WO2018223821A1 - 多线激光雷达 - Google Patents

多线激光雷达 Download PDF

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Publication number
WO2018223821A1
WO2018223821A1 PCT/CN2018/087045 CN2018087045W WO2018223821A1 WO 2018223821 A1 WO2018223821 A1 WO 2018223821A1 CN 2018087045 W CN2018087045 W CN 2018087045W WO 2018223821 A1 WO2018223821 A1 WO 2018223821A1
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WIPO (PCT)
Prior art keywords
laser
line
module
ranging
rotating portion
Prior art date
Application number
PCT/CN2018/087045
Other languages
English (en)
French (fr)
Inventor
王瑞
李娜
向少卿
李一帆
Original Assignee
上海禾赛光电科技有限公司
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
Priority claimed from CN201720656433.1U external-priority patent/CN206790709U/zh
Priority claimed from CN201720713800.7U external-priority patent/CN206773192U/zh
Priority claimed from CN201711312298.XA external-priority patent/CN108132472A/zh
Application filed by 上海禾赛光电科技有限公司 filed Critical 上海禾赛光电科技有限公司
Priority to EP18814389.5A priority Critical patent/EP3637145A4/en
Priority to KR1020207000352A priority patent/KR102616109B1/ko
Priority to KR1020237043481A priority patent/KR102641651B1/ko
Priority to US16/620,121 priority patent/US11543503B2/en
Priority to JP2019568157A priority patent/JP7159224B2/ja
Publication of WO2018223821A1 publication Critical patent/WO2018223821A1/zh
Priority to US16/784,155 priority patent/US10845472B2/en

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    • 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
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • 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
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G01J2001/4446—Type of detector
    • G01J2001/446—Photodiode

Definitions

  • the invention relates to a multi-line laser radar.
  • the single-line laser radar has only one scanning laser in the longitudinal direction, and the two-dimensional scene sensing is realized by changing the angle of the scanning laser in the horizontal plane.
  • a single-line lidar can sense a scene in a plane or surface scanned by a scanned laser.
  • a single-line laser radar is to be used to realize the perception of a three-dimensional scene, it is necessary to obtain a three-dimensional effect by splicing two-dimensional images of each frame by moving a single-line laser radar.
  • multi-line laser radar In order to obtain as much as possible the three-dimensional information of the scanned area, multi-line laser radar is currently used, which can cover more vertical field of view.
  • the beam angle distribution of multi-line laser radars on the market adopts a method of dividing the angles within a certain angle range (ie, the vertical angular resolution is a determined value), such as Velodyne's 16-line, 32-line and 64-line laser radars, which are vertical.
  • the angular resolution is 2 degrees, 1.33 degrees, and 0.43 degrees, respectively, and Ibeo's 4-line, 8-line lidar has a vertical angular resolution of 0.8 degrees.
  • on-board lidar The specific application scenarios of on-board lidar are mainly to detect pedestrians and vehicles on the ground. This means that if the field of view is equally divided up and down in the vertical direction, the upwardly emitted laser beam is largely wasted.
  • the angular interval is too large, and the target cannot be distinguished in the distance range (such as 40 meters), for example, according to the total vertical field angle of 32°, 2° interval (vertical resolution) Rate), 16 lines are required, then the laser beam spacing is about 1.4 meters at a distance of 40m, and it is easy to miss a pedestrian.
  • the laser radar can be divided into a coaxial system and a non-coaxial system.
  • the laser pulse required to be emitted is parallel to the optical axis of the receiving telescope.
  • the existing laser radar system due to the deflection of the mirror, the working environment temperature of the semiconductor laser, the vibration of the platform, the replacement of the wavelength, the service life of the semiconductor laser itself, etc., it is difficult for the non-coaxial lidar system to ensure the emission of the beam. It is always coaxial or parallel with the optical axis of the receiving telescope.
  • the existing laser radar system uses a one-dimensional galvanometer to achieve spatial scanning, which cannot meet the laser radar's demand for scanning field of view.
  • controlling the rotation of the galvanometer through the mechanical structure not only increases the maintenance difficulty but also limits the measurement accuracy.
  • the technical problem to be solved by the present invention is to provide a multi-line laser radar capable of measuring the distance of obstacles in different directions, generating a three-dimensional point cloud, directly realizing the perception of the three-dimensional scene, and being able to be controlled by the laser radar line. At the same time as the cost of the number, more precise detection of the surrounding areas of focus.
  • the multi-line laser radar comprises: a multi-line ranging laser emitting module, the multi-line ranging laser emitting module comprises one or more lasers; a multi-line ranging laser receiving module, the multi-line ranging laser receiving module comprises one or more a photodetector, and is designed to detect a laser echo that is incident on the obstacle by the laser emitting module and that is diffusely reflected on the obstacle; a ranging information solving module, the ranging information solving module and The multi-line ranging laser emitting module and the multi-line ranging laser receiving module have an electrical signal connection, and are designed to receive the laser by calculating the multi-line ranging laser emitting module to emit the measuring laser and the multi-line ranging laser receiving module The time difference between the echoes calculates the distance of the obstacles from the respective directions; and the control circuit and the optical system corresponding to the multi-line ranging laser emitting module and the multi-line ranging laser receiving module.
  • the multi-line ranging laser emitting module emits a multi-line ranging laser having a non-uniform vertical angular resolution. That is to say, the angular difference between adjacent measuring lasers in the vertical direction is not the same.
  • the non-uniform vertical angular resolution means that the multi-line ranging laser has different density distributions for different heights around the center, and can provide more ranging laser beams to the focused ones than the evenly spaced ranging lasers. Height area.
  • the number of lasers and photodetectors corresponds to the number of lines of the multi-line lidar.
  • the control circuit comprises a time-to-digital converter
  • the ranging information solving module is designed to be adapted to measure the distance at each line by comparing the multi-line ranging laser emitting module Generating the signal sent to the time-to-digital converter during laser emission and the time difference of the multi-line ranging laser receiving module transmitting the time-to-digital converter signal when detecting the returned laser light to infer the multi-line ranging laser emitting module
  • the time difference between the emission measurement laser and the multi-line ranging laser receiving module receiving the laser echo is calculated, thereby calculating the distance of the obstacle in the direction.
  • the control circuit comprises an analog to digital converter that collects and digitizes the multi-line ranging laser in real time.
  • a current waveform of the transmitting module and the multi-line ranging laser receiving module the ranging information solving module being designed to be adapted to compare a current waveform of the multi-line ranging laser emitting module with the multi-line ranging Determining a time difference between the multi-line ranging laser emitting module transmitting the measuring laser and the multi-line ranging laser receiving module receiving the laser echo, and calculating the obstacle in the direction, the time difference of the current waveform of the laser receiving module is inferred The distance of the object.
  • the multi-line ranging laser emitting module is designed to be adapted to have a more sparse vertical angle resolution in the upper and lower regions within a vertical field of view angle than in the intermediate region.
  • the multi-line ranging laser is emitted in a rate manner. This allows the multi-line ranging laser to be distributed densely in the horizontal line and in the vicinity, and sparse in other directions.
  • This non-uniform vertical angular resolution distribution of the emitted multi-line ranging laser enables a higher vertical angular resolution at a lower number of harnesses, thereby achieving cost savings and a reduction in device volume.
  • the obstacles such as pedestrians, vehicles, etc.
  • the laser beam distribution is more scientific and reasonable in the real traffic environment. From another point of view, while increasing the number of harnesses in the area of focus, the number of harnesses in non-key areas of interest is correspondingly reduced.
  • This arrangement has the advantage of controlling the total number of harnesses, thus ensuring The realization of high scanning frequency, taking into account the requirements of high horizontal angular resolution and high scanning frequency, makes the scanning result more accurate.
  • the multi-line ranging laser emitted by the multi-line ranging laser emitting module is formed by a measuring laser that changes in angle in the vertical direction with time.
  • the multi-line ranging laser emitted by the multi-line ranging laser emitting module is formed by a plurality of measuring lasers whose angles change in the vertical direction with time.
