WO2018040003A1 - 三维激光雷达 - Google Patents

三维激光雷达 Download PDF

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Publication number
WO2018040003A1
WO2018040003A1 PCT/CN2016/097622 CN2016097622W WO2018040003A1 WO 2018040003 A1 WO2018040003 A1 WO 2018040003A1 CN 2016097622 W CN2016097622 W CN 2016097622W WO 2018040003 A1 WO2018040003 A1 WO 2018040003A1
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WIPO (PCT)
Prior art keywords
laser
dimensional
collimating
dimensional laser
laser radar
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PCT/CN2016/097622
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English (en)
French (fr)
Inventor
邱纯鑫
刘乐天
Original Assignee
深圳市速腾聚创科技有限公司
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to PCT/CN2016/097622 priority Critical patent/WO2018040003A1/zh
Publication of WO2018040003A1 publication Critical patent/WO2018040003A1/zh

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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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves

Definitions

  • the present invention relates to the field of laser detection technology, and in particular to a three-dimensional laser radar.
  • 3D laser radar mainly includes multi-line laser radar.
  • the multi-line laser radar consists of a single point ranging system and a rotating mechanism.
  • the rotating mechanism is complicated and easy to wear, which makes the product stability poor.
  • a three-dimensional laser radar comprising: a laser emission driving circuit for generating a laser signal; a laser emitter array coupled to the laser emission driving circuit; the laser emitter array comprising a plurality of laser emitters for targeting The measuring object emits the plurality of the laser signals; the plurality of laser emitters are disposed on the same plane; the laser ranging unit array comprises a plurality of laser ranging units for independently reflecting the laser signals reflected by the target measuring object Sampling; the plurality of laser ranging units are disposed on the same plane; the laser ranging unit is further configured to determine relative distance information between the target measurement object and the laser ranging unit according to the sampled laser signal And a control circuit coupled to the array of laser ranging units to receive relative distance information output by each of the laser ranging units; the control circuit for unifying the relative distance information into a world coordinate system to obtain The target measures three-dimensional laser ranging information of the object.
  • a plurality of laser emitters in the laser emitter array are disposed on the same plane, and a plurality of laser ranging units in the laser ranging unit array are also disposed in the same plane, thereby making the three-dimensional laser radar unnecessary
  • the distribution of obstacles in the space can be measured with rotation.
  • the structure is relatively simple and not easy to wear, and the product stability is better.
  • 1 is a block diagram showing the structure of a three-dimensional laser radar in an embodiment
  • FIG. 2 is a structural block diagram of a three-dimensional laser radar in another embodiment
  • Fig. 3 is an exploded perspective view of the three-dimensional laser radar in an embodiment.
  • FIG. 1 is a block diagram showing the structure of a three-dimensional laser radar 100 in an embodiment.
  • the three-dimensional laser radar 100 includes a laser emission driving circuit 110, a laser emitter array 120, a laser ranging unit array 130, and a control circuit 140.
  • the laser emission driving circuit 110 is electrically connected to the laser emitter array 120
  • the laser ranging unit array 130 is electrically connected to the control circuit 140.
  • the laser emission driving circuit 110 is for generating a laser signal. In the present embodiment, the laser emission driving circuit 110 also modulates the generated laser signal to output the modulated laser signal.
  • the laser emitter array 120 is for receiving a laser signal output from the laser emission driving circuit 110 and emitting the laser signal outward.
  • the laser emitter array 120 includes a plurality of laser emitters. Multiple laser emitters are placed at different locations on the same plane. Each laser emitter emits a laser signal outward.
  • the laser ranging unit array 130 is used for independently sampling the laser signal reflected by the target measuring object.
  • the laser ranging unit array 130 includes a plurality of laser ranging units. A plurality of laser ranging units are also disposed at different positions on one plane. In this embodiment, the laser ranging unit array 130 and the laser emitter array 120 are disposed on the same plane. In other embodiments, the laser ranging unit array 130 and the laser emitter array 120 may also be respectively disposed in two parallel on flat surface.
  • the laser ranging unit can determine the relative distance information between the target measurement object and the laser ranging unit according to the received laser signal, and output the information to the control circuit 140.
  • the laser ranging unit array 130 can also control the laser emission driving circuit 110 to control its output target laser signal.
