the main shaft including the light collimation device
Subpoint in the vertical direction have density distribution；The light collimation device is arranged in the rotor.
Compared with prior art, the utility model have the advantage that for：
1. the utility model is set by the density of laser so that laser beam non-uniform Distribution is designed in relatively low wire harness
When, higher vertical angular resolution can be realized, it is cost-effective, reduce volume；
2. laser radar of the present utility model fully takes into account barrier (such as pedestrian, car for needing to identify in vehicle traveling
Etc.) it is usually concentrated in horizontal line and close to Near Ground, therefore enhance central laser light beam (near horizontal and level)
Density, this non-homogeneous formula laser beam are distributed in more scientific and reasonable under real traffic environment；
3. laser radar of the present utility model, can be due to reducing wire harness while vertical angle high resolution simultaneously
High-level angular resolution and high scan frequency are taken into account, scanning result is more accurate；
4. the present invention is greatly reduced using coaxial (motor, rotating chamber, upper circuit board etc. around the middle shaft rotation) kind of drive
The quantity of driving parts and the space of occupancy, improve the stability of a system；
5. motor overhead (motor is rotatably mounted to the outer rim on the top of axis, rotate chamber be in motor bottom and
Along the outer rim of the radial direction of axis, the top of non-motor), upper and lower circuit plate can be caused apart from close, convenient communication, transmission system
Maintenance it is also very convenient.
Brief description of the drawings
Referring to the drawings, disclosure of the present utility model will be easier to understand.Skilled addressee readily understands that
It is：These accompanying drawings are used only for illustrating the technical solution of the utility model, and are not intended to protection of the present utility model
Scope is construed as limiting.In figure：
Fig. 1 is the structure diagram of the supporting body and laser according to the utility model embodiment 1；
Fig. 2 is the structure according to the laser radar based on multiple non-uniform Distribution lasers of the utility model embodiment 3
Sketch；
Fig. 3 is the structure diagram of the supporting body and laser according to the utility model embodiment 3；
Fig. 4 is the structure diagram of the supporting body and laser according to the utility model embodiment 4；
Fig. 5 is the structure diagram of scanning means in the laser radar according to the utility model embodiment 4；
Fig. 6 is the structure diagram of the fixed plate and groove according to the utility model embodiment 6.
Embodiment
Fig. 1-6 and optional embodiment of the present utility model is following description described how to instruct those skilled in the art
Implement and reproduce the utility model.In order to instruct technical solutions of the utility model, simplify or eliminate some conventional aspects.This
Art personnel should be appreciated that modification from these embodiments or replacement will be in the scope of the utility model.This area
Technical staff should be appreciated that following characteristics can combine to form multiple modifications of the present utility model in a variety of ways.Thus, originally
Utility model is not limited to following optional embodiments, and is only limited by claim and their equivalent.
Embodiment 1：
A kind of laser radar based on multiple non-uniform Distribution lasers of the utility model embodiment, the laser radar
Including：
Rotor, stator, the inside of the rotor are isolated into emission cavity and reception cavity；The rotor and stator are this areas
Prior art, will not be repeated here；
Fig. 1 schematically illustrates the supporting body of the utility model embodiment and the structure diagram of laser, such as Fig. 1 institutes
Show；
An only supporting body 1, for carrying multiple lasers；The supporting body is arranged in the emission cavity；
Multiple lasers 11, such as 20,40, particular number is corresponding with the line number of laser radar；The laser from upper and
It is fixed on lowerly on the supporting body, and collinearly；
Light collimation device, such as collimation lens, the laser on the supporting body are including the main shaft of the light collimation device
Perpendicular 21 on subpoint there is density distribution in the vertical direction, namely the distribution up and down of conllinear laser has
Density, as center section is close, upper and bottom section is dredged；The detection light that laser is sent is irradiated after passing through the light collimation device
Onto foreign objects, such as ground, pedestrian, bicycle, public transport stop board, automobile；The light collimation device is arranged on the emission cavity
It is interior；
Light receiving element, such as condenser lens (group), reflected light of the detection light in foreign objects passes through the light-receiving
It is received by a detector after device；
Detector, the quantity of the detector is identical with the quantity of the laser, the detector and laser on
The middle vertical plane of the line of centres of the light collimation device and light receiving element is symmetrical arranged；The detector is arranged on reception cavity
It is interior.
The course of work of above-mentioned laser radar is：
Multiple lasers send multiple laser, and such as No. 1 laser sends detection light, are mapped to after light collimation device collimates outer
On boundary's thing, the density of wherein central laser light beam (near horizontal and level) is high, improves vertical angular resolution；
Reflected light of the detection light in foreign objects is converged on detector by light receiving element, and such as No. 1 laser is sent
Detection light reflected by foreign objects after, by receiving device post-concentration on No. 1 detector；
The electric signal that analytical equipment processing detector transmission comes, so as to detect foreign objects, such as barrier.
