CN212364572U - Laser radar device - Google Patents
Laser radar device Download PDFInfo
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- CN212364572U CN212364572U CN201922359879.XU CN201922359879U CN212364572U CN 212364572 U CN212364572 U CN 212364572U CN 201922359879 U CN201922359879 U CN 201922359879U CN 212364572 U CN212364572 U CN 212364572U
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- 230000003287 optical effect Effects 0.000 claims description 7
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Abstract
The utility model discloses a laser radar device, a serial communication port, the laser radar device contains: the laser receiving and transmitting ranging unit comprises at least 1 laser emitting unit and at least one laser receiving unit and is used for carrying out laser ranging; the rotating motor unit is used for driving the laser receiving and transmitting ranging unit to rotate to form a first detection view field with a horizontal angle of alpha (alpha is more than or equal to 10 degrees and less than or equal to 360 degrees) and a vertical angle of beta (beta is more than or equal to 1 degree and less than or equal to 90 degrees); and a visual field adjusting unit for performing reflection adjustment on a horizontal visual field with an angle of M (M is more than or equal to 1 degree and less than or equal to alpha) and a vertical visual field area with an angle of N (N is more than or equal to 10 degrees and less than or equal to beta) to form a second detection visual field. The utility model discloses technical scheme can improve the utilization ratio of laser radar point cloud data through adjustment laser radar's detection visual field.
Description
Technical Field
The utility model belongs to the technical field of the laser radar and specifically relates to a laser radar device is related to.
Background
In the actual use process of the laser radar, or due to different actual use scenes or different field range designs of the laser radar, some invalid point cloud data can be generated in the whole field range.
For example, roadside lidar is mounted on both sides of a road, and is effective in traffic flow statistics, vehicle type inspection, and the like. The roadside lidar can obtain effective point cloud information facing the road direction, but other laser beams mostly hit on trees, fields, houses and other non-detection areas, so that the point cloud data are not effectively utilized. Meanwhile, because the vertical field angle of the laser radar is limited, a blind area can be formed in a certain area below the laser radar, and the vehicle cannot be effectively detected when passing through the blind area.
For another example, a vehicle-mounted laser radar is installed on the top of an autonomous vehicle, and point cloud data formed by laser beams with a vertical field angle of the laser radar larger than 0 ° is not used in an autonomous driving algorithm. Meanwhile, the insufficient vertical field resolution of the laser radar leads to the fact that the automatic driving algorithm cannot identify the object at a longer distance.
Therefore, how to effectively utilize the light beam deviating from the detection area and to divert the light beam to the detection dead zone or the area requiring extra resolution is a problem to be solved by those skilled in the art.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems, the utility model provides a laser radar device,
it includes:
the laser transceiving ranging unit comprises at least 1 laser transmitting module and at least 1 laser receiving module and is used for laser ranging;
the rotating motor unit is used for driving the laser receiving and transmitting ranging unit to rotate to form a first detection view field with a horizontal angle of alpha (alpha is more than or equal to 10 degrees and less than or equal to 360 degrees) and a vertical angle of beta (beta is more than or equal to 1 degree and less than or equal to 90 degrees);
and the visual field adjusting unit is used for performing reflection adjustment on a horizontal visual field with an angle of M (M is more than or equal to 1 degree and less than or equal to alpha) and a vertical visual field area with an angle of N (N is more than or equal to 10 degrees and less than or equal to beta) to form a second detection visual field.
Further, the laser radar apparatus further includes:
the shell unit is used for fixedly supporting the laser transceiving ranging unit, the rotating motor unit and the view field adjusting unit;
the first light-transmitting window is positioned on the shell unit and used for providing an optical path for a first detection view field with a horizontal angle alpha and a vertical angle beta;
the second light-passing window is positioned on the shell unit and used for providing an optical path for a second detection view field with a horizontal angle of M and a vertical angle of N;
preferably, the visual field adjusting unit is a reflector formed by glass or metal coating, and the reflectivity of the reflector is more than or equal to 80%.
The beneficial effects of the utility model reside in that:
the utility model provides a laser radar device reflects laser beam through visual field adjusting element, reflects the invalid data reflection of laser radar to the required range or other within range that produce beneficial effect of the required benefit of mending blind or required increase resolution ratio of laser radar to improve the utilization ratio of laser radar point cloud data.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a roadside lidar device according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of an on-vehicle laser radar device according to an embodiment of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, which, however, may be embodied in many different forms and are not limited to the embodiments described herein, which are provided for the purpose of thoroughly and completely disclosing the present invention and fully conveying the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments presented in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
Fig. 1 is a schematic structural diagram of a roadside lidar device according to an embodiment of the present invention. The roadside laser radar reflects a laser radar beam which strikes one side of a tree, a field or a house to a blind area range below the laser radar through the view field adjusting unit, and the purpose of blind area compensation is achieved.
As shown in fig. 1, a laser radar apparatus includes a laser transceiving ranging unit (11) including 32 laser transmitters and 32 laser receivers for performing laser ranging; specifically, the vertical field of view of the lidar is-2 ° to-32 °.