  • the control circuit 140 receives the relative distance information output by the laser ranging unit array 130, and unifies the relative distance information into the world coordinate system to obtain the three-dimensional laser ranging information of the target measurement object, thereby completing the ranging process.
  • the process in which the control circuit 140 unifies the obtained relative distance information to the world coordinate system can be implemented by using an existing control technology, which is not described herein.
  • a plurality of laser emitters in the laser emitter array 120 are disposed on the same plane, and a plurality of laser ranging units in the laser ranging unit array 130 are also disposed in the same plane, thereby making the three-dimensional laser
  • the radar 100 can measure the distribution of space obstacles without rotation. Compared with the traditional 3D laser radar, it does not need to provide rotating parts, the structure is relatively simple and not easy to wear, and the product stability is better.
  • FIG. 2 is a block diagram showing the structure of a three-dimensional laser radar 200 in another embodiment
  • FIG. 3 is an exploded perspective view of the three-dimensional laser radar 200 in an embodiment.
  • the three-dimensional laser radar 200 includes a laser emission driving circuit 210, a laser emitter array 220, a laser emission collimating array 230, a laser receiving collimating device 240, a laser ranging unit array 250, a control circuit 260, a temperature sensor 270, and an output device 280. And a power supply unit 290.
  • the laser emission driving circuit 210, the laser emitter array 220, and the laser ranging unit array 250 are all disposed on the first circuit board 22; the control circuit 260, the temperature sensor 270, the output device 280, and the power supply device 290 are all disposed in the second On the circuit board 24.
  • the laser emitter array 220 includes a plurality of laser emitters 222. A plurality of laser emitters 222 are circumferentially distributed at the periphery of the laser ranging unit array 250.
  • the laser ranging unit array 250 then includes a plurality of laser ranging units (not shown).
  • the laser ranging unit array 250 is chip level integrated. The number of laser emitters 222 and the number of laser ranging units in the laser ranging unit array 250 can be adjusted as needed.
  • the laser emitter array 220 is provided with eight laser emitters 222.
  • the number of the laser emitters 222 and the laser ranging unit located in the plane of the first circuit board 22 is adjustable, so that the measured point cloud density is controllable, and thus different settings can be made according to different situations and different precision requirements.
  • a laser emission collimating array 230 is disposed on the exiting light side of the laser emitter array 220 for collimating the laser signals emitted by the laser emitter array 220.
  • the laser emission collimation array 230 includes a plurality of independent emission collimation units 232. Each of the emission collimation units 232 is disposed corresponding to one of the laser emitters 222 to collimate the laser signals emitted by the laser emitters 222.
  • the emission collimation unit 232 can be a collimating wafer. The collimating wafer is parallel to the plane in which the laser emitter array 220 is located.
  • the plurality of emission collimating units 232 may also be fixed by a fixing device according to a preset relative positional relationship to facilitate installation.
  • the laser receiving collimating device 240 is disposed on the incident light side of the laser ranging unit array 250 for focusing the laser signal reflected by the target measuring object for feeding into the laser ranging unit array 250 for sampling.
  • the laser receiving collimation device 240 includes a lens barrel 242 and a collimating wafer 244.
  • a collimating wafer 244 is secured within the barrel 242 for focusing the reflected laser signal.
  • the collimating wafer 244 may be plural and spaced apart in the direction of the incident light.
  • the lens barrel 242 is tapered in the direction of the incident light.
  • the collimating wafer 244 is disposed at the shoulder position of the lens barrel 242.
  • the control circuit 260 can also control the sampling process of the laser ranging unit array 250 so that it performs sampling according to the setting of the control circuit 260, and sequentially collects and completes the ranging operation.
  • the control circuit 260 unifies the received relative distance information to the world coordinate system to obtain three-dimensional laser ranging information, and fuses the obtained data information into one data set.
  • the three-dimensional laser radar 200 further includes a temperature sensor 270.
  • the temperature sensor 270 is used to sample the temperature of the three-dimensional laser radar 200 and obtain a temperature signal, which is then output to the control circuit 260.
  • the control circuit 260 corrects the obtained three-dimensional laser ranging information based on the temperature signal.
  • a storage unit is provided in the control circuit 260.
  • the storage unit is used to store a temperature correction table.
  • the correction parameters corresponding to different temperatures are stored in the temperature correction table. Therefore, the control circuit 260 searches the temperature correction table for the corresponding correction parameter according to the temperature signal collected by the temperature sensor 270, thereby correcting the three-dimensional laser ranging information.