  • the multi-line laser radar further comprises a scanning module for varying the angle of the measuring laser in the vertical direction over time.
  • the measuring laser whose angle changes in the vertical direction with time can be deflected, for example, by a one-dimensional or two-dimensional galvanometer to a corresponding angle in the vertical direction, and the galvanometer is used to change the angle of the measuring laser in the vertical direction with time.
  • a light splitting module is arranged in the transmitting and receiving optical paths of the multi-line laser radar, and the light splitting module is arranged on the same axis as the multi-line ranging laser emitting module and the scanning module, wherein the light splitting module is adapted to The measurement laser light emitted by the multi-line ranging laser emission module is transmitted to the scanning module and the obstacle reflection laser light from the scanning module is reflected to the multi-line ranging laser receiving module.
  • the multi-line laser radar further includes: a rotating portion, the multi-line ranging laser emitting module and the multi-line ranging laser receiving module are fixedly disposed on the rotating portion a fixing portion, the fixing portion is provided with an external communication interface of the multi-line laser radar and an external power supply interface, and the power transmission system supplies external power input through the external power supply interface to the rotating portion; the rotating mechanism The rotating mechanism is designed to drive the rotating portion to rotate relative to the fixed portion, and has a rotation angle feedback device designed to provide a rotation angle of the rotating mechanism, thereby obtaining Each beam measures the angle of the laser in the horizontal direction; and a communication system and a power transmission system between the fixed portion and the rotating portion.
  • the fixed part is used for fixing the connection structure of the multi-line laser radar and the outside, and the external communication interface provided by the fixed part is used for receiving external commands, and transmitting the point cloud information obtained by scanning the multi-line laser radar to the outside, and the The external power supply interface is used to receive external power input.
  • the rotating portion can be rotated about a fixed, vertical axis, which can be mounted either on the fixed portion or on the rotating portion. With the rotation of the rotating portion, the multi-line ranging laser emitting module and the multi-line ranging laser receiving module realize measurement in different angular directions in the horizontal direction.
  • electrical energy is transmitted from the transmitting coil to the receiving coil by means of electromagnetic induction, at which time the fixed portion is on the fixed portion and the rotating portion.
  • a transmitting coil and a corresponding modulation circuit are disposed, and the rotating portion is provided with a receiving coil and a corresponding modulation circuit.
  • the fixing portion and the rotating portion are connected by a slip ring, the sliding ring comprising a relative rotation and a fixed connection with the fixing portion and the rotating portion, respectively.
  • the conductive path serves as a power transmission system between the fixed portion and the rotating portion.
  • the communication system between the fixed portion and the rotating portion includes the two portions of the slip ring The signal path between.
  • the communication system between the fixing portion and the rotating portion includes a light emitting diode provided on the fixing portion and a photodiode provided on the rotating portion, and a light emitting diode provided on the rotating portion and a photodiode disposed on the fixing portion, wherein the light emitting diode disposed on the fixing portion converts an electrical signal to be transmitted into an optical signal, and the optical signal is captured and converted by a photodiode provided on the rotating portion
  • the light-emitting diode provided on the rotating portion converts an electrical signal to be transmitted into an optical signal, which is captured by a photodiode provided on the fixed portion and converted into an electrical signal.
  • the communication system between the fixed portion and the rotating portion may include a fixed portion and a rotation, respectively.
  • Wireless transmitting and receiving devices on the department such as radio, WiFi or Bluetooth.
  • the multi-line ranging laser emitting module comprises a plurality of fixedly arranged rotating portions. Lasers, the plurality of lasers being divided into groups, each group of lasers being equally spaced in a vertical direction, but the spacing of the lasers of each group may be the same or different from each other as long as the total arrangement effect of each group of lasers causes the emission
  • the multi-line ranging laser has a vertical angle resolution distribution that is more focused on the area of focus.
  • the above-mentioned area of focus is an intermediate area within a range of vertical field of view of the multi-line ranging laser emitting module. That is to say, more than the laser emits the ranging laser to the intermediate portion of the angular range as compared with the upper and lower regions within the range of the vertical field of view of the multi-line ranging laser emitting module.
  • the lasers are respectively fixedly disposed on a plurality of carriers located in the rotating portion, the carrier being arranged such that the multi-line ranging laser emitting module Compared to the upper and lower regions within the vertical field of view, there are more lasers that emit ranging lasers to intermediate regions within the vertical field of view.
  • the lasers may also be distributed at a uniform pitch on the carrier or at a non-uniform spacing. On each carrier, the spacing between the lasers can be the same, and different laser spacings can be designed on each carrier.
  • the vertical plane in which the ranging laser is emitted by the multi-line ranging laser emitting module and the ranging laser received by the multi-line ranging laser receiving module is symmetrical about a vertical plane passing through the center of rotation of the rotating portion.
  • FIG. 1 is a schematic structural view of a multi-line laser radar according to the present invention.
  • FIG. 2 schematically shows a plurality of lasers fixedly arranged in a rotating portion of a multi-line ranging laser emitting module, wherein more lasers emit ranging lasers to an intermediate region than upper and lower regions;
  • Figure 3 shows schematically the case where the laser is arranged on a plurality of carriers, wherein more ranging lasers are emitted to the intermediate region by the superposition of the number of carriers in the intermediate region;
  • Figure 4 shows schematically another example of a laser arranged on a plurality of carriers, each carrier having a plurality of sets of lasers, with more sets of lasers superimposed in the intermediate region;
  • FIG. 5 is a view schematically showing an embodiment of a multi-line laser radar according to the present invention in which a multi-line ranging laser emitting module, a beam splitting module, and a scanning module are arranged on one axis;
  • Fig. 6 schematically shows a multi-line ranging laser emitting module and a multi-line ranging laser receiving module symmetrically arranged with respect to a vertical plane passing through a center of rotation of the rotating portion.
  • Fig. 1 shows a multi-line laser radar 1 according to a first embodiment of the invention.
  • the multi-line laser radar 1 includes a fixed portion 210 and a rotating portion 240, and a rotating mechanism 250 for driving the rotating portion 240 to rotate relative to the fixed portion 210.
  • a communication system and a power transmission system are further provided between the fixed portion 210 and the rotating portion 240.
  • the body of the fixing portion 210 is a machined metal casing.
  • the center of the fixing portion 210 has a shaft extending through the entire multi-line laser radar 1 in a vertical direction.
  • the rotating portion (the rotating portion 240, the communication portion / the power transmission system between the rotating portion, and the like) in the multi-line laser radar system is mounted on this shaft.
  • a fixed circuit board is installed in the fixed part for converting a wide range of external input voltage (such as 7V to 32V) into the voltage required by the multi-line laser radar system (such as 12V, 5V, 3, 3V, etc.).
  • the externally sent commands, GPS time synchronization signals, etc. are converted into a format accepted by the multi-line lidar internal circuitry, and the point cloud information obtained by the lidar scanning is converted into an externally received format output.
  • the external data interface of the laser radar can be Ethernet, CAN bus, USB, and the like.
  • the body of the rotating portion 240 is also made of a machined metal casing.
  • the rotating portion 240 is mounted on the rotating shaft of the aforementioned fixing portion by one or a plurality of bearings so as to be rotatable about the rotating shaft.
  • the fixing portion 210 is configured to fix the connection structure of the multi-line laser radar 1 and the outside, and the external communication interface 220 disposed by the fixing portion 210 is configured to receive an external command and transmit the point cloud information scanned by the multi-line laser radar 1 to the outside.
  • the external power supply interface 230 is configured to receive external power input.
  • the external electric energy is input from the external power supply interface 230 to the fixed portion, and is supplied to the rotating portion 240 through the power transmission system between the fixed portion 210 and the rotating portion 240. Communication and power transfer between the fixed portion 210 and the rotating portion 240 is achieved by a communication system and a power transfer system therebetween.
  • the most important problem that needs to be solved between the communication system and the power transmission system between the fixed portion 210 and the rotating portion 240 is reliable data transmission and power transmission between the two active connection structures.
