WO2020135433A1

WO2020135433A1 - Scanning angle adjusting device, laser radar system, vehicle, and automatic correction method

Info

Publication number: WO2020135433A1
Application number: PCT/CN2019/127995
Authority: WO
Inventors: 林东; 胡斌; 崔锦; 张清; 彭志; 赵延平; 谭贤顺
Original assignee: 同方威视技术股份有限公司
Priority date: 2018-12-29
Filing date: 2019-12-24
Publication date: 2020-07-02
Also published as: CN210038147U; CN109991589A; CN109991589B; CN109471088A

Abstract

A scanning angle adjusting device, a laser radar system, a vehicle and an automatic correction method. The scanning angle adjusting device comprises: a second direction driving mechanism (20), connected to a laser radar (3), and used for driving the laser radar (3) to rotate around a second axis (23) extending along a second direction; and a first direction driving mechanism (10), connected to the second direction driving mechanism (20), and used for driving the second direction driving mechanism (20) to rotate around a first axis (14) extending along a first direction, the second axis (23) being perpendicular to the first axis (14).

Description

Scanning angle adjusting device, laser radar system, carrier and automatic correction method

Cross-reference of related applications

This disclosure is based on the application with the CN application number 201811633095.5 and the application date is December 29, 2018, and claims its priority. The disclosure content of this CN application is hereby incorporated into this disclosure as a whole.

Technical field

The present disclosure relates to environment perception technology, in particular to a scanning angle adjustment device, a laser radar system, a vehicle, and an automatic correction method.

Background technique

With the continuous development of robot technology, service robots have been applied in the fields of environmental monitoring, public safety, disaster relief, anti-terrorism and explosion prevention. In a complex unstructured environment, the service robot needs to obtain the three-dimensional spatial data of the external environment to complete the estimation of the robot's pose, the recognition and obstacle avoidance of obstacles at different heights, the automatic planning of the movement trajectory, the recognition and detection of the target object And other tasks.

In complex and unstructured environments, due to the existence of obstacles of different heights and target objects of different sizes, lidar is used in related technologies to achieve the scanning function in three-dimensional space.

Summary of the invention

The inventors found that the lidar in the related art cannot be adjusted in time when it is affected by factors such as the smoothness of the road surface and the space environment, which limits its scanning range and the accuracy of the data obtained.

In view of this, the embodiments of the present disclosure provide a scanning angle adjustment device, a lidar system, a vehicle, and an automatic correction method, which can realize the attitude adjustment of the lidar.

In one aspect of the present disclosure, a scanning angle adjustment device for a lidar is provided, including:

A second direction drive mechanism, connected to the lidar, configured to drive the lidar to rotate about a second axis extending in the second direction; and

A first direction drive mechanism, connected to the second direction drive mechanism, configured to drive the second direction drive mechanism to rotate about a first axis extending in the first direction;

Wherein, the second axis and the first axis are perpendicular to each other.

In some embodiments, the first direction driving mechanism includes:

Bracket

A first driving member fixedly arranged on the bracket; and

The first transmission member is respectively connected to the output portion of the first driving member and the second direction driving mechanism, and is configured to drive the second direction driving mechanism around The first axis rotates.

In some embodiments, the second direction driving mechanism includes:

A second drive member connected to the first transmission member; and

The second transmission member is connected to the lidar and the second driving member, and is configured to drive the lidar to rotate about the second axis under the driving of the second driving member.

In some embodiments, the first driving member includes a first steering gear, a power output shaft of the first steering gear is fixedly connected to the first transmission member, and the first steering gear is configured according to its power The rotation position signal of the output shaft realizes feedback control.

In some embodiments, the second driving member includes a second steering gear, a power output shaft of the second steering gear forms a rotatable connection with the first transmission member, and a casing of the second steering gear Fixedly connected to the lidar, the second steering gear is configured to implement feedback control according to the rotational position signal of its power output shaft.

In some embodiments, the scanning angle adjustment device further includes:

The controller, which is in signal connection with the second direction drive mechanism and the first direction drive mechanism, is configured to send control commands to the second direction drive mechanism and the first direction drive mechanism to implement the laser Radar scanning angle adjustment.

In some embodiments, the controller is configured to cause the first direction drive mechanism to drive the second direction drive mechanism to rotate when the lidar is in an operating state to drive the lidar to swing and cause The second direction driving mechanism drives the lidar to rotate to realize a pitching movement, so that the scanning surface of the lidar maintains a parallel or relative tilt angle with the horizontal plane.

In some embodiments, the scanning angle adjustment device further includes:

The slope sensing unit is configured to sense the slope of the road surface;

Wherein, the controller is configured to cause the second direction driving mechanism to drive the lidar to rotate around the second axis by an angle corresponding to the slope, so that the scanning surface of the lidar can maintain The road surface of the slope is parallel.

In one aspect of the present disclosure, a lidar system capable of adjusting the angle of a scanning surface is provided, including: a lidar; and the aforementioned scanning angle adjusting device.

In some embodiments, the lidar is a single-line or multi-line lidar.

