CN208255418U - A kind of laser radar apparatus - Google Patents
A kind of laser radar apparatus Download PDFInfo
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- CN208255418U CN208255418U CN201820249024.4U CN201820249024U CN208255418U CN 208255418 U CN208255418 U CN 208255418U CN 201820249024 U CN201820249024 U CN 201820249024U CN 208255418 U CN208255418 U CN 208255418U
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- laser
- laser radar
- radar apparatus
- rotational structure
- scanning
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Abstract
The utility model relates to a kind of laser radar apparatus, including laser radar structure and rotational structure, the laser radar structure includes multiple laser scanning assemblies, the laser scanning assembly includes the multiple lasers being installed on the rotational structure, the laser that each laser emits respectively relative to the rotational structure rotation axis at a shooting angle, multiple lasers press regular distribution around the rotation axis of the rotational structure, the shooting angle of multiple relatively described rotation axis of the laser successively increases in gradient, pass through the rotation of the rotational structure, multiple laser rotations are driven to scan the region of multiple rotation angles.The utility model mounting structure is simple, it is easy to accomplish, it is low in cost, convenient for promoting.
Description
Technical field
The utility model relates to laser radar technique fields, and in particular to a kind of laser radar apparatus.
Background technique
Advanced driving assistance system (Advanced Driver Assistant System), abbreviation ADAS are to utilize peace
Loaded on the various sensors on vehicle, environmental data inside and outside first time collecting cart carries out quiet, dynamic object identification, detects
The technical processing such as survey and tracking, so as to allow driver to discover the danger that may occur in the most fast time, to cause
Pay attention to and improve the active safety technologies of safety.The sensor that ADAS is used mainly has camera, radar, laser and ultrasonic wave
Deng can detect light, heat, pressure or other for monitoring the variable of vehicle condition, be usually located at front/rear collision bumper, the side of vehicle
Inside visor, control stick or on windshield.
Based on the ADAS technology of early stage is mainly alarmed with passive type, when vehicle detection is to potential danger, it can sound an alarm
Motorist is reminded to pay attention to abnormal vehicle or road conditions, active intervention is also very common now.
With the development of unmanned technology and perfect, laser radar in driving assistance system using more and more extensive,
But existing scanning laser radar is generally fabricated to this height, and structure is complex, some are then that volume and quality are all larger, unfavorable
It is led in laser radar in driving assistance system, Unmanned Systems and mobile robot, UAV avoidance and navigation
The application in domain.
Utility model content
In view of this, that it is necessary to provide a kind of structures is simple, rapidly and efficiently, the laser radar apparatus of small volume.
A kind of laser radar apparatus comprising laser radar structure and rotational structure, the laser radar structure include more
A laser scanning assembly, the laser scanning assembly include the multiple lasers being installed on the rotational structure, each laser
The laser that device emits respectively relative to the rotational structure rotation axis at a shooting angle, multiple lasers surround
The rotation axis of the rotational structure presses regular distribution, and the shooting angle of multiple relatively described rotation axis of the laser is successively
Increase in gradient, by the rotation of the rotational structure, drives multiple laser rotations to scan multiple rotation angles
Region.
Further, the multiple laser includes first laser device, second laser and third laser, and described first
The shooting angle of laser is β 1, and the scanning coverage area of the first laser device is 3~10 °；The second laser goes out
Firing angle degree is β 2, and the scanning coverage area of the second laser is 30~90 °；The shooting angle of the third laser is β
3, the scanning coverage area of the third laser is 45~160 °.
Further, the laser radar apparatus further includes base, and control assembly, the control group are equipped in the base
Part includes main control unit and computing unit, and the computing unit is connected with the main control unit, is received for calculating described sharp
Light is by the time of object feedback signal, distance and angle
Further, the laser radar apparatus further includes coding disk, and it is single that the coding disk is wirelessly connected to the calculating
Member, the coding disk are passive coding disk, and the coding disk is rotated coaxially with the laser radar structure, in the laser
Scan components monitor the position of the laser when rotating.
Further, in the calculated result of the first laser device apart from calculated value be less than or equal to 200 meters be effective
Data；In the calculated result of the second laser apart from calculated value be less than or equal to 75 meters be valid data；The third
In the calculated result of laser apart from calculated value be less than or equal to 30 meters be valid data.
Further, the rotational structure is set in the base, and the rotational structure includes electric-motor drive unit and turns
Fast control unit, the laser radar structure are connect by a mounting assembly with the electric-motor drive unit, the installation group
Rotary shaft, control of the electric-motor drive unit in the rotary speed controling unit are equipped between part and the electric-motor drive unit
Under, the starting, stopping and rotation speed of the rotation of the mounting assembly are controlled.