  • communication and power transmission are respectively achieved by a slip ring, the stator of the slip ring is connected to the fixed portion 210 of the laser radar, and the rotor of the slip ring is connected to the rotating portion 240 of the laser radar.
  • the signal is transmitted through the signal path on the slip ring, and the electrical energy is transmitted through the conductive path on the slip ring.
  • a plurality of multi-line ranging laser emitting modules 110 and a multi-line ranging laser receiving module 120 are fixedly disposed on the rotating portion 240.
  • the multi-line ranging laser emitting module 110 emits a plurality of measuring lasers having different angles but fixed in the vertical direction, and the laser echoes which are incident on the obstacle and diffusely reflected are detected by the multi-line ranging laser receiving module 120.
  • the multi-line ranging laser emitting module 110 is implemented by using a plurality of lasers 112, such as a TO package or a chip packaged semiconductor laser. Multiple lasers 112 are mounted at different locations on a single circuit board.
  • the laser 112 control circuit intermittently emits a pulse current to drive each laser 112 to emit a laser pulse.
  • Light from a single laser 112 is collimated by the optical system of the multi-line ranging transmitting module 110 to form a nearly parallel beam.
  • Each of the lasers 112 is in the vicinity of the focal plane of the optical system of the transmitting module. Therefore, the light emitted by the lasers 112 each having a positional difference in the vertical direction passes through the optical system of the transmitting module to form light beams having different angles in the vertical direction.
  • the multi-line ranging laser receiving module 120 is implemented by using a plurality of photodetectors, such as photodiodes, especially avalanche photodiodes. Multiple photodetectors are mounted at different locations on a single board.
  • the photodetectors are mounted near the focal plane of the optical system of the multi-line ranging receiving module 120.
  • the direction in which each photodetector receives light is designed to be the same as the direction of a corresponding range of lasers on the laser emitting module.
  • the receiving field of view of each photodetector is determined by the size of the photodetector photosurface and the focal length of the optical system of the multi-line ranging receiving module.
  • the receiving field of view of the photodetector should be designed to be as small as possible to reduce ambient light. Interference.
  • the photodetector After receiving the optical signal, the photodetector is converted into an electrical signal by a subsequent circuit for calculating the time of flight of the optical pulse.
  • the multi-line ranging laser transmitting module 110 transmits a signal to the corresponding time-to-digital converter at each line ranging laser emission, and the multi-line ranging laser receiving module 120 transmits the time-to-digital conversion when detecting the returned laser light.
  • the signal signals a signal.
  • the ranging information solving module has an electrical signal connection with the multi-line ranging laser emitting module 110 and the multi-line ranging laser receiving module 120. By comparing the time difference between the two signals, the transmitting measuring laser and the receiving laser return can be obtained.
  • the time difference of the wave that is, the flight time of the laser, calculates the distance of the obstacle Z from each side.
  • the ranging information solving module is disposed on the rotating portion, and after obtaining the obstacle distance corresponding to each of the ranging lasers in the vertical direction, the ranging information solving module individually or package the ranging information through the fixing portion and The communication system between the rotating parts is sent to the circuit located on the fixed part.
  • These ranging information can be used to construct a three-dimensional scene around the lidar.
  • the rotating mechanism 250 includes a hollow shaft brushless DC motor.
  • the hollow portion of the motor passes through the rotating shaft, and the stator of the motor is fixed to the fixing portion 210 of the multi-line laser radar 1 by screwing.
  • the rotor of the motor passes.
  • the coupling is connected to the rotating portion 240 of the multi-line laser radar 1.
  • the rotation of the motor drives the rotation of the Lidar rotor.
  • the rotating mechanism 250 is provided with a photoelectric encoder as a rotation angle feedback means.
  • the code wheel of the photoelectric encoder is mounted on the rotating portion 240 of the laser radar, and the photodetector of the photoelectric encoder is mounted on the fixed portion of the laser radar and facing the grid on the code wheel.
  • the motor control circuit obtains information such as the angle of rotation of the rotating portion 240, the rotational speed, and the like by reading the signal returned by the photoelectric encoder, thereby obtaining the angle of each of the measuring laser beams in the horizontal direction.
  • the brushless DC motor is driven by a dedicated drive circuit.
  • the rotational speed of the motor is controlled within a certain range by the closed-loop control system.
  • the speed feedback of the motor can come from the photoelectric encoder or the back electromotive force and current on the motor measured by the motor drive circuit.
  • the closed-loop control algorithm can be implemented by a dedicated motor driver chip (such as TI DRV10983) or by a microcontroller or FPGA.
  • the entire motor control circuit can be a separate circuit board; when the motor is mounted in the laser radar fixed portion, the motor control circuit can also be integrated on the circuit board within the rotating portion.
  • a multi-line laser radar 1 is disclosed in accordance with a second embodiment of the present invention.
  • the multi-line ranging laser emitting module 110 emits a single or a plurality of measuring lasers whose angles vary in the vertical direction, and they are incident on the obstacle Z to cause diffuse reflection of the laser light.
  • the wave is detected by the multi-line ranging laser receiving module 120.
  • the multi-line ranging laser emitting module 110 includes a plurality of circuit boards on which the lasers 112 are mounted, which are spatially arranged at different positions.
  • the multi-line ranging laser receiving module 120 also includes a plurality of circuit boards mounted with photodetectors spatially arranged at respective different positions.
  • the analog-to-digital converter on the ranging information solving module collects the current waveform of the laser emitting module and the current waveform of the laser receiving module, and digitizes the current waveform and inputs the signal to the built-in time measuring function. Or FPGA, the latter calculates the time difference between the transmitted and received waveforms, so that the flight distance of the laser can be obtained, and then the distance of the obstacle Z in the direction is calculated.
  • communication is realized between the fixed portion 210 and the rotating portion 240 by optical transmission.
  • the communication system between the fixing portion 210 and the rotating portion 240 includes a light emitting diode provided on the fixing portion 210 and a photodiode provided on the rotating portion, and a light emitting diode and a device provided on the rotating portion 240 A photodiode on the fixed portion.
  • the light-emitting diode disposed on the fixing portion 210 converts an electrical signal to be transmitted into an optical signal, which is captured by a photodiode provided on the rotating portion 240 and converted into an electrical signal, and is disposed at the rotating portion 240.
  • the upper LED converts the electrical signal to be transmitted into an optical signal that is captured by a photodiode provided on the fixed portion 210.
  • the power transmission between the fixed portion 210 and the rotating portion 240 is realized by electromagnetic induction.
  • a transmitting coil is mounted on the fixed portion of the multi-line laser radar 1
  • a receiving coil is mounted on the rotating portion of the multi-line laser radar 1.
  • the transmitting coil and the receiving coil are both sleeved on the rotating shaft of the laser radar, when the rotating portion rotates The two coils always maintain a very small spacing.
  • the modulating circuit converts the externally input electrical energy into alternating current, emits an alternating magnetic field on the transmitting coil, thereby inducing an electromotive force on the receiving coil, and then converting the alternating current on the receiving coil into a circuit on the rotating portion through the modulating circuit.
  • a multi-line laser radar 1 is disclosed in accordance with a third embodiment of the present invention.
  • the difference from the above embodiment is that the communication between the fixing portion 210 and the rotating portion 240 is not realized by a slip ring connection or photoelectric method, but is transmitted and received by radios respectively provided on the fixed portion 210 and the rotating portion 240.
  • Device implementation Of course, WiFi or Bluetooth can be similarly considered.
  • a multi-line laser radar 1 in which a laser beam generated by a laser 112 or a laser cell array is appropriately arranged in a vertical field of view range of -16° to +7°.
  • the encrypted subdivision segment has a vertical angle resolution of 1/3° (corresponding to the 6-30th line laser beam), and a vertical angle resolution of 1° in the range of -16° to -6° (corresponding to the 30-40th line laser beam).