And the rotating motor unit (12) of the laser radar is used for driving the laser transceiving ranging unit to rotate to form a horizontal view field of 360 degrees.
Thereby forming a first detection visual field with a horizontal visual field of 360 degrees and a vertical visual field of-2 degrees to-32 degrees;
a visual field adjusting unit (13) which performs reflection adjustment on a horizontal visual field with an angle of 60 degrees and a vertical visual field area with an angle of 30 degrees to form a second detection visual field;
preferably, the visual field adjusting unit is a reflector formed of a metal plating film, and has a reflectivity of 90%.
The shell unit (14) is used for fixedly supporting the laser transceiving ranging unit, the rotating motor unit and the view field adjusting unit;
a first light-transmitting window (15) which is positioned on the shell unit and provides an optical path for a partial field of view which not only comprises a second detection field of view in the first detection field of view; a second light-passing window (16) embedded in the bottom shell and providing an optical path for the second detection field;
preferably, the first light-passing window (15) and the second light-passing window (16) are filter covers and made of PC materials.
Fig. 2 is a schematic structural diagram of an on-vehicle laser radar device according to an embodiment of the present invention. The laser radar reflects laser radar beams with vertical fields of view oriented to be above the horizontal direction to a specific area, for example, an area needing to be mainly identified through the field of view adjusting unit, so that the purposes of increasing the resolution of the specific area and improving the number of effective lines of the laser radar are achieved.
As shown in fig. 2, a laser radar apparatus includes a laser transceiving ranging unit (11) including 32 laser transmitters and 32 laser receivers for performing laser ranging; specifically, the vertical field of view of the lidar is + 8 ° to-16 °.
And the rotating motor unit (12) of the laser radar is used for driving the laser transceiving ranging unit to rotate to form a horizontal view field of 360 degrees.
Thereby forming a first detection visual field with a horizontal visual field of 360 DEG and a vertical visual field of +/-8 DEG to-16 DEG;
a visual field adjusting unit (13) for performing reflection adjustment on a horizontal visual field with an angle of 360 degrees and a vertical visual field area with an angle of 0-8 degrees to form a second detection visual field;
preferably, the visual field adjusting unit is a mirror formed of glass and has a reflectivity of 90%.
The shell unit (14) is used for fixedly supporting the laser transceiving ranging unit, the rotating motor unit and the view field adjusting unit;
a light-transmitting window (15) located on the housing unit and providing an optical path for the first and second detection fields of view;
preferably, the light-transmitting window (15) is a filter cover and is made of PC material.
The present invention has been explained by using specific embodiments, and the explanation of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (3)
1. A laser radar apparatus, comprising:
the laser receiving and transmitting ranging unit comprises at least 1 laser transmitting module and at least 1 laser receiving module and is used for carrying out laser ranging;
the rotating motor unit is used for driving the laser receiving and transmitting ranging unit to rotate to form a first detection view field with the horizontal angle of alpha being more than or equal to 10 degrees and less than or equal to 360 degrees, the vertical angle of beta being more than or equal to 1 degree and less than or equal to 90 degrees;
and the view field adjusting unit is used for performing reflection adjustment on a horizontal view field with an angle of M, M being more than or equal to 1 degree and less than or equal to alpha and a vertical view field area with an angle of N being more than or equal to 10 degrees and less than or equal to beta to form a second detection view field.
2. The lidar apparatus of claim 1, further comprising:
the shell unit is used for fixedly supporting the laser transceiving ranging unit, the rotating motor unit and the view field adjusting unit;
the first light-transmitting window is positioned on the shell unit and used for providing an optical path for a first detection view field with a horizontal angle alpha and a vertical angle beta;
and the second light-passing window is positioned on the shell unit and used for providing an optical path for a second detection view field with a horizontal angle M and a vertical angle N.
3. The lidar device of claim 1, wherein the field-of-view adjustment unit is a mirror formed of glass or metal coating, and a reflectivity of the mirror is greater than or equal to 80%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922359879.XU CN212364572U (en) | 2019-12-24 | 2019-12-24 | Laser radar device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922359879.XU CN212364572U (en) | 2019-12-24 | 2019-12-24 | Laser radar device |
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| Publication Number | Publication Date |
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| CN212364572U true CN212364572U (en) | 2021-01-15 |
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| CN201922359879.XU Active CN212364572U (en) | 2019-12-24 | 2019-12-24 | Laser radar device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113466829A (en) * | 2021-05-14 | 2021-10-01 | 图达通智能科技(苏州)有限公司 | Method for flexibly configuring field angle of existing laser radar through external reflector |
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2019
- 2019-12-24 CN CN201922359879.XU patent/CN212364572U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113466829A (en) * | 2021-05-14 | 2021-10-01 | 图达通智能科技(苏州)有限公司 | Method for flexibly configuring field angle of existing laser radar through external reflector |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20231206 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: Wanji space, building 12, Zhongguancun Software Park, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193 Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |