FR3075713B1 - PLATE CORRECTION DEVICE OF A MOTOR VEHICLE LIDAR - Google Patents

PLATE CORRECTION DEVICE OF A MOTOR VEHICLE LIDAR Download PDF

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Publication number
FR3075713B1
FR3075713B1 FR1762823A FR1762823A FR3075713B1 FR 3075713 B1 FR3075713 B1 FR 3075713B1 FR 1762823 A FR1762823 A FR 1762823A FR 1762823 A FR1762823 A FR 1762823A FR 3075713 B1 FR3075713 B1 FR 3075713B1
Authority
FR
France
Prior art keywords
adjustment
lidar
motor vehicle
roll
pitch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1762823A
Other languages
French (fr)
Other versions
FR3075713A1 (en
Inventor
Fabien Clain
Alexandre Moretti
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Renault SAS
Nissan Motor Co Ltd
Original Assignee
Renault SAS
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault SAS, Nissan Motor Co Ltd filed Critical Renault SAS
Priority to FR1762823A priority Critical patent/FR3075713B1/en
Publication of FR3075713A1 publication Critical patent/FR3075713A1/en
Application granted granted Critical
Publication of FR3075713B1 publication Critical patent/FR3075713B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head

Abstract

Système de correction automatique d'assiette pour LIDAR de véhicule automobile et particulièrement véhicule automobile autonome constitué d'une embase comportant une coupelle dans laquelle est fixé le LIDAR, d'un plateau de fixation permettant de maintenir le dispositif sur le pavillon du véhicule et d'une croix de réglage. Cette dernière permet, via une première liaison pivot avec l'embase, un réglage du tangage et, via une seconde liaison pivot avec le plateau de fixation, un réglage du roulis. L'invention concerne également l'asservissement de ce dispositif. Le système de correction d'assiette est alors couplé à deux servomoteurs permettant le pilotage des deux liaisons pivot. Les erreurs de positionnement angulaire en roulis et tangage sont captées par une matrice inertielle solidaire de l'embase puis sont traitées par un calculateur. Les consignes de roulis et de tangage sont ensuite envoyées depuis le calculateur vers les deux servomoteurs qui corrigent alors l'assiette du LIDAR en agissant sur les vis de réglage. Selon un mode de réalisation non-asservi, un système de blocage en position, distinct du système de réglage, permet d'éviter tout déréglage intempestif en cours d'utilisation. L'invention permet ainsi de maintenir le LIDAR horizontal afin de lui assurer un fonctionnement optimal.Automatic attitude correction system for LIDAR of a motor vehicle and particularly an autonomous motor vehicle consisting of a base comprising a cup in which the LIDAR is fixed, a fixing plate making it possible to maintain the device on the roof of the vehicle and d 'an adjustment cross. The latter allows, via a first pivot link with the base, a pitch adjustment and, via a second pivot link with the fixing plate, a roll adjustment. The invention also relates to the control of this device. The attitude correction system is then coupled to two servomotors allowing the control of the two pivot links. The angular positioning errors in roll and pitch are captured by an inertial matrix secured to the base then are processed by a computer. The roll and pitch instructions are then sent from the computer to the two servomotors which then correct the attitude of the LIDAR by acting on the adjustment screws. According to a non-controlled embodiment, a locking system in position, distinct from the adjustment system, makes it possible to avoid any untimely adjustment in use. The invention thus makes it possible to keep the LIDAR horizontal in order to ensure that it operates optimally.

FR1762823A 2017-12-21 2017-12-21 PLATE CORRECTION DEVICE OF A MOTOR VEHICLE LIDAR Active FR3075713B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1762823A FR3075713B1 (en) 2017-12-21 2017-12-21 PLATE CORRECTION DEVICE OF A MOTOR VEHICLE LIDAR

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1762823 2017-12-21
FR1762823A FR3075713B1 (en) 2017-12-21 2017-12-21 PLATE CORRECTION DEVICE OF A MOTOR VEHICLE LIDAR

Publications (2)

Publication Number Publication Date
FR3075713A1 FR3075713A1 (en) 2019-06-28
FR3075713B1 true FR3075713B1 (en) 2020-01-17

Family

ID=61655932

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1762823A Active FR3075713B1 (en) 2017-12-21 2017-12-21 PLATE CORRECTION DEVICE OF A MOTOR VEHICLE LIDAR

Country Status (1)

Country Link
FR (1) FR3075713B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113119870B (en) * 2019-12-31 2022-09-23 北京超星未来科技有限公司 Angle adjusting device of adjustable laser radar angle

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6758623B2 (en) * 2001-12-07 2004-07-06 Mts Systems Corporation High axial stiffness swivel joint
US8162273B2 (en) * 2007-06-15 2012-04-24 Ronald Paul Jones Adjustable support structure
JP2015502540A (en) * 2011-11-29 2015-01-22 エフライダーＦｌｉｄａｒ Method for measuring motion stable LIDAR and wind speed
FR3007499B1 (en) * 2013-06-21 2015-07-17 Cedrat Technologies TRIPOD MECHANISM WITH PIEZOELECTRIC ACTUATORS

Also Published As

Publication number Publication date
FR3075713A1 (en) 2019-06-28

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