In one aspect of the present disclosure, a vehicle is provided, including the aforementioned lidar system.

In some embodiments, the vehicle is a walking robot or an automated guided vehicle.

In one aspect of the present disclosure, there is provided a laser radar automatic correction method based on the aforementioned laser radar scanning angle adjustment device, including:

A reference object having a first vertical plane and a second vertical plane perpendicular to each other is provided, the first vertical plane and the second vertical plane are both perpendicular to a horizontal plane, and the scanning angle adjusting device is provided at The first vertical plane and the second vertical plane enclose a side at an inner angle of 90°, so that both the first vertical plane and the second vertical plane can be illuminated by the scanning surface of the lidar Arrive

Driving the first direction drive mechanism to drive the lidar to rotate in the first angle range of the first direction drive mechanism by driving the second direction drive mechanism, and at the same time acquiring the corresponding roll angles in the first angle range Lidar data frame;

Determine the roll angle corresponding to the shortest distance relative to the first vertical plane from the lidar data frame corresponding to each roll angle in the first angle range, and then cause the first direction drive mechanism to drive the The second direction drive mechanism rotates to the roll angle;

Causing the second direction driving mechanism to drive the lidar to rotate according to the second angle range of the second direction driving mechanism, and at the same time acquiring the lidar data frame corresponding to each pitch angle in the second angle range;

Determining the pitch angle corresponding to the shortest distance with respect to the second vertical plane from the lidar data frame corresponding to each pitch angle in the second angle range, and causing the second direction driving mechanism to drive the lidar Turn to the pitch angle.

In some embodiments, the data frame corresponding to the roll angle includes multiple first laser point cloud data, and each of the first laser point cloud data includes each scan of the lidar at the current roll angle Orientation/scanning point serial number and corresponding distance information;

Each data frame corresponding to the pitch angle includes a plurality of second laser point cloud data, and each of the second laser point cloud data includes the serial number and correspondence of each scanning azimuth/scan point of the lidar at the current pitch angle Distance information.

In some embodiments, the lidar automatic correction method further includes:

Judging whether the scanning point is an abnormal point according to the distance data between the scanning point and its adjacent point;

If it is determined that the scanning point is an abnormal point, the scanning point is not included in the judgment of the shortest distance.

Therefore, according to the embodiments of the present disclosure, the attitude of the lidar is adjusted by the first direction driving mechanism and the second direction driving mechanism whose axes are perpendicular to each other, so that when the lidar is affected by the surrounding environment, the scanning range can be adjusted in time by adjusting the attitude, thereby Meet the working requirements of Lidar.

BRIEF DESCRIPTION

The drawings that constitute a part of the description describe embodiments of the present disclosure, and together with the description serve to explain the principles of the present disclosure.

With reference to the drawings, the present disclosure can be more clearly understood from the following detailed description, in which:

1 is a schematic structural view of some embodiments of a laser radar scanning angle adjustment device according to the present disclosure;

2 is a block schematic diagram of some embodiments of a laser radar scanning angle adjustment device according to the present disclosure;

FIG. 3 is a block schematic diagram of other embodiments of a lidar scanning angle adjustment device according to the present disclosure;

FIG. 4 is a schematic flowchart of some embodiments of an automatic calibration method of lidar according to the present disclosure.

It should be understood that the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals indicate the same or similar components.

detailed description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the drawings. The description of the exemplary embodiments is merely illustrative, and in no way serves as any limitation to the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These examples are provided to make the present disclosure thorough and complete, and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these embodiments should be interpreted as exemplary only, and not as limitations, unless specifically stated otherwise.

The terms “first”, “second” and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. Similar words such as "include" or "include" mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of covering other elements. "Up", "down", "left", "right", etc. are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In the present disclosure, when it is described that a specific device is located between the first device and the second device, there may or may not be an intervening device between the specific device and the first device or the second device. When it is described that a specific device is connected to another device, the specific device may be directly connected to the other device without intervening devices, or may be directly connected to the other device without intervening devices.

All terms (including technical or scientific terms) used in the present disclosure have the same meaning as understood by those of ordinary skill in the art to which the present disclosure belongs, unless specifically defined otherwise. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having meanings consistent with their meanings in the context of related technologies, and should not be interpreted using idealized or extremely formal meanings unless explicitly stated here Define it this way.

Techniques, methods and equipment known to those of ordinary skill in the related art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the specification.

As shown in FIG. 1, it is a structural schematic diagram of some embodiments of a laser radar scanning angle adjustment device according to the present disclosure. Referring to FIG. 1, in some embodiments, the lidar scanning angle adjustment device includes: a lidar 3, a second direction driving mechanism 20 and a first direction driving mechanism 10. The lidar 3 is used to collect distance information of the scanned area. The laser radar 3 may use a single-line or multi-line laser radar. The second direction drive mechanism 20 is connected to the lidar 3 and is used to drive the lidar 3 to rotate around a second axis 23 extending in the second direction. The first direction drive mechanism 10 is connected to the second direction drive mechanism 20 for driving the second direction drive mechanism 20 to rotate about the first axis 14 extending in the first direction. The second axis 23 of rotation of the lidar 3 and the first axis 14 of rotation of the second direction drive mechanism are perpendicular to each other.

In this embodiment, the attitude of the lidar is adjusted by the first direction driving mechanism and the second direction driving mechanism whose axes are perpendicular to each other, so that when the lidar is affected by the surrounding environment, the scanning range can be adjusted in time by adjusting the attitude, thereby satisfying the work of the lidar demand. The lidar can achieve a greater degree of posture adjustment by adapting to the rotation based on the second axis and the movement of the second direction drive mechanism along with the rotation about the first axis perpendicular to the second axis to adapt to a more complicated external environment.

For example, when the vehicle or robot carrying the lidar scan angle adjustment device of this embodiment is running on an uneven road, the lidar can adjust its attitude as the vehicle tilts in different directions, so that the lidar maintains its The preset scan range. Even if the road is very uneven, the lidar scanning angle adjustment device of this embodiment can drive the second direction drive mechanism and the first direction drive mechanism with a larger rotation angle to meet the attitude adjustment requirements of the lidar.

Referring to FIG. 1, in some embodiments, the first direction driving mechanism 10 includes: a bracket 11, a first driving member 12 and a first transmission member 13. The bracket 11 may be installed on the robot or the vehicle, for example, fixedly disposed on the chassis of the robot or the vehicle, or disposed in front of the front of the vehicle, or disposed on the top of the robot. The first driving member 12 is fixedly disposed on the bracket 11. The first transmission member 13 is respectively connected to the output portion of the first driving member 12 and the second direction driving mechanism 20, and is used to drive the second direction driving mechanism under the driving of the first driving member 12 20 rotates about the first axis 14. Here, the first driving member 12 can realize the left-right swing of the driving mechanism in the second direction, that is, the adjustment of the roll angle.

In some embodiments, the first driving member 12 may include a first steering gear. The power output shaft of the first steering gear is fixedly connected to the first transmission member 13. The first steering gear can realize the feedback control of the rotation of the first transmission member 12 according to the rotation position signal of its power output shaft. The first steering gear may include a motor driver and a rotation mechanism. While driving the rotation of the rotation mechanism, the motor driver also receives a rotation position signal returned by the rotation mechanism, thereby achieving precise angle adjustment through feedback control. In other embodiments, the first drive member 12 may include a motor or a pneumatic motor, and an angle sensor may be provided on the output shaft of the motor or drive motor or the first transmission member 13 to detect the rotation of the first transmission member 13 Position signal to realize feedback control of motor or drive motor.

Referring to FIG. 1, in some embodiments, the second direction driving mechanism 20 includes: a second driving member 21 and a second transmission member 22. The second driving member 21 is connected to the first transmission member 13. The second transmission member 22 is connected to the lidar 3 and the second driving member 21 respectively, for driving the lidar 3 to rotate about the second axis 23 under the driving of the second driving member 21 . Here, the second driving member 21 can realize the pitch adjustment of the lidar, that is, the adjustment of the pitch angle.

In some embodiments, the second driving member 21 includes a second steering gear. The power output shaft of the second steering gear is rotatably connected to the first transmission member 13, and the casing of the second steering gear is fixedly connected to the lidar 3. By fixing the housing of the second steering gear to the lidar 3 and rotating the power output shaft to the first transmission member 13, the distance between the first axis 14 and the second axis 23 can be maintained substantially unchanged, thereby enabling the laser The structure of the radar scanning angle adjustment device is more compact and takes up less space.

The second steering gear can realize feedback control according to the rotation position signal of its power output shaft. The second steering gear may include a motor driver and a rotation mechanism. The motor driver receives the rotation position signal returned by the rotation mechanism while driving the rotation mechanism to rotate, thereby achieving precise angle adjustment through feedback control. In other embodiments, the second driving member 21 may include a motor or a pneumatic motor, and an angle sensor may be provided on the output shaft of the motor or driving motor to detect the second driving member 21 relative to the first transmission member 13 Rotate the position signal to realize the feedback control of the motor or drive motor.

As shown in FIG. 2, it is a schematic block diagram of some embodiments of a laser radar scanning angle adjustment device according to the present disclosure. Referring to FIG. 2, in some embodiments, the lidar scanning angle adjustment device further includes a controller 4. The controller 4 is in signal connection with the second directional drive mechanism 20 and the first directional drive mechanism 10 and is used to send control commands to the second directional drive mechanism 20 and the first directional drive mechanism 10 to achieve Adjustment of the scanning angle of the lidar 3.

The controller 4 may be an industrial computer or an embedded motherboard. It can be installed on the lidar 3, the second direction drive mechanism 20 or the first direction drive mechanism 10, or it can be installed adjacent to the lidar 3, the second direction drive mechanism 20 or the first direction drive mechanism 10, for example, on the carrier laser Radar scanning angle adjustment device on the vehicle or robot. In some embodiments, the control unit of the vehicle or the robot itself may also be used as the controller 4. The controller 4 can control the second direction drive mechanism 20 and the