  • the control circuit 260 outputs the corrected three-dimensional laser ranging information to the external device through the output device 280.
  • the output device 280 can be a wireless communication module or a wired output port, or a wireless communication module and a wired output port can be simultaneously set.
  • the output device 280 can be a USB interface (USB 2.0 and USB 3.0, etc.), WIFI module, Bluetooth module, 2.4G wireless module, 5G wireless module and Ethernet port.
  • the power supply unit 290 is used to supply operating power to the three-dimensional laser radar 200.
  • the power supply device 290 can be a built-in independently replaceable power supply module, or can be a power supply module including a rechargeable medium.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种三维激光雷达(100、200)，包括：激光发射驱动电路(110、210)，用于生成激光信号；激光发射器阵列(120、220)，包括多个激光发射器(222)以发射多路激光信号；多个激光发射器(222)设置在同一平面；激光测距单元阵列(130、250)，包括多个激光测距单元以对目标测量物体反射回来的激光信号进行独立采样；多个激光测距单元设置在同一平面上，激光测距单元还用于根据采样到的激光信号确定目标测量物体与激光测距单元之间的相对距离信息；以及控制电路(140、260)，用于接收各激光测距单元输出的相对距离信息，并将相对距离信息统一到世界坐标系中以获得目标测量物体的三维激光测距信息。

Description

三维激光雷达
【技术领域】
本发明涉及激光探测技术领域，特别是涉及一种三维激光雷达。
【背景技术】
三维激光雷达主要包括多线激光雷达。多线激光雷达由单点测距系统和旋转机构组成。旋转机构较为复杂，容易磨损，从而使得产品稳定性能较差。
【发明内容】
基于此，有必要提供一种结构简单且产品稳定性能较好的三维激光雷达。
一种三维激光雷达，包括：激光发射驱动电路，用于生成激光信号；激光发射器阵列，与所述激光发射驱动电路连接；所述激光发射器阵列包括多个激光发射器，用于对目标测量物体发射多路所述激光信号；所述多个激光发射器设置在同一平面上；激光测距单元阵列，包括多个激光测距单元，用于对目标测量物体反射回来的激光信号进行独立采样；所述多个激光测距单元设置在同一平面上；所述激光测距单元还用于根据采样到的激光信号确定所述目标测量物体与所述激光测距单元之间的相对距离信息；以及控制电路，与所述激光测距单元阵列连接，以接收各所述激光测距单元输出的相对距离信息；所述控制电路用于将所述相对距离信息统一到世界坐标系中以获得所述目标测量物体的三维激光测距信息。
上述三维激光雷达，激光发射器阵列中的多个激光发射器设置在同一平面，且激光测距单元阵列中的多个激光测距单元同样设置在同一平面内，从而使得该三维激光雷达在无需旋转的情况下即可测量空间中障碍物的分布。相对于传统的三维激光雷达而言，其无需设置旋转部件，结构相对简单且不容易磨损，产品稳定性能较好。
【附图说明】
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为一实施例中的三维激光雷达的结构框图；
图2为另一实施例中的三维激光雷达的结构框图；
图3为一实施例中的三维激光雷达的分解立体图。
【具体实施方式】
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
图1为一实施例中的三维激光雷达100的结构框图。该三维激光雷达100包括激光发射驱动电路110、激光发射器阵列120、激光测距单元阵列130以及控制电路140。其中，激光发射驱动电路110与激光发射器阵列120电性连接，激光测距单元阵列130与控制电路140电性连接。
激光发射驱动电路110用于生成激光信号。在本实施例中，激光发射驱动电路110还会对生成的激光信号进行调制，以输出调制好的激光信号。
激光发射器阵列120用于接收激光发射驱动电路110输出的激光信号，并向外发射该激光信号。激光发射器阵列120包括多个激光发射器。多个激光发射器设置在同一平面的不同位置处。每个激光发射器向外发射一路激光信号。
激光测距单元阵列130用于对目标测量物体反射回来的激光信号进行独立采样。激光测距单元阵列130包括多个激光测距单元。多个激光测距单元同样设置在一个平面的不同位置处。在本实施例中，激光测距单元阵列130和激光发射器阵列120设置在同一平面，在其他的实施例中，激光测距单元阵列130和激光发射器阵列120也可以分别设置在两平行的平面上。激光测距单元可以根据接收到的激光信号确定目标测量物体与激光测距单元之间的相对距离信息，并输出给控制电路140。激光测距单元阵列130还可以对激光发射驱动电路110进行控制，以控制其输出目标激光信号。
控制电路140接收激光测距单元阵列130输出的相对距离信息，并将该相对距离信息统一到世界坐标系中以获得目标测量物体的三维激光测距信息，从而完成测距过程。控制电路140将获得的相对距离信息统一到世界坐标系的过程可以采用现有控制技术实现，此处不赘述。
上述三维激光雷达100，激光发射器阵列120中的多个激光发射器设置在同一平面，且激光测距单元阵列130中的多个激光测距单元同样设置在同一平面内，从而使得该三维激光雷达100在无需旋转的情况下即可测量空间障碍物的分布。相对于传统的三维激光雷达而言，其无需设置旋转部件，结构相对简单且不容易磨损，产品稳定性能较好。
图2为另一实施例中的三维激光雷达200的结构框图，图3一实施例中的三维激光雷达200的分解立体图。该三维激光雷达200包括激光发射驱动电路210、激光发射器阵列220、激光发射准直阵列230、激光接收准直装置240、激光测距单元阵列250、控制电路260、温度传感器270、输出装置280以及电源装置290。其中，激光发射驱动电路210、激光发射器阵列220和激光测距单元阵列250均设置在第一电路板22上；控制电路260、温度传感器270、输出装置280以及电源装置290均设置在第二电路板24上。通过将光学系统和控制电路系统分别设置在不同的电路板上，便于减少相互之间的干扰，提高系统稳定性。
激光发射器阵列220包括多个激光发射器222。多个激光发射器222呈环状间隔分布在激光测距单元阵列250的外围。激光测距单元阵列250则包括多个激光测距单元（图中未示）。激光测距单元阵列250为芯片级集成。激光发射器222的数量以及激光测距单元阵列250中的激光测距单元的数量可以根据需要进行调节。在本实施例中，激光发射器阵列220设置有8个激光发射器222。位于第一电路板22平面内的激光发射器222以及激光测距单元的数量可调，从而使得测量得到的点云密度可控，进而可以根据不同情况、不同精度需求进行不同的设置。
激光发射准直阵列230设置在激光发射器阵列220的出射光侧，用于对激光发射器阵列220发出的激光信号进行准直。激光发射准直阵列230包括多个独立的发射准直单元232。每个发射准直单元232与一个激光发射器222对应设置，从而对该激光发射器222发射的激光信号进行准直。在本实施例中，发射准直单元232可以为准直晶片。准直晶片平行于激光发射器阵列220所在的平面。在其他的实施例中，多个发射准直单元232也可以通过固定装置按照预设相对位置关系进行固定形成一个整体，以便于安装。
激光接收准直装置240设置在激光测距单元阵列250的入射光侧，用于对目标测量物体反射回来的激光信号进行聚焦，以送入至激光测距单元阵列250中进行采样。激光接收准直装置240包括镜筒242和准直晶片244。准直晶片244固定在镜筒242内，用于对反射回来的激光信号进行聚焦。准直晶片244可以为多个，并沿入射光方向间隔设置。在本实施例中，镜筒242沿入射光方向呈渐缩的阶梯状。准直晶片244则设置在镜筒242的肩阶位置处。通过将激光接收准直装置240设置为渐缩状，有利于对反射回来的激光信号进行采集。
在本实施例中，控制电路260还可以对激光测距单元阵列250的采样过程进行控制，以使得其按照控制电路260的设置进行采样，依次采集并完成测距工作。控制电路260将接收到的相对距离信息统一到世界坐标系以得到三维激光测距信息，并将得到的数据信息融合成一个数据集。在本实施例中，三维激光雷达200还包括温度传感器270。温度传感器270用于对三维激光雷达200的温度进行采样并得到温度信号后输出给控制电路260。控制电路260根据该温度信号对得到的三维激光测距信息进行校正。具体地，控制电路260内设置有存储单元。存储单元用于存储温度校正表。温度校正表中存储对不同温度对应的校正参数。因此，控制电路260根据温度传感器270采集到的温度信号去温度校正表中查找对应的校正参数，从而对三维激光测距信息进行校正。