Embodiment 2：
A kind of laser radar based on multiple non-uniform Distribution lasers of the utility model embodiment, with embodiment 1 not
Be：
Multiple lasers are not all conllinear, and such as most of laser is vertically arranged and collinearly, spacing is equal, fraction laser
Device is vertically arranged and collinearly, interval is equal；Most of laser and fraction laser stagger in the horizontal direction so that
Subpoint of the fraction laser on the perpendicular of the main shaft including light collimation device is in most of laser
Device is on the perpendicular between subpoint so that subpoint has density distribution, improves laser emitting light beam in water
Square to and neighbouring beam density, correspondingly improve vertical angular resolution.
Embodiment 3：
Fig. 2 schematically illustrates a kind of laser based on multiple non-uniform Distribution lasers of the utility model embodiment
The structure diagram of radar, as shown in Fig. 2 the laser radar includes：
Rotor, stator, the rotor include inner chamber 8 and exocoel 7, and the inside of the inner chamber 8 is isolated into emission cavity and connect
Chamber is received, is such as isolated by dividing plate 91；The rotor and stator are the state of the art, be will not be repeated here；
Set in the emission cavity：
Fig. 3 schematically illustrates the laser of the utility model embodiment and the structure diagram of supporting body, such as Fig. 3 institutes
Show；
Multiple supporting bodies 1, such as 5, each supporting body is vertically fixed in emission cavity, for carrying multiple laser
Device；Multiple supporting bodies 1 are spaced apart in the horizontal direction；
Multiple lasers 11, such as 40, particular number is corresponding with the line number of laser radar；The laser is from top to down
It is fixed on the supporting body；As fixed multiple lasers on each supporting body, and collinearly；
Light collimation device, such as collimation lens, the laser on the supporting body are including the main shaft of the light collimation device
Perpendicular 21 on subpoint there is density distribution in the vertical direction, as center section is close, upper and bottom section is dredged；
The detection light that laser is sent is irradiated in foreign objects after passing through the light collimation device, such as ground, pedestrian, bicycle, public transport
Station board, automobile etc.；The light collimation device is arranged in the emission cavity；
First speculum 61, the angle between the detection light that first speculum 61 and the laser 11 are sent is sharp
Angle, namely 61 relative supporting body of the first speculum are obliquely installed；
Second speculum 62, the detection light is successively after the reflection of the speculum 62 of the first speculum 61 and second
Device 2 is emitted through light；
Light is emitted device 2, and such as collimation lens (group), the detection light that the laser 1 is sent is emitted device 2 through the light
After be irradiated in foreign objects 3；
Filtering device 6, such as optical filter, the filtering device 6 is arranged on outside inner chamber, for described in filtering environmental light and transmission
Reflected light of the detection light in foreign objects 3, it is arranged in the reflected light light path and is in the upstream of light receiving element 4；
Set in the reception cavity：
Light receiving element 4, such as condenser lens (group), reflected light of the detection light in foreign objects 3 connects through the light
Received after receiving device 4 by detector 51；
3rd speculum 63, the angle between the main shaft of the 3rd speculum 63 and the light receiving element 4 is acute angle；
4th speculum 64, the reflected light through the light receiving element 4 pass through the 3rd speculum 63 successively
Received after reflection with the 4th speculum 64 by detector 51；
Detector 51, detector are fixed on circuit board 5, the quantity of the detector and the quantity phase of the laser
Together, the detector is symmetrically set with laser on the middle vertical plane of the light collimation device and the line of centres of light receiving element
Put；The detector is arranged in reception cavity.
The course of work of above-mentioned laser radar is：
Multiple lasers 1 send multiple laser, and such as No. 1 laser sends detection light, successively through the first speculum 61, second
Speculum 62 is incided on light outgoing device 2, is mapped to after light outgoing device 2 collimates in foreign objects 3；
Reflected light of the detection light in foreign objects 3 is assembled by light receiving element 4, passes through the 3rd speculum successively afterwards
63rd, the 4th speculum 64 is reflexed on detector 51, after the detection light sent such as No. 1 laser is reflected by foreign objects 3, by connecing
Device post-concentration is received on No. 1 detector；
The electric signal that the analytical equipment processing transmission of detector 51 comes, so as to detect foreign objects 3, such as barrier.
