CN211786118U - Non-blind area barrier detection system based on multiple hemispherical laser radars - Google Patents
Non-blind area barrier detection system based on multiple hemispherical laser radars Download PDFInfo
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- CN211786118U CN211786118U CN201922470986.XU CN201922470986U CN211786118U CN 211786118 U CN211786118 U CN 211786118U CN 201922470986 U CN201922470986 U CN 201922470986U CN 211786118 U CN211786118 U CN 211786118U
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Abstract
The utility model discloses a no blind area barrier detecting system based on many hemisphere laser radar relates to automobile-used barrier and detects technical field, aims at solving short barrier and gets into the vehicle blind area, detects the problem that easily leads to danger. Its technical scheme main points are, including installing at least one traditional lidar on the automobile body, traditional lidar vertical direction visual angle is 30 degrees, and the scanning distance is 150 meters, still including installing four at least hemisphere lidar and the computational element on the automobile body, the computational element links to each other with hemisphere lidar, traditional lidar. The computing unit is used for receiving point cloud information of the laser radars, processing the point cloud and extracting obstacle information in the point cloud, 4 hemispherical laser radars respectively cover blind areas in four directions around a vehicle body, and 1 traditional laser radar covers an area far away from the front of the vehicle. Traditional laser radar and hemisphere laser radar fuse each other, eliminate the peripheral blind area of automobile body, realize no dead angle full coverage.
Description
Technical Field
The utility model belongs to the technical field of the technique that automobile-used barrier detected and specifically relates to a non-blind area barrier detecting system based on many hemisphere laser radar is related to.
Background
Safety is the first problem to be solved by driverless automobiles. Directly related to the safety is the accuracy of obstacle detection, and whether the obstacle can be detected without omission or false detection or not. Most of the existing obstacle detection systems are based on laser radar, vision, ultrasonic radar and millimeter wave radar, or are integrated with these sensors to detect.
Referring to fig. 1, a conventional lidar obstacle detection system includes a conventional lidar 1, which has a conical blind area. No matter how the conventional laser radar 1 is mounted on the vehicle, its blind area has an influence on the performance of obstacle detection. For example, the vehicle is horizontally installed, and the blind area near the vehicle is large; if mounted vertically, the blind spot far away from the vehicle is large. If a plurality of traditional laser radars 1 are combined and cover blind areas, the cost is greatly increased, and the requirement on the processing capacity of a computing unit is also greatly increased. The blind areas of the other sensors are also similar to the lidar 1. The vertical direction viewing angle of the conventional laser radar 1 is 30 degrees, and the scanning distance is 150 meters.
The above prior art solutions have the following drawbacks: due to physical properties (viewing angle range, waveform, etc.) of each sensor, there is always a detection blind area, particularly around the vehicle body, and once a short obstacle (pet, curb, etc.) enters the vehicle blind area, it causes a danger if it is not detected, and thus further improvement is awaited.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a no blind area barrier detecting system based on many hemisphere laser radar, it has the effect of eliminating the peripheral blind area of automobile body, realizing no dead angle full coverage.
The above technical purpose of the present invention can be achieved by the following technical solutions:
the utility model provides a no blind area barrier detecting system based on many hemisphere laser radar, is including installing an at least traditional laser radar on the automobile body, 1 vertical direction visual angle of traditional laser radar is 30 degrees, and the scanning distance is 150 meters, still including installing four at least hemisphere laser radar and the computational element on the automobile body, the computational element links to each other with hemisphere laser radar, traditional laser radar.
The utility model discloses further set up to: one traditional laser radar sets up in automobile body the place ahead top, and the equipartition has hemisphere laser radar on the preceding rear of automobile body and two relative sides, hemisphere laser radar's scanning distance is 30 meters.
The utility model discloses further set up to: and each hemispherical laser radar is horizontally arranged.
The utility model discloses further set up to: every hemisphere laser radar all includes the organism and the probe that is connected with the organism, the organism sets up in the automobile body inside, the probe sets up in the automobile body outside.
The utility model discloses further set up to: be located automobile body the place ahead hemisphere lidar sets up in under traditional lidar.
The utility model discloses further set up to: the hemispherical laser radar located behind the vehicle body is arranged in the middle of the vehicle body.
To sum up, the utility model discloses a beneficial technological effect does:
1. through the setting of hemisphere laser radar and computational element, the computational element is used for accepting laser radar's point cloud information to handle and extract barrier information wherein to the point cloud, 4 hemisphere laser radar cover the peripheral blind area of four directions of automobile body respectively, and 1 traditional laser radar covers the regional in the vehicle place ahead distance. The traditional laser radar and the hemispherical laser radar are mutually fused to form a barrier detection system without dead corners and full coverage;
2. the obstacle detection performance is improved, the low obstacles can be effectively monitored, the low obstacles are prevented from entering the bottom of the vehicle, and the safety of the vehicle in the running process is guaranteed.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a laser radar obstacle detection system in the background art;
fig. 2 is a schematic overall structure diagram of an embodiment of the present invention;
fig. 3 is a schematic structural diagram for showing a blind area of the hemispherical lidar.
In the figure, 1, a conventional laser radar; 2. a vehicle body; 3. a hemispherical laser radar; 31. a body; 32. a probe.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.
Referring to fig. 2 and 3, for the utility model discloses a non-blind area obstacle detecting system based on many hemisphere laser radar, including installing an at least traditional laser radar 1 on automobile body 2, 1 vertical direction visual angle of traditional laser radar is 30 degrees, and the scanning distance is 150 meters (the model is RS-LiDAR-16), still including installing four at least hemisphere laser radar 3 and the computational element on automobile body 2, computational element and hemisphere laser radar 3, traditional laser radar 1 link to each other. In this embodiment, the conventional laser radar 1 is disposed at the top of the front of the vehicle body 2, and can cover a far area in front of the vehicle in a large range.
Referring to fig. 2 and 3, the hemispherical laser radars 3 are uniformly distributed on the front and rear parts and two opposite side surfaces of the vehicle body 2, and the scanning distance of the hemispherical laser radars 3 is 30 meters (model number RS-Bpearl). Every hemisphere laser radar 3 equal horizontal installation, every hemisphere laser radar 3 all includes organism 31 and the probe 32 that is connected with organism 31, and organism 31 sets up inside automobile body 2, and probe 32 sets up in the automobile body 2 outsidely. The hemispherical laser radar 3 located in front of the vehicle body 2 is disposed directly below the conventional laser radar 1. The hemispherical laser radar 3 positioned behind the vehicle body 2 is arranged in the middle of the vehicle body 2, and the ground clearance does not have a fixed requirement. The installation positions of the two hemispherical laser radars 3 on the side surface have no special requirements. The periphery of the vehicle body 2 is provided with the hemispherical laser radar 3, so that no blind area or dead angle exists in the obstacle detection.
The implementation principle of the embodiment is as follows: the computing unit is used for receiving point cloud information of the laser radar, processing the point cloud and extracting obstacle information in the point cloud, 4 hemispherical laser radars respectively cover blind areas in four directions around the vehicle body 2, and 1 traditional laser radar 1 covers a far area in front of the vehicle. Traditional laser radar 1 fuses each other with hemisphere laser radar 3, has formed the barrier detecting system of no dead angle total coverage, improves barrier detection performance, can carry out effective monitoring to short barrier, prevents that short barrier from getting into the vehicle bottom, the security of guarantee vehicle driving in-process.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (6)
1. The utility model provides a no blind area barrier detecting system based on many hemisphere laser radar, is including installing at least one traditional laser radar (1) on automobile body (2), traditional laser radar (1) vertical direction visual angle is 30 degrees, and the scanning distance is 150 meters, its characterized in that: the device is characterized by further comprising at least four hemispherical laser radars (3) arranged on the vehicle body (2) and a computing unit, wherein the computing unit is connected with the hemispherical laser radars (3) and the traditional laser radar (1).
2. The system according to claim 1, wherein the system comprises: one traditional laser radar (1) sets up in automobile body (2) the place ahead top, and the equipartition has hemisphere laser radar (3) on the front and back of automobile body (2) and two relative sides, the scanning distance of hemisphere laser radar (3) is 30 meters.
3. The system of claim 2, wherein the system comprises: each hemispherical laser radar (3) is horizontally arranged.
4. The system according to claim 3, wherein the system comprises: every hemisphere lidar (3) all includes organism (31) and probe (32) that are connected with organism (31), organism (31) set up inside automobile body (2), probe (32) set up in automobile body (2) outside.
5. The system according to claim 1, wherein the system comprises: the hemispherical laser radar (3) positioned in front of the vehicle body (2) is arranged under the traditional laser radar (1).
6. The system of claim 5, wherein the system comprises: the hemispherical laser radar (3) positioned behind the vehicle body (2) is arranged in the middle of the vehicle body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922470986.XU CN211786118U (en) | 2019-12-31 | 2019-12-31 | Non-blind area barrier detection system based on multiple hemispherical laser radars |
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| CN201922470986.XU CN211786118U (en) | 2019-12-31 | 2019-12-31 | Non-blind area barrier detection system based on multiple hemispherical laser radars |
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| CN211786118U true CN211786118U (en) | 2020-10-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112596050A (en) * | 2020-12-09 | 2021-04-02 | 上海商汤临港智能科技有限公司 | Vehicle, vehicle-mounted sensor system and driving data acquisition method |
| CN112833915A (en) * | 2020-12-31 | 2021-05-25 | 广州文远知行科技有限公司 | Sensor correction method, sensor correction device, movable carrier and storage medium |
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2019
- 2019-12-31 CN CN201922470986.XU patent/CN211786118U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112596050A (en) * | 2020-12-09 | 2021-04-02 | 上海商汤临港智能科技有限公司 | Vehicle, vehicle-mounted sensor system and driving data acquisition method |
| CN112596050B (en) * | 2020-12-09 | 2024-04-12 | 上海商汤临港智能科技有限公司 | Vehicle, vehicle-mounted sensor system and driving data acquisition method |
| CN112833915A (en) * | 2020-12-31 | 2021-05-25 | 广州文远知行科技有限公司 | Sensor correction method, sensor correction device, movable carrier and storage medium |
| CN112833915B (en) * | 2020-12-31 | 2022-01-04 | 广州文远知行科技有限公司 | Sensor correction method, sensor correction device, movable carrier and storage medium |
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