控制电路260将校正后的三维激光测距信息通过输出装置280输出给外部设备。输出装置280可以为无线通信模块或者有线输出端口，也可以同时设置无线通信模块和有线输出端口。例如，输出装置280可以为USB接口（USB 2.0以及USB 3.0等）、WIFI模块、蓝牙模块、2.4G无线模块、5G无线模块以及以太网端口等。
电源装置290用于向三维激光雷达200提供工作电源。电源装置290可以为内置的独立可更换的电源模块，也可以为包括可充电介质的电源模块。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (16)

  1. 一种三维激光雷达，包括：
    激光发射驱动电路，用于生成激光信号；
    激光发射器阵列，与所述激光发射驱动电路连接；所述激光发射器阵列包括多个激光发射器，用于对目标测量物体发射多路所述激光信号；所述多个激光发射器设置在同一平面上；
    激光测距单元阵列，包括多个激光测距单元，用于对目标测量物体反射回来的激光信号进行独立采样；所述多个激光测距单元设置在同一平面上；所述激光测距单元还用于根据采样到的激光信号确定所述目标测量物体与所述激光测距单元之间的相对距离信息；以及
    控制电路，与所述激光测距单元阵列连接，以接收各所述激光测距单元输出的相对距离信息；所述控制电路用于将所述相对距离信息统一到世界坐标系中以获得所述目标测量物体的三维激光测距信息。
  2. 根据权利要求1所述的三维激光雷达，其特征在于，所述多个激光发射器和所述多个激光测距单元设置在同一平面上。
  3. 根据权利要求2所述的三维激光雷达，其特征在于，所述多个激光发射器间隔分布在所述多个激光测距单元的外围。
  4. 根据权利要求3所述的三维激光雷达，其特征在于，所述多个激光发射器呈环形等间隔设置。
  5. 根据权利要求1所述的三维激光雷达，其特征在于，还包括：
    激光发射准直阵列，设置在所述激光发射器阵列的出射光侧，用于对所述激光发射器阵列发射的激光信号进行准直；以及
    激光接收准直装置，设置在所述激光测距单元阵列的入射光侧，用于对所述目标测量物体反射回来的激光信号进行聚焦。
  6. 根据权利要求5所述的三维激光雷达，其特征在于，所述激光发射准直阵列包括多个独立的发射准直单元；每个所述发射准直单元与一个所述激光发射器对应设置。
  7. 根据权利要求6所述的三维激光雷达，其特征在于，所述发射准直单元包括平行于所述激光发射器阵列所在平面的准直晶片。
  8. 根据权利要求5所述的三维激光雷达，其特征在于，所述激光接收准直装置包括镜筒以及固定在所述镜筒上用于对反射回来的激光信号进行聚焦的准直晶片。
  9. 根据权利要求8所述的三维激光雷达，其特征在于，所述准直晶片为多个且沿入射光方向间隔设置。
  10. 根据权利要求9所述的三维激光雷达，其特征在于，所述镜筒沿所述入射光方向呈渐缩的阶梯状，所述准直晶片设置在所述镜筒的肩阶位置处。
  11. 根据权利要求1所述的三维激光雷达，其特征在于，还包括第一电路板和第二电路板；所述激光发射驱动电路、所述激光发射器阵列和所述激光测距单元阵列均设置在所述第一电路板上；所述控制电路设置在所述第二电路板上。
  12. 根据权利要求1所述的三维激光雷达，其特征在于，还包括与所述控制电路连接的温度传感器；所述温度传感器用于采集所述三维激光雷达的温度信号；所述控制电路还用于根据所述温度信号对所述三维激光测距信息进行校正后输出校正后的三维激光测距信息。
  13. 根据权利要求12所述的三维激光雷达，其特征在于，所述控制电路还包括存储单元；所述存储单元用于存储温度校正表；所述控制电路用于根据所述温度信号从所述温度校正表中查找对应的校正参数以对所述三维激光测距信息进行校正。
  14. 根据权利要求1所述的三维激光雷达，其特征在于，还包括输出装置；所述输出装置与所述控制电路连接，且用于与外部设备连接；所述输出装置用于在所述控制电路的控制下将所述三维激光测距信息输出给所述外部设备。
  15. 根据权利要求14所述的三维激光雷达，其特征在于，所述输出装置包括无线通信模块和有线输出端口中的至少一种。
  16. 根据权利要求1所述的三维激光雷达，其特征在于，还包括电源装置，所述电源装置用于向所述三维激光雷达提供工作电源。
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