Embodiment 4：
A kind of laser radar based on multiple non-uniform Distribution lasers of the utility model embodiment, with embodiment 2 not
Be：
Fig. 4 schematically illustrates the supporting body of the utility model embodiment and the structure diagram of laser, such as Fig. 4 institutes
Show, multiple supporting bodies 1, such as 8, multiple lasers 11 are set on each supporting body, such as 5, the distance between laser is equal；
Fixed plate 12, such as 5, fixed plate 12 is vertically situated in emission cavity, and from horizontal direction on separate；It is described to hold
Carrier 1 is fixed on the sidepiece of fixed plate, the fixed quantity of supporting body 1 in each fixed plate 12, such as from left to right, Mei Gegu
2,1,2,2,1 supporting bodies are fixed on fixed board respectively；
Subpoint of the laser 11 on the perpendicular 21 of the main shaft including light collimation device has in the vertical direction
Density is distributed, and as center section is close, upper and bottom section is dredged so that the multi beam detection light that laser is sent is in horizontal line and attached
Near light beam is close, and other direction light beams are dredged.；
Fig. 5 schematically illustrates the structure diagram of the scanning means of the laser radar of the utility model embodiment, such as Fig. 5
Shown, the scanning means includes：
Axis 92, there is groove on the axis；The axis is divided into thicker part point, transition portion and narrower portion；
Fixed seat 97, the top of the axis are fixed in the fixed seat；Such as, there is raised circle centered on fixed seat
Connected in star, the top of narrower portion are fixed in the projection；
Motor 94, the motor is arranged on the bottom of the fixed seat and faces fixed seat, and the stator sleeve of motor is being located
The outer rim of the upper part of axis between the fixed seat and base, such as the outer rim of narrower portion；The rotor of motor is around described
Middle shaft rotation, the power line of the motor are laid in the groove；
Shaft coupling 95, the bottom of the rotor is connected by the shaft coupling rotates chamber, turns so that rotor driving is described
Dynamic chamber is around the middle shaft rotation；
Rotate chamber 96, the outer rim for rotating chamber and the axis in the stator bottom being fixed on by bearing, such as transition
Partial outer rim, it is described rotate chamber be distributed in motor bottom and along the axis radial direction motor periphery, it is non-to be in
The top of motor；The inside for rotating chamber is isolated into emission cavity and reception cavity；
Base 92, the bottom of the axis are fixed on the base, as having raised circular groove centered on base,
Thicker part point is fixed in the projection of base；
Wireless power transmission module, the wireless power transmission module include：
Emitting portion, the emitting portion are fixed on the axis；
Receiving portion 71, the receiving portion are fixedly connected with the rotation chamber, and around the middle shaft rotation
Upper circuit board 72, the upper circuit board are arranged on the bottom of the rotation chamber；The wireless power transmission module is described
Upper circuit board power supply；
Lower circuit board 73, the lower circuit board are fixed on the base, between the upper circuit board and lower circuit board away from
From more than zero；
Rotary encoder 74, the rotary encoder are arranged on the bottom of the rotation chamber, the rotary encoder to institute
The distance for stating base is more than zero.
Embodiment 5：
According to a kind of application of laser radar based on multiple non-uniform Distribution lasers of the utility model embodiment 2
Example.
In the application examples, there are 16 lasers, namely 16 line laser radars；16 lasers are arranged on only in 2 row
On a supporting body having and in light collimation device focal plane, wherein, No. 1-10,11-16 lasers be
Spacing it is vertically arranged and conllinear, spacing is respectively d；11-16 lasers are arranged on the sidepiece of 1-10 lasers, its
The distance of middle o.11 laser to the 3rd, No. 4 laser is equal, the distance phase of No. 16 laser to the 8th, No. 9 laser
Deng.So, the spacing between 1-3,9-10 laser is d, and the distance of the vertical direction between 3-9,11-16 laser is
Embodiment 6：
According to a kind of application of laser radar based on multiple non-uniform Distribution lasers of the utility model embodiment 4
Example.
In the application examples, there are 40 lasers, namely 40 line laser radars；With 8 supporting bodies being vertically arranged
With 5 fixed plates 12, fixed plate 12 is stuck in the groove 81 of above-below direction, and is fixed using glue 82, as shown in Figure 6；From left-hand
The right side, 2,1,2,2,1 supporting bodies are set in each fixed plate, 5 lasers are collinearly set up and down on each supporting body, spacing is equal
For d；Subpoint of 40 lasers on the perpendicular of the main shaft including the light collimation device has in the vertical direction
Density is distributed, and as center section is close, the distance (i.e. difference in height) on above-below direction isUpper and bottom section is dredged, upper and lower
Upward distance (i.e. difference in height) is d.
40 line mobile lidars, -14 °~+5 ° of vertical field of view scope (non-to divide equally visual field up and down), wherein, 3 °~5 ° models
Enclose vertical angle and be distinguished as 1 ° (corresponding 1-3 line laser beams, from bottom to top), -7 °~3 ° scopes are encryption subdivision section, and vertical angle is divided
Distinguish and be distinguished as 1 ° of (corresponding 33-40 line laser for 1/3 ° (corresponding to 3-33 line lasers beam), -14 °~-7 ° scope vertical angles
Beam).By strengthening the density of central laser beam (horizontal and level near), guarantee can with acquisition distant place pedestrian as much as possible,
The information of vehicle etc..
Claims (10)
1. a kind of laser radar based on multiple non-uniform Distribution lasers, the laser radar includes rotor and stator；It is special
Sign is：The laser radar further comprises：
Supporting body, multiple lasers are set on supporting body；The supporting body is arranged in rotor；
Light collimation device, throwing of the laser on the perpendicular of the main shaft including the light collimation device on the supporting body
Shadow point has density distribution in the vertical direction；The light collimation device is arranged in the rotor.
2. laser radar according to claim 1, it is characterised in that：The subpoint is from top to bottom in thin, and-close-dredge is divided
Cloth.
3. laser radar according to claim 1, it is characterised in that：In the vertical direction, the laser in center section
In device, subpoint of the section laser on the perpendicular is in other conllinear adjoining lasers in the perpendicular
On subpoint between, the section laser and the adjoining laser non-colinear.
4. laser radar according to claim 1, it is characterised in that：The laser is in Jiao of the light collimation device
Plane.
5. laser radar according to claim 1, it is characterised in that：The supporting body is at least two, each carrying
At least two lasers are set on body.
6. laser radar according to claim 5, it is characterised in that：On the direction of the perpendicular, institute
Supporting body is stated to be spaced apart.
7. laser radar according to claim 6, it is characterised in that：In the vertical direction, the carrying in center section
In body, subpoint of the laser on the perpendicular on supporting body is in adjoining laser on other same supporting bodies and existed
Between subpoint on the perpendicular.
8. laser radar according to claim 7, it is characterised in that：Adjoining laser is described perpendicular on same supporting body
There are at least two subpoints, at least two subpoints are on other different bearer bodies between subpoint in straight plane
Laser subpoint.
9. laser radar according to claim 1, it is characterised in that：The laser radar further comprises：
Light receiving element, the measurement light that the laser after the light collimation device is sent is in extraneous reflected light by the light
Receiving device is collected；
Photodetector, the photodetector receive the reflected light after the light receiving element；The photodetector
Quantity it is identical with the quantity of the laser, the setting of the photodetector is with the setting of the laser on the light
The middle vertical plane of the line of centres of collimating element and light receiving element is symmetrical, and the main axis parallel is in the middle vertical plane.
10. laser radar according to claim 9, it is characterised in that：The main shaft is perpendicular to the line of centres.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720713800.7U CN206773192U (en) | 2017-06-19 | 2017-06-19 | Laser radar based on multiple non-uniform Distribution lasers |
| JP2019568157A JP7159224B2 (en) | 2017-06-07 | 2018-05-16 | multi line radar |
| EP18814389.5A EP3637145A4 (en) | 2017-06-07 | 2018-05-16 | Multi-line laser radar |
| KR1020207000352A KR102616109B1 (en) | 2017-06-07 | 2018-05-16 | multi line laser radar |
| KR1020237043481A KR102641651B1 (en) | 2017-06-07 | 2018-05-16 | Multi-line laser radar |
| US16/620,121 US11543503B2 (en) | 2017-06-07 | 2018-05-16 | Multi-line laser radar |
| PCT/CN2018/087045 WO2018223821A1 (en) | 2017-06-07 | 2018-05-16 | Multi-line laser radar |
| US16/784,155 US10845472B2 (en) | 2017-06-07 | 2020-02-06 | Multi-line laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720713800.7U CN206773192U (en) | 2017-06-19 | 2017-06-19 | Laser radar based on multiple non-uniform Distribution lasers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206773192U true CN206773192U (en) | 2017-12-19 |
Family
ID=60636835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720713800.7U Withdrawn - After Issue CN206773192U (en) | 2017-06-07 | 2017-06-19 | Laser radar based on multiple non-uniform Distribution lasers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206773192U (en) |
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| CN109946677B (en) * | 2019-03-01 | 2020-07-14 | 上海禾赛光电科技有限公司 | Laser emission device and laser radar with same |
| CN109946677A (en) * | 2019-03-01 | 2019-06-28 | 上海禾赛光电科技有限公司 | A kind of laser beam emitting device and the laser radar with it |
| US11933967B2 (en) | 2019-08-22 | 2024-03-19 | Red Creamery, LLC | Distally actuated scanning mirror |
| WO2022037345A1 (en) * | 2020-08-21 | 2022-02-24 | 上海禾赛科技有限公司 | Detection method of laser radar, laser radar, and vehicle system comprising same |
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Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Patentee after: Shanghai Hesai Technology Co.,Ltd. Address before: Room 206, building A4, 925 Yecheng Road, Jiading District, Shanghai, 201821 Patentee before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
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