Further, the electric-motor drive unit is connected to the main control unit, and the main control unit passes through the motor
Driving unit controls the mounting assembly rotation, to carry out rotary scanning.
Further, the laser radar structure and the mounting assembly rotate under the drive of the rotary shaft, described
Multiple lasers are accordingly along multiple concentric circles synchronous rotaries.
Further, the laser radar apparatus further includes photoelectric sensor, photoelectric sensor fixed setting and with
Passive encoder position is corresponding, for sensing the optical signal that passive encoder is fed back in rotary course, to monitor each laser
Rotation angle orientation.
Further, the mounting assembly includes the mounting plate for being connected to the rotary shaft, multiple lasers
Adjustable angle, which saves land, to be installed on the mounting plate.
In above-mentioned laser radar apparatus, each laser is in different angles, the multiple laser from rotation axis
The wide coverage of the laser signal of device transmitting, the multiple laser rotate under the control of the motor drive unit, make
The range of the laser signal scanning is rounded, does not stay monitoring dead angle.Simultaneously according to actual needs, for the monitoring of different angle
The distance of range, monitoring is different, improves the monitoring efficiency of the laser, can quickly and efficiently be monitored, reduces institute
The cost of laser radar apparatus, and the laser radar apparatus compact are stated, is easily installed.The installation knot of the utility model
Structure is simple, compact, low in cost, convenient for promoting.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model embodiment laser radar apparatus.
Fig. 2 is the top view of the utility model embodiment laser radar apparatus.
Fig. 3 is the schematic cross-sectional view of the line A-A in Fig. 2.
Specific embodiment
The utility model is described in detail below with reference to specific embodiments and the drawings.
Fig. 1 and Fig. 2 are please referred to, a kind of laser radar apparatus 100, including laser radar structure 10 and rotational structure are shown
22, the laser radar structure 10 includes the multiple laser scanning assemblies 11 being installed on the rotational structure 22, the laser
Scan components 11 include multiple lasers, rotary shaft of the laser that each laser emits respectively relative to the rotational structure 22
For 222 lines at a shooting angle, multiple lasers press regular distribution around the rotation axis of the rotational structure 22, more
The shooting angle of a relatively described rotation axis of the laser successively increases in gradient, passes through the rotation of the rotational structure 22
Turn, drives multiple laser rotations to scan the region of multiple rotation angles.
Specifically, each laser includes laser emission element and laser pick-off unit, the laser emission element
For externally emitting laser signal, the laser signal is reflected when encountering barrier, forms reflected laser signals, described
What laser pick-off unit was used to receive laser emission element reflection encounters the laser signal reflected after barrier.
As illustrated in fig. 1 and 2, multiple lasers include first laser device 111, second laser 112 and third laser
113, the shooting angle of the first laser device 111 is β 1, and the scanning coverage area of the first laser device 111 is 3~10 °；
The shooting angle of the second laser 112 is β 2, and the scanning coverage area of the second laser 112 is 30~90 °；It is described
The shooting angle of third laser 113 is β 3, and the scanning coverage area of the third laser 113 is 45~160 °.In this reality
It applies in example, the accumulation coverage area of three lasers is 0~45 °.
Further, laser radar apparatus 100 further includes base 20, and 20 bottom of base is equipped with PCB circuit board 21, institute
PCB circuit board 21 is stated equipped with control assembly, the control assembly includes main control unit and computing unit, the computing unit with
The main control unit is connected, and receives the laser by the time of object feedback signal, distance and angle for calculating.
The rotational structure 22 is additionally provided in the base 20, the rotational structure 22 includes 221 He of electric-motor drive unit
Rotary speed controling unit, electric-motor drive unit 221 include motor, the laser radar structure 10 by mounting assembly with it is described
Electric-motor drive unit 221 connects, and rotary shaft 222, the electricity are equipped between the mounting assembly and the electric-motor drive unit 221
Machine driving unit 221 under the control of the rotary speed controling unit, to the laser radar structure 10 rotation starting, stop with
And rotation speed is controlled.
The electric-motor drive unit 221 is connected to the main control unit, and the main control unit passes through the motor driven list
221 control of the member mounting assembly rotation, to carry out rotary scanning, the mounting assembly includes one and is connected to the rotation
The mounting plate 12 of axis 222, multiple laser angles can be adjustably mounted on the mounting plate 12, by regulating mechanism,
The angle that each laser is deflected relative to rotation axis is adjusted, so as to adjust scanning angle range.
Specifically, the laser radar structure 10 is set on the mounting plate 12, and multiple lasers are on mounting plate 12
Installation site is on the same circumference, in the case that the embodiment of diagram is using three lasers, three installation site phases
Difference is 120 degree.The rotary shaft 222 drives the laser radar structure 10 and the mounting assembly to rotate, the laser scanning
Component 11 rotates with it, and the multiple laser is accordingly along multiple concentric circles synchronous rotaries.
In addition, laser radar apparatus 100 further includes coding disk 23, it is single that the coding disk 23 is wirelessly connected to the calculating
Member, the coding disk 23 are passive coding disk 23, and in a ring, the coding disk 23 is installed on 20 upper surface of base, described
Coding disk 23 and the laser radar structure 10 are coaxial, rotate, the coding disk with the rotation of the laser radar structure 10
23 for monitoring the position of the laser in the laser scanning assembly 11 rotation.Laser radar apparatus 100 further includes light
Electric transducer, the photoelectric sensor fixed setting is simultaneously corresponding with passive encoder position, passive in rotary course for sensing
The optical signal of encoder feedback, to monitor the rotation angle orientation of each laser.Preferably, photoelectric sensor is installed on motor
Or on motor cabinet.Structure about passive encoder 40 please refers to another Patent No. of same applicant
201621062992.1, entitled " rotary scanning code device " utility model, the utility model patent entire contents introduce this
Application refers to.
In addition, photoelectric sensor is connected with Wireless charging coil, there is wireless charging transmitting coil in PCB circuit board 21,
For carrying out wireless charging to wireless charging receiving coil, and wireless charging is carried out under the control of main control unit.Further,
The PCB circuit board 21 also has interface circuit and its interface, and the interface circuit is connect with main control unit, for being counted
According to transmission.Preferably, interface circuit uses usb circuit, is connected by USB interface, naturally it is also possible to use other interfaces
Mode, it is without being limited thereto.Structure about wireless charging please refers to another Patent No. 201620342332.2 of same applicant,
The utility model of entitled " a kind of rotary laser scanning sensor ", the utility model patent entire contents introduce the application work
With reference to.
When concrete application, for example, when being applied to advanced driving assistance system ADAS, usually by the laser radar of the present embodiment
Device 100 is installed on Chinese herbaceous peony end or Chinese herbaceous peony top, and the rotation axis of rotational structure 22 is horizontal direction, i.e., entire laser radar dress
Set 100 be it is horizontal positioned, when rotation, rotary scanning, the angular range of rotary scanning are a cone to three lasers forward
Region.Wherein, 111 rotational scan range of first laser device is the circular cone that central angle is about 3~10 °, the first laser
In the calculated result of device 111 it is described apart from calculated value be less than or equal to 200 meters be valid data, scanning range is farthest；It is described
112 rotational scan range of second laser is the circular cone that central angle is about 30~90 °, the calculating knot of the second laser 112
In fruit it is described apart from calculated value be less than or equal to 75 meters be valid data；113 rotational scan range of third laser is
Central angle is about 45~160 ° of circular cone, in the calculated result of the third laser 113 it is described apart from calculated value be less than etc.
It is valid data in 30 meters.Therefore, laser radar apparatus 100 has Multi Slice Mode region, such as three layers of scanning area, by
Remote and close, by inner ring to outer ring, inner ring (first laser device 111) irradiation is remote, main detection front vehicles or other farther out
Obstacle, and outer ring (second laser 112 and third laser 113) irradiation is close, it is main detect vehicle two sides be strayed into object or
Other obstacles.
It follows that in above-mentioned laser radar apparatus 100, each laser 111,112,113 is in rotation axis
Different angles, the wide coverage of the laser signal of the multiple laser transmitting, the multiple laser 111,112,113
It is rotated under the control of the motor drive unit, keeps the range of the laser signal scanning rounded, do not stay monitoring dead angle.Together
When according to actual needs, for the monitoring range of different angle, the distance of monitoring is different, improves the monitoring effect of the laser
Rate can be quickly and efficiently monitored, and reduce the cost of the laser radar apparatus, and the laser radar apparatus volume
It is small and exquisite, it is easily installed.The mounting structure of the utility model is simple, and compact is low in cost, convenient for promoting.
It should be noted that the utility model is not limited to above embodiment, creation essence according to the present utility model
Mind, those skilled in the art can also make other variations, these variations done according to the creative spirit of the utility model, all
Should be included in the utility model it is claimed within the scope of.
Claims (10)
1. a kind of laser radar apparatus, which is characterized in that including laser radar structure and rotational structure, the laser radar structure
Including multiple laser scanning assemblies, the laser scanning assembly includes the multiple lasers being installed on the rotational structure, often
The laser that a laser emits respectively relative to the rotational structure rotation axis at a shooting angle, multiple laser
Device presses regular distribution, the angle of emergence of multiple relatively described rotation axis of the laser around the rotation axis of the rotational structure
Degree successively increases in gradient, by the rotation of the rotational structure, drives multiple laser rotations to scan multiple rotations
The region of angle.
2. laser radar apparatus as described in claim 1, which is characterized in that the multiple laser include first laser device,
Second laser and third laser, the shooting angle of the first laser device are β 1, and the scanning of the first laser device covers
Range is 3~10 °；The shooting angle of the second laser is β 2, the scanning coverage area of the second laser is 30~
90°；The shooting angle of the third laser is β 3, and the scanning coverage area of the third laser is 45~160 °.
3. laser radar apparatus as described in claim 1, which is characterized in that further include base, control is equipped in the base
Component, the control assembly include main control unit and computing unit, and the computing unit is connected with the main control unit, based on
Calculation receives the laser by the time of object feedback signal, distance and angle.
4. laser radar apparatus as claimed in claim 3, which is characterized in that further include coding disk, the coding disk wirelessly connects
It is connected to the computing unit, the coding disk is passive coding disk, and the coding disk is rotated coaxially with the laser radar structure,
For monitoring the position of the laser in laser scanning assembly rotation.
5. laser radar apparatus as claimed in claim 2, which is characterized in that in the calculated result of the first laser device away from
Being less than or equal to 200 meters from calculated value is valid data；Being less than in the calculated result of the second laser apart from calculated value
It is valid data equal to 75 meters；In the calculated result of the third laser apart from calculated value be less than or equal to 30 meters be to have
Imitate data.
6. laser radar apparatus as claimed in claim 4, which is characterized in that the rotational structure is set in the base, institute
Stating rotational structure includes electric-motor drive unit and rotary speed controling unit, and the laser radar structure passes through a mounting assembly and institute
Electric-motor drive unit connection is stated, rotary shaft, the motor driven are equipped between the mounting assembly and the electric-motor drive unit
Unit under the control of the rotary speed controling unit, to the starting, stopping and rotation speed of the rotation of the mounting assembly into
Row control.
7. laser radar apparatus as claimed in claim 6, which is characterized in that the electric-motor drive unit is connected to the master control
Unit, the main control unit controls the mounting assembly by the electric-motor drive unit and rotates, to carry out rotary scanning.
8. laser radar apparatus as claimed in claim 6, which is characterized in that the laser radar structure and the mounting assembly
It is rotated under the drive of the rotary shaft, the multiple laser is accordingly along multiple concentric circles synchronous rotaries.
9. laser radar apparatus as claimed in claim 4, which is characterized in that it further include photoelectric sensor, the photoelectric sensing
Device fixed setting is simultaneously corresponding with passive encoder position, for sensing the optical signal that passive encoder is fed back in rotary course, with
Monitor the rotation angle orientation of each laser.
10. laser radar apparatus as claimed in claim 6, which is characterized in that the mounting assembly includes one and is connected to institute
The mounting plate of rotary shaft is stated, multiple laser angles can be adjustably mounted on the mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820249024.4U CN208255418U (en) | 2018-02-09 | 2018-02-09 | A kind of laser radar apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820249024.4U CN208255418U (en) | 2018-02-09 | 2018-02-09 | A kind of laser radar apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN208255418U true CN208255418U (en) | 2018-12-18 |
Family
ID=64608765
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820249024.4U Active CN208255418U (en) | 2018-02-09 | 2018-02-09 | A kind of laser radar apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108363071A (en) * | 2018-02-09 | 2018-08-03 | 深圳市砝石激光雷达有限公司 | A kind of laser radar apparatus |
| WO2020142944A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Motor control method, laser radar, and movable device |
-
2018
- 2018-02-09 CN CN201820249024.4U patent/CN208255418U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108363071A (en) * | 2018-02-09 | 2018-08-03 | 深圳市砝石激光雷达有限公司 | A kind of laser radar apparatus |
| WO2020142944A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Motor control method, laser radar, and movable device |
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