  • this can be achieved either by staggering the lasers 112 or by a number of cell arrays consisting of the lasers 112, or, in a variant of the embodiment, by arranging the lasers 112 or detectors at equal intervals in the same array. To achieve a non-uniform distribution of the laser beam.
  • the fifth embodiment according to the present invention is different from the above-described fourth embodiment in that a multi-line ranging laser formed of a single beam of time-varying measuring laser light is disclosed.
  • the multi-line ranging laser here is not a plurality of laser beams emitted by a plurality of lasers 112 at the same time, but a multi-line scanning task is performed by changing the angle with time by a combination of a single laser 112 and a galvanometer or the like.
  • Single beam laser Single beam laser.
  • the laser beam emitted by the laser emitting module passes through the beam splitting module 140 and is then reflected to the target object (or obstacle Z) via, for example, a one-dimensional galvanometer or a two-dimensional galvanometer.
  • the laser beam is reflected by the target object (or the obstacle Z), is incident by the galvanometer through the beam splitting module 140, and then transmitted to the receiving focusing element (such as a lens or a lens group), passes through the collecting lens, and is incident on the detector module.
  • the detector calculates the flight time of the laser by recording the time difference between the laser emission and the received echo signal, thereby obtaining the distance information of the object to be measured at the point.
  • the galvanometer reflects the laser to the next point in space, and the detector will get the distance information for this point.
  • the measurement process is repeated in accordance with the rotation of the lens, thereby completing the scanning of the space by the single beam laser in a certain time, and completing the multi-line scanning of the point cloud information in the entire detection range.
  • the fifth embodiment described above can also be modified, for example, by combining a galvanometer with a plurality of lasers 112 arranged in a fixed manner to realize a plurality of measurement lasers whose angles vary in the vertical direction.
  • a galvanometer with a plurality of lasers 112 arranged in a fixed manner to realize a plurality of measurement lasers whose angles vary in the vertical direction.
  • 5 lasers 112 can be utilized, and a single laser beam emitted by each laser 112 can perform a multi-line scanning task by using a one-dimensional galvanometer or a two-dimensional galvanometer to change the angle with time, thereby achieving a certain Scans within the range, which together work together to achieve a 40-line scan.
  • the multi-line ranging laser emitting module 110 (including the laser 112 and the collimating module 114),
  • the beam splitting module 140 and the scanning module 130 are arranged on one axis.
  • the ranging laser transmitted by the beam splitting module 140 is reflected by the galvanometer that can swing freely in the horizontal and/or vertical space to the obstacle Z in the surrounding space, and reflects the obstacle Z reflected back by the scanning module to reflect the laser light to the multi-line.
  • the ranging laser receiving module 120 is arranged on one axis.
  • the laser 112 of the multi-line ranging laser emitting module 110 may be a semiconductor laser, a fiber laser, or the like. Different types of lasers can emit laser pulses of different wavelengths. For example, a semiconductor laser can generate and emit pulses of near-infrared light. In a specific implementation, in order to avoid interference between different laser radar systems, the multi-line ranging laser emitting module 110 may be constrained to generate and emit laser pulses of a specific preset wavelength.
  • the multi-line ranging laser receiving module may include a convergence module 116 and a detection module 118.
  • the detection module 118 is, for example, a photodetector.
  • the convergence module 116 and the collimation module 114 of the multi-line ranging laser emitting module 110 may be lenses.
  • the beam splitting module 140 can be an aperture mirror, a half mirror, a polarization beam splitter, a coated beam splitter, etc., and its main function is to see the parallel laser pulse adjusted by the collimation module 114 on the one hand, and the reflection scan on the other hand.
  • the scanning module 130 can be a one-dimensional or two-dimensional galvanometer, such as an electrostatic galvanometer, a battery galvanometer, a piezoelectric galvanometer, and an electrothermal galvanometer.
  • the plurality of lasers 112 to be used A non-uniform distribution from sparse to dense to sparse is formed from top to bottom in the vertical direction.
  • such a non-uniform distribution can be divided into a plurality of groups by a plurality of lasers 112 fixedly disposed in the rotating portion, wherein the intermediate portion of the above-mentioned angular range has a denser ranging laser distribution.
  • the rotating portion is internally provided with a plurality of carriers 119, and the lasers 112 are respectively fixedly disposed on the carrier 119 such that the angle of the ranging laser emitted by the multi-line ranging laser emitting module 110 is In comparison with the upper and lower regions S of the range, more of the lasers 112 emit ranging lasers to the intermediate region M of the angular range.
  • Fig. 3 The case where the lasers are arranged on a plurality of carriers is schematically shown in Fig. 3, wherein the optical paths of the lasers 112 on the respective carriers 119 are staggered in the intermediate region and superimposed on each other, so that the number of carriers 119 is superimposed to make it more A multi-range laser is emitted to the intermediate region.
  • FIG. Figure 4 shows eight carriers 119, five lasers 112 arranged on each carrier 119, the distances between the lasers 112 being equal.
  • 5 fixing plates are vertically disposed in the emission cavity and are spaced apart from the horizontal direction; the carrier body 119 is fixed on the side of the fixing plate, and the number of carriers fixed on each fixing plate is not equal, such as from the left To the right, 2, 1, 2, 2, 1 carrier bodies 119 are respectively fixed on each of the fixing plates.
  • the projection point of the laser 112 on the vertical plane including the main axis of the light collimating device has a sparse distribution in the up and down direction, such as the middle portion dense, the upper portion and the lower portion are sparse, so that the multi-beam detection light emitted by the laser 112 is at the horizontal line.
  • the light beam in the vicinity is dense, and the light beams in other directions are sparse.

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Abstract

一种多线激光雷达(1)，多线激光雷达(1)包括：多线测距激光发射模块(110)，其包括一个或多个激光器(112)；多线测距激光接收模块(120)，其包括一个或多个光电探测器且设计为适于检测激光发射模块(110)发射出的测量激光入射到障碍物(Z)上发生漫反射的激光回波；测距信息解算模块，其与多线测距激光发射模块(110)以及多线测距激光接收模块(120)具有电信号连接，被设计为通过计算发射测量激光以及接收到激光回波的时间差计算出各方向上障碍物(Z)的距离；以及为多线测距激光发射模块(110)和多线测距激光接收模块(120)对应配设的控制电路和光学系统。

Description

多线激光雷达 技术领域
本发明涉及一种多线激光雷达。
背景技术
利用脉冲飞行时间法的激光测距已经在各领域被广泛应用。
单线激光雷达在纵向角度上只有一束扫描激激光，通过变化这一束扫描激光在水平面内的角度，实现二维场景感知。换句话说，单线激光雷达可以感知一束扫描激光扫过的平面或者曲面内的场景。在实际应用中，如果要用单线激光雷达实现对三维场景的感知，需要通过移动单线激光雷达，拼接各帧二维图像得到三维效果。
为了尽可能多的获取被扫描区域的三维信息，目前多采用多线激光雷达，可以覆盖更多的垂直视场区域。目前市面上多线激光雷达的线束角度分布都采取在一定角度范围内均分的方法(即垂直角分辨率是确定的值)，如Velodyne的16线、32线及64线激光雷达，其垂直角分辨率分别是2度、1.33度及0.43度，Ibeo的4线、8线激光雷达垂直角分辨率为0.8度。
车载激光雷达的具体应用场景，主要是检测地面上的行人、车辆等。这就意味着如果在垂直方向上上下均分视场的话，向上发射的激光线束很大程度是被浪费的。
另外，如果按照目前市场产品的角度划分方案，将所有视场角全部均分，那么达到更高的垂直分辨率就需要更多线，这也就意味着更高的成本、更大的体积和更低的可靠性稳定性。由于受限于以太网的数据容量及车载CPU 的处理速度，更高线数的激光雷达无法同时兼顾高水平角分辨率和高扫描频率。
而基于降低成本的原因而减少线数，那么角度间隔又太大，在不远的距离范围(如40米)就无法分辨目标，例如按照总垂直视场角32°，2°间隔(垂直分辨率)，需要16线，那么40m距离处激光线束间距大约在1.4米，很容易就漏掉一个行人。
根据发射光路与接收光路是否重合，激光雷达可以分为同轴系统和非同轴系统。对于任何一个激光雷达，为了保证发射的激光脉冲在通过激光雷达盲区、过渡区后全部进入激光雷达的接收视场内，要求发射的激光脉冲与接收望远镜的光轴平行。一旦发射光束指向性发生变化，不仅使得激光雷达重叠因子修正曲线变得不可确定，在重叠区也无法给出正确的修正结果，当指向偏离严重时会偏离接收视场，导致激光雷达无法探测障碍物。
在现有的激光雷达系统中，由于反射镜的偏移、半导体激光器的工作环境温度、平台震动、更换波长、半导体激光器本身的使用寿命等问题，导致非同轴激光雷达系统很难保证发射光束与接收望远镜光轴始终保持共轴或平行。此外，现有的激光雷达系统采用一维振镜的转动实现空间扫描，无法满足激光雷达对扫描视场的需求。而且，通过机械结构控制振镜的转动，既增加了维修难度，也限制了测量精度。
发明内容
本发明所要解决的技术问题是提供一种多线激光雷达，其能够测量出不同方向上障碍物的距离，产生三维点云，直接实现对三维场景的感知，并且，能够在控制由激光雷达线数带来的成本的同时，对于重点关注的周围区域进行更加精确的探测。
这一技术问题通过根据本发明的一种多线激光雷达得以实现。该多线激光雷达包括：多线测距激光发射模块，该多线测距激光发射模块包括一个或 多个激光器；多线测距激光接收模块，该多线测距激光接收模块包括一个或多个光电探测器，并且被设计为适于检测所述激光发射模块发射出的测量激光入射到障碍物上发生漫反射的激光回波；测距信息解算模块，该测距信息解算模块与多线测距激光发射模块以及多线测距激光接收模块具有电信号连接，被设计为通过计算所述多线测距激光发射模块发射测量激光与所述多线测距激光接收模块接收到激光回波之间的时间差计算出各方向上所述障碍物的距离；以及为所述多线测距激光发射模块和所述多线测距激光接收模块对应配设的控制电路和光学系统。
根据本发明的多线激光雷达的一种优选实施形式，所述所述多线测距激光发射模块发射具有非均匀的垂直角度分辨率的多线测距激光。也就是说，在垂直方向上相邻测量激光之间的角度差不尽相同。非均匀的垂直角度分辨率意味着多线测距激光对于周围不同高度有不同的疏密分布，相对于均匀间隔的测距激光而言，能够将更多的测距激光光束提供到重点关注的高度区域。优选的是，激光器、光电探测器的数量与多线激光雷达的线数对应。
根据本发明的多线激光雷达的一种优选实施形式，控制电路包括时间数字转换器，测距信息解算模块被设计为适于通过比较所述多线测距激光发射模块在每一线测距激光发射时发送给时间数字转换器的信号与所述多线测距激光接收模块在探测到返回的激光时发送给该时间数字转换器信号的时间差而推断出所述多线测距激光发射模块发射测量激光与所述多线测距激光接收模块接收到激光回波之间的时间差，从而计算出该方向上障碍物的距离。
在一种替换实施形式中，也可以考虑通过比较电流波形而间接地获得时间差，其中，所述控制电路包括模拟数字转换器，所述模拟数字转换器实时采集并数字化所述多线测距激光发射模块和所述多线测距激光接收模块的电流波形，所述测距信息解算模块被设计为适于通过比较所述多线测距激光发射模块的电流波形与所述多线测距激光接收模块的电流波形的时间差而推断出所述多线测距激光发射模块发射测量激光与所述多线测距激光接收模块接收到激光回波之间的时间差，从而计算出该方向上障碍物的距离。
根据本发明的多线激光雷达的一种优选实施形式，所述多线测距激光发射模块被设计为适于以在垂直视场角范围内的上下区域比中间区域具有更稀疏的垂直角度分辨率的方式发射所述多线测距激光。这样就使得所发出多线测距激光在水平线及附近分布较密，而在其它方向则较为稀疏。
所发射多线测距激光的这种非均匀的垂直角度分辨率分布，使得在较低线束数目时能够实现较高的垂直角分辨率，从而达到了节约成本、减小设备体积的效果。特别是，充分考虑到车辆行驶中需要识别的障碍物(如行人、车辆等)通常聚集在水平线和靠近地面附近，因此增强了中心激光光束(水平线和水平线附近)的分布密度，这种非均匀式激光束分布在现实交通环境下更加科学合理。从另一个角度来看，在增加了重点关注区域的线束数目的同时，也相应地减少了非重点关注区域的线束数目，这种布置带来的优点是控制了总的线束数目，因而保证了高扫描频率的实现，从而同时兼顾了高水平角分辨率和高扫描频率的要求，使扫描结果更加准确。
不过，亦可以考虑激光束随时间的变化先后扫描到垂直方向上的各个角度的技术方案。例如，在一种替代实施形式中，所述多线测距激光发射模块发射出的所述多线测距激光由一束在垂直方向上角度随时间变化的测量激光形成。在另一种替代实施形式中，所述多线测距激光发射模块发射出的所述多线测距激光则由多束在垂直方向上角度随时间变化的测量激光形成。
根据本发明的多线激光雷达的一种优选实施形式，所述多线激光雷达还包括用于随时间变化而改变所述测量激光在垂直方向上的角度的扫描模块。在垂直方向上角度随时间变化的测量激光例如可以通过一维或二维振镜偏转到垂直方向上的相应角度，振镜用于随时间变化而改变测量激光在垂直方向上的角度。
优选的是，在所述多线激光雷达的发射和接收光路中布置分光模块，并使分光模块与多线测距激光发射模块和扫描模块布置在同一轴线上，其中，所述分光模块适于将所述多线测距激光发射模块发射的测量激光透射至所 述扫描模块以及将来自所述扫描模块的障碍物反射激光反射至所述多线测距激光接收模块。
根据本发明的多线激光雷达的一种优选实施形式，该多线激光雷达还包括：旋转部，所述多线测距激光发射模块和多线测距激光接收模块固定布置在该旋转部上；固定部，该固定部配设有所述多线激光雷达的对外通信接口和外接电源接口，所述电能传输系统把通过所述外接电源接口输入的外界电能提供给所述旋转部；旋转机构，该旋转机构被设计为适于驱动所述旋转部相对于所述固定部旋转，并带有旋转角度反馈装置，该旋转角度反馈装置被设计为适于提供该旋转机构的旋转角度，从而获得各束测量激光在水平方向上的角度；以及固定部和旋转部之间的通信系统和电能传输系统。由此，能够确定各束测量激光在遇到障碍物时的空间角位置，这些空间角位置与已经基于时间差计算出的障碍物距离相结合而确定了障碍物的位置和形状。
固定部用于将多线激光雷达和外界的连接结构固定，固定部所配设的对外通信接口用于接收外界指令，并向外界传输多线激光雷达扫描得到的点云信息等，而所配设的外接电源接口则用于接收外界电能输入。
旋转部可以绕一根固定的、垂直方向的轴旋转，该轴本身可以安装在固定部上也可以安装在旋转部上。随着旋转部的转动，多线测距激光发射模块和多线测距激光接收模块实现水平方向上不同角度方向的测量。
在固定部和旋转部之间的电能传输方面，根据本发明的多线激光雷达的一种优选实施形式，通过电磁感应方式把电能从发射线圈传输到接收线圈上，此时所述固定部上设有发射线圈及相应的调制电路，而所述旋转部上设有接收线圈及相应的调制电路。
不过，在一种替代的实施形式中，也可以考虑所述固定部和所述旋转部通过滑环连接，该滑环包括能够相对转动、分别与所述固定部和所述旋转部固定连接的两个部分，该滑环的所述两个部分之间具有导电通道，该导电通道作为所述固定部和旋转部之间的电能传输系统。
在固定部和旋转部之间的通信方面，根据本发明的多线激光雷达的一种优选实施形式，所述固定部和旋转部之间的通信系统包括所述滑环的所述两个部分之间的信号通道。
不过，在一种替代的实施形式中，也可以考虑通过光电转换方式实现固定部和旋转部之间的通信。在此，所述固定部和旋转部之间的通信系统包括设在所述固定部上的发光二极管和设在所述旋转部上的光电二极管，以及设在所述旋转部上的发光二极管和设在所述固定部上的光电二极管，其中，设在所述固定部上的发光二极管将要传输的电信号转化为光信号，该光信号由设在所述旋转部上的光电二极管捕捉并转化为电信号，设在所述旋转部上的发光二极管将要传输的电信号转化为光信号，该光信号由设在所述固定部上的光电二极管捕捉并转化为电信号。
另外，显然亦可以考虑任何现有的无线发送和接收装置，例如，在各种替代的实施形式中，所述固定部和旋转部之间的通信系统可以包括分别设在所述固定部和旋转部上的无线发送和接收装置，例如无线电、WiFi或蓝牙等。
为实现所发射多线测距激光的非均匀的垂直角度分辨率分布，根据本发明的多线激光雷达的一种优选实施形式，该多线测距激光发射模块包括固定布置在旋转部内的多个激光器，所述多个激光器被分成多组，每组激光器在竖直方向上等间距布置，但各组所述激光器的间距可以彼此相同或不同，只要各组激光器总的布置效果使得所发射多线测距激光的具有更集中于重点关注区域的垂直角度分辨率分布即可。
优选的是，上述重点关注区域是所述多线测距激光发射模块的垂直视场角范围内的中间区域。也就是说，与所述多线测距激光发射模块的垂直视场角范围内的上下区域相比，有更多个所述激光器发射测距激光到所述角度范围的中间区域。
根据本发明的多线激光雷达的一种优选实施形式，所述激光器分别固定 布置在位于旋转部内的若干承载体上，所述承载体被布置为使得与所述多线测距激光发射模块的垂直视场角范围内的上下区域相比，有更多个所述激光器发射测距激光到垂直视场角范围内的中间区域。类似地，激光器亦可在所述承载体上以均匀的间距分布，或者以非均匀的间距分布。在各承载体上，激光器之间的间距可以相同，也可以在各承载体上设计不同的激光器间距。
根据本发明的多线激光雷达的一种优选实施形式，所述多线测距激光发射模块所发射测距激光所在的竖直平面和所述多线测距激光接收模块所接收的测距激光所在的竖直平面关于一个穿过所述旋转部的旋转中心的竖直平面对称。
附图说明
本发明的上述属性、特征和优点及其实现方式将在下面对实施例的示意性描述中变得更清楚和更容易理解，并且在下面参考附图更详细地解释。
图1是根据本发明的多线激光雷达的结构示意图；
图2示意地示出了多线测距激光发射模块的固定布置在旋转部内的多个激光器，其中，与上下区域相比，更多个所述激光器发射测距激光到中间区域；
图3示意地示出了激光器布置在多个承载体上的情况，其中，通过承载体在中间区域的数目叠加使更多测距激光被发射到中间区域；
图4示意地示出了激光器布置在多个承载体上的另一示例，每个承载体上具有多组激光器，更多组激光器叠加在中间区域；
图5示意地示出了多线测距激光发射模块、分光模块、扫描模块布置在一条轴线上的根据本发明的多线激光雷达的实施例；
图6示意地示出了关于一个穿过旋转部的旋转中心的竖直平面对称布置的多线测距激光发射模块和所述多线测距激光接收模块。
具体实施方式
图1示出了根据本发明的第一实施例的一种多线激光雷达1。该多线激光雷达1包括固定部210和旋转部240以及用于驱动旋转部240相对于固定 部210旋转的旋转机构250。在固定部210和旋转部240之间还设有通信系统和电能传输系统。
固定部210的主体是机加工的金属壳体。固定部210中心有一根竖直方向贯穿整个多线激光雷达1的转轴。多线激光雷达系统内的转动部分(旋转部240、固定部210和旋转部间的通信/电能传输系统等)都安装在这根轴上。同时，固定部内还安装有一块电路板，用于将外部输入的宽范围电源电压(如7V到32V)转化为多线激光雷达系统所需要的电压(如12V，5V，3,3V等)，将外部发来的指令、GPS时间同步信号等转化为多线激光雷达内部电路系统接受的格式，以及将激光雷达扫描得到的点云信息转化为外界接收的格式输出。激光雷达对外数据接口可以是以太网、CAN总线、USB等。
旋转部240的主体也是机加工的金属壳体作。旋转部240通过一个或多个轴承安装在前述固定部的转轴上而可以绕该转轴旋转。
固定部210用于将多线激光雷达1和外界的连接结构固定，固定部210所配设的对外通信接口220用于接收外界指令，并向外界传输多线激光雷达1扫描得到的点云信息等，而所配设的外接电源接口230则用于接收外界电能输入。外界电能从外接电源接口230输入至固定部，并通过固定部210和旋转部240之间的电能传输系统提供给旋转部240。固定部210和旋转部240之间的通信和电能传输通过它们之间的通信系统和电能传输系统实现。固定部210和旋转部240间的通信系统和电能传输系统需要解决的最主要问题是在这两个活动连接结构之间可靠的数据传输及电能传输。在本实施例中，通信和电能传输分别通过滑环实现，滑环的定子连接激光雷达的固定部210，而滑环的转子连接激光雷达的旋转部240。在转动时，信号通过滑环上的信号通道传递，电能则通过滑环上的导电通道传递。
在旋转部240上固定布置有若干多线测距激光发射模块110和多线测距激光接收模块120。由多线测距激光发射模块110发射多束在垂直方向上角度不同但固定的测量激光，它们入射到障碍物上发生漫反射的激光回波则由 多线测距激光接收模块120检测。在本实施例中，多线测距激光发射模块110的实现方法是使用多个激光器112，如TO封装或贴片封装的半导体激光器。多个激光器112安装在单块电路板上的不同位置。激光器112控制电路间歇性地发出脉冲电流驱动各个激光器112发出激光脉冲。
单个激光器112发出的光经过多线测距发射模块110的光学系统的准直，形成接近平行的光束。各激光器112处于发射模块光学系统焦面附近，因此，各个在垂直方向上具有位置差别的激光器112发出的光，通过发射模块光学系统后，形成垂直方向上角度不同的光束。
在本实施例中，多线测距激光接收模块120的实现方法是使用多个光电探测器，如光电二极管，尤其是雪崩光电二极管等。多个光电探测器安装在单块电路板上的不同位置。
光电探测器安装在多线测距接收模块120的光学系统的焦面附近，每一个光电探测器接收光线的方向设计为和激光发射模块上对应的一束测距激光的方向相同。每一个光电探测器的接收视场角由光电探测器光敏面的大小以及多线测距接收模块的光学系统的焦距决定，光电探测器的接收视场角应该设计得尽量小，以减少环境光的干扰。光电探测器接收到光信号后，由后续电路转化为电信号，用于计算光脉冲飞行的时间。
多线测距激光发射模块110在每一线测距激光发射时发送给相应的时间数字转换器一个信号，而多线测距激光接收模块120在探测到返回的激光时再发送给该时间数字转换器信号一个信号。测距信息解算模块与多线测距激光发射模块110以及多线测距激光接收模块120具有电信号连接，它通过比较这两个信号的时间差，可以得出发射测量激光以及接收到激光回波的时间差，也就是激光的飞行时间，从而计算出各方向上所述障碍物Z的距离。在此，测距信息解算模块布置在旋转部上，得到垂直方向上每一束测距激光对应的障碍物距离后，测距信息解算模块将这些测距信息单独或者打包通过固定部和旋转部之间的通信系统发往位于固定部上的电路。通过这些测距信 息可以构建激光雷达周围的三维场景。但在其它的实施形式中，也可以考虑将其布置在固定部上，或者一部分布置在旋转部上一部分布置在固定部上。
在此实施例中，旋转机构250包括一个空心轴直流无刷电机，电机中空的部分穿过转轴，将电机的定子通过螺纹连接固定在多线激光雷达1的固定部210上，电机的转子通过联轴器和多线激光雷达1的旋转部240连接。电机的旋转带动激光雷达转子的旋转。同时，旋转机构250带有作为旋转角度反馈装置的光电编码器。光电编码器的码盘安装在激光雷达的旋转部240上，而光电编码器的光电检测器则安装在激光雷达的固定部上并且正对着码盘上的栅格。当电机带动激光雷达旋转部240转动时，电机控制电路通过读取光电编码器返回的信号获得旋转部240的转过的角度、转速等信息，从而获得各束测量激光在水平方向上的角度。
直流无刷电机通过专门的驱动电路驱动。电机的旋转速度通过闭环控制系统控制在一定的范围，电机的速度反馈可以来自光电编码器，也可以来自电机驱动电路测量到的电机上的反向电动势和电流。闭环控制算法可以通过专门的电机驱动芯片完成(如TI DRV10983)，也可以通过单片机或FPGA实现。整个电机控制电路可以是单独的一块电路板；当电机安装在激光雷达固定部内时，电机控制电路也可以集成在旋转部内的电路板上。
根据本发明的第二实施例披露了一种多线激光雷达1。与上述第一实施例的不同之处在于，由多线测距激光发射模块110发射单束或多束在垂直方向上角度变化的测量激光，它们入射到障碍物Z上发生漫反射的激光回波则由多线测距激光接收模块120检测。另外，多线测距激光发射模块110包括在空间上排列在不同位置的多块安装有激光器112的电路板。类似地，多线测距激光接收模块120亦包括在空间上排列在相应的不同位置的多块安装有光电探测器的电路板。
而且，所述测距信息解算模块上的模拟数字转换器实时采集激光发射模块发光的电流波形以及激光接收模块收到激光的电流波形，并把电流波形数字化并输入给内置时间测算功能的单片机或FPGA，由后者计算发射和接收 波形的时间差，从而能够得到激光的飞行距离，进而计算出该方向上障碍物Z的距离。
并且，在此实施例中，固定部210和旋转部240之间通过光传输实现通信。固定部210和旋转部240之间的通信系统包括设在所述固定部210上的发光二极管和设在所述旋转部上的光电二极管，以及设在所述旋转部240上的发光二极管和设在所述固定部上的光电二极管。设在所述固定部210上的发光二极管将要传输的电信号转化为光信号，该光信号由设在所述旋转部240上的光电二极管捕捉并转化为电信号，设在所述旋转部240上的发光二极管将要传输的电信号转化为光信号，该光信号由设在所述固定部210上的光电二极管捕捉。
另外，在此实施例中，固定部210和旋转部240之间的电能传输通过电磁感应方式实现。在多线激光雷达1的固定部上安装有发射线圈，在多线激光雷达1的旋转部上安装有接收线圈.发射线圈和接收线圈均套在激光雷达的转动轴上，当旋转部转动时，两个线圈始终保持非常小的间距。通过调制电路把外界输入的电能转变为交流电，在发射线圈上发出交变的磁场，从而在接收线圈上感应出电动势，再通过调制电路把接收线圈上的交变电流转化为旋转部上的电路系统需要的直流电。
根据本发明的第三实施例披露了一种多线激光雷达1。与上述实施例的不同之处在于，固定部210和旋转部240之间的通信不是通过滑环连接或光电方式实现，而是通过分别设在固定部210和旋转部240上的无线电发送和接收装置实现。当然，也可以类似地考虑WiFi或蓝牙等方式。
根据本发明的第四实施例披露了一种多线激光雷达1，其中，通过适当地排列激光器112或激光器单元阵列，使其产生的激光束实现在垂直视场范围-16°～+7°(非上下均分视场)中的非均匀布置，其中，+2°～+7°范围垂直角分辨为1°(对应第1-6线激光束)，-6°～+2°范围为加密细分段,垂直角分辨为1/3°(对应第6-30线激光束)，-16°～-6°范围垂直角分辨为1°(对应第30-40 线激光束)。显然，这既可以通过交错地排列激光器112或者由激光器112组成的若干单元阵列实现，或者，亦可在本实施例的变型中，通过在同一个阵列中不等间距地排列激光器112或者探测器来实现非均匀分布的激光束。
在多线激光的产生方面，根据本发明的第五实施例与上述第四实施例不同，其中披露了由单束随时间变化的测量激光形成的多线测距激光。在此，这里的多线测距激光并非是同时由多个激光器112发出的多束激光，而是单个激光器112与振镜或类似物的组合所发出的随时间改变角度而完成多线扫描任务的单束激光。原理上，激光发射模块出射的激光束经通过分光模块140，其后经例如一维振镜或二维振镜反射至目标物体(或障碍物Z)。激光束被目标物体(或障碍物Z)反射后由振镜入射通过分光模块140后传至接收聚焦元件(如透镜或透镜组)，经会聚透镜后，入射至探测器模块。探测器通过记录激光发射到接收到回波信号的时间差计算激光的飞行时间，从而得到该点待测物体的距离信息。在下一时刻，振镜将激光反射至空间中下一点，探测器将得到此点的距离信息。配合透镜的转动，重复该测量过程，从而在一定时间内完成单束激光对空间的扫描，完成对整个探测范围内的点云信息的多线扫描。
上述的第五实施例亦可有变型，例如，将振镜与固定布置的多个激光器112相组合而实现多束在垂直方向上角度变化的测量激光。例如，为了达到40线的效果，可以利用5个激光器112，每个激光器112发出的单束激光利用一个一维振镜或二维振镜随时间改变角度而完成多线扫描任务，从而实现一定范围内的扫描，它们共同合起来达到40线扫描的效果。
在根据本发明的第六实施例中，为保持发射光路I和接收光路R同轴效果，如图5所示，将多线测距激光发射模块110(包括激光器112和准直模块114)、分光模块140、扫描模块130布置在一条轴线上。分光模块140透射的测距激光被可在水平和/或垂直空间内自由摆动的振镜反射至周围空间中的障碍物Z，并将扫描模块反射回的障碍物Z反射回波激光反射至多线测距激光接收模块120。
多线测距激光发射模块110的激光器112可以为半导体激光器、光纤激光器等。不同类型的激光器可以发射不同波长的激光脉冲，例如，半导体激光器可以产生并发射近红外光脉冲。在具体实施中，为避免不同激光雷达系统之间的干扰，可以约束多线测距激光发射模块110产生并发射特定预设波长的激光脉冲。
多线测距激光接收模块可以包括会聚模块116和探测模块118。探测模块118例如为光电探测器。会聚模块116和多线测距激光发射模块110的准直模块114可以为透镜。
分光模块140可以为开孔反射镜、半透半反镜、偏振分光镜和镀膜分光镜等，其主要作用是一方面透视准直模块114调整后的平行激光脉冲，另一方面用于反射扫描模块17反射的回波激光脉冲。
扫描模块130在此可以为一维或二维振镜，例如静电式振镜、电池式振镜、压电式振镜和电热式振镜等。
在根据本发明的第七实施例中，如图2所示，为使垂直视场角范围内的上下区域S比中间区域M具有更稀疏的垂直角度分辨率，将所使用的多个激光器112在竖直方向上自上而下形成从稀疏到致密再到稀疏的非均匀分布。具体地，这种非均匀分布可以通过将固定布置在旋转部内的多个激光器112按照间距的不同分成多组，其中，上述角度范围中所重点关注的中间区域具有更密的测距激光分布。
在此实施例的一种变型中，旋转部内部设有若干承载体119，激光器112分别固定布置在承载体119上，使得与所述多线测距激光发射模块110所发射测距激光的角度范围的上下区域S相比，有更多个所述激光器112发射测距激光到所述角度范围的中间区域M。
图3中示意地示出了激光器布置在多个承载体上的情况，其中，各承载体119上的激光器112的光路在中间区域交错布置而相互叠加，从而通过承 载体119的数目叠加使更多测距激光被发射到中间区域。
图4中示意地示出了激光器布置在承载体上的另一示例。图4示出了8个承载体119，每个承载体119上布置有5个激光器112，激光器112之间的距离相等。5个固定板竖直地设置在发射腔内，并从水平方向上隔开；所述承载体119固定在固定板的侧部，每个固定板上固定的承载体数量不等，如从左到右，每个固定板上分别固定2、1、2、2、1个承载体119。激光器112在包括光准直器件的主轴的竖直平面上的投影点在上下方向上具有疏密分布，如中间部分密，上部分和下部分疏，使得激光器112发出的多束检测光在水平线及附近的光束密，其它方向光束疏。
以上记载了本发明的优选实施例，但是本发明的精神和范围不限于这里所公开的具体内容。本领域技术人员能够根据本发明的教导而做出更多的实施方式和应用，这些实施方式和应用都在本发明的精神和范围内。本发明的精神和范围不由具体实施例来限定，而由权利要求来限定。
附图标记列表
1   多线激光雷达
110 多线测距激光发射模块
120 多线测距激光接收模块
210 固定部
220 对外通信接口
230 外接电源接口
240 旋转部
250 旋转机构
130 扫描模块
140 分光模块
112 激光器
114 准直模块
116 会聚模块
118 探测模块
119 承载体
I   发射光路
R   接收光路
Z   障碍物
S   上下区域
M   中间区域

Claims (17)

  1. 一种多线激光雷达(1)，该多线激光雷达(1)包括：
    多线测距激光发射模块(110)，该多线测距激光发射模块包括一个或多个激光器(112)；
    多线测距激光接收模块(120)，该多线测距激光接收模块包括一个或多个光电探测器，并且被设计为适于检测所述激光发射模块发射出的测量激光入射到障碍物(Z)上发生漫反射的激光回波；
    测距信息解算模块，该测距信息解算模块与多线测距激光发射模块(110)以及多线测距激光接收模块(120)具有电信号连接，被设计为通过计算所述多线测距激光发射模块(110)发射测量激光与所述多线测距激光接收模块(120)接收到激光回波之间的时间差计算出各方向上所述障碍物(Z)的距离；以及
    为所述多线测距激光发射模块(110)和所述多线测距激光接收模块(120)对应配设的控制电路和光学系统。
  2. 根据权利要求1中所述的多线激光雷达(1)，其特征在于，所述多线测距激光发射模块(110)发射具有非均匀的垂直角度分辨率的多线测距激光。
  3. 根据权利要求1所述的多线激光雷达(1)，其特征在于，
    所述控制电路包括时间数字转换器，所述测距信息解算模块被设计为适于通过比较所述多线测距激光发射模块(110)在每一线测距激光发射时发送给时间数字转换器的信号与所述多线测距激光接收模块(120)在探测到返回的激光时发送给该时间数字转换器信号的时间差而推断出所述多线测距激光发射模块(110)发射测量激光与所述多线测距激光接收模块(120)接收到激光回波之间的时间差，从而计算出该方向上障碍物(Z)的距离。
  4. 根据权利要求1所述的多线激光雷达(1)，其特征在于，
    所述控制电路包括模拟数字转换器，所述模拟数字转换器实时采集并数字化所述多线测距激光发射模块(110)和所述多线测距激光接收模块(120)的电流波形，
    所述测距信息解算模块被设计为适于通过比较所述多线测距激光发射 模块(110)的电流波形与所述多线测距激光接收模块(120)的电流波形的时间差而推断出所述多线测距激光发射模块(110)发射测量激光与所述多线测距激光接收模块(120)接收到激光回波之间的时间差，从而计算出该方向上障碍物(Z)的距离。
  5. 根据权利要求1所述的多线激光雷达(1)，其特征在于，所述多线测距激光发射模块(110)被设计为适于以在垂直视场角范围内的上下区域比中间区域具有更稀疏的垂直角度分辨率的方式发射所述多线测距激光。
  6. 根据权利要求1所述的多线激光雷达(1)，其特征在于，所述多线测距激光发射模块(110)发射出的所述多线测距激光由一束或多束在垂直方向上角度随时间变化的测量激光形成。
  7. 根据权利要求6所述的多线激光雷达(1)，其特征在于，还包括扫描模块，所述扫描模块用于随时间变化而改变所述测量激光在垂直方向上的角度。
  8. 根据权利要求7所述的多线激光雷达(1)，其特征在于，还包括分光模块(140)，所述分光模块与所述多线测距激光发射模块(110)和所述扫描模块布置在同一轴线上，其中，所述分光模块(140)适于将所述多线测距激光发射模块(110)发射的测量激光透射至所述扫描模块以及将来自所述扫描模块的障碍物(Z)反射激光反射至所述多线测距激光接收模块(120)。
  9. 根据权利要求1-8任一项所述的多线激光雷达(1)，其特征在于，
    该多线激光雷达(1)还包括：
    旋转部，所述多线测距激光发射模块(110)和多线测距激光接收模块(120)固定布置在该旋转部上；
    固定部，该固定部配设有所述多线激光雷达(1)的对外通信接口和外接电源接口，所述电能传输系统把通过所述外接电源接口输入的外界电能提供给所述旋转部；
    旋转机构，该旋转机构被设计为适于驱动所述旋转部相对于所述固定部 旋转，并带有旋转角度反馈装置，该旋转角度反馈装置被设计为适于提供该旋转机构的旋转角度，从而获得各束测量激光在水平方向上的角度；以及
    固定部和旋转部之间的通信系统和电能传输系统。
  10. 根据权利要求9所述的多线激光雷达(1)，其特征在于，
    所述固定部上设有发射线圈及相应的调制电路且所述旋转部上设有接收线圈及相应的调制电路，所述发射线圈和接收线圈被设计为适于通过电磁感应方式把电能从发射线圈传输到接收线圈上。
  11. 根据权利要求9所述的多线激光雷达(1)，其特征在于，
    所述固定部和所述旋转部通过滑环连接，该滑环包括能够相对转动、分别与所述固定部和所述旋转部固定连接的两个部分，该滑环的所述两个部分之间具有导电通道，该导电通道作为所述固定部和旋转部之间的电能传输系统。
  12. 根据权利要求11所述的多线激光雷达(1)，其特征在于，
    所述固定部和旋转部之间的通信系统包括所述滑环的所述两个部分之间的信号通道。
  13. 根据权利要求9所述的多线激光雷达(1)，其特征在于，
    所述固定部和旋转部之间的通信系统包括设在所述固定部上的发光二极管和设在所述旋转部上的光电二极管，以及设在所述旋转部上的发光二极管和设在所述固定部上的光电二极管，
    其中，设在所述固定部上的发光二极管将要传输的电信号转化为光信号，该光信号由设在所述旋转部上的光电二极管捕捉并转化为电信号，设在所述旋转部上的发光二极管将要传输的电信号转化为光信号，该光信号由设在所述固定部上的光电二极管捕捉并转化为电信号。
  14. 根据权利要求9所述的多线激光雷达(1)，其特征在于，
    所述固定部和旋转部之间的通信系统包括分别设在所述固定部和旋转部上的无线发送和接收装置，例如无线电、WiFi或蓝牙等。
  15. 根据权利要求9所述的多线激光雷达(1)，其特征在于，该多线测距激光发射模块(110)包括固定布置在旋转部内的多个激光器(112)，所述多个激光器(112)被分成多组。
  16. 根据权利要求15所述的多线激光雷达(1)，其特征在于，所述激光器(112)分别固定布置在位于旋转部内的若干承载体(119)上。
  17. 根据权利要求9所述的多线激光雷达(1)，其特征在于，所述多线测距激光发射模块(110)所发射测距激光所在的竖直平面和所述多线测距激光接收模块(120)所接收的测距激光所在的竖直平面关于一个穿过所述旋转部的旋转中心的竖直平面对称。
PCT/CN2018/087045 2017-06-07 2018-05-16 多线激光雷达 WO2018223821A1 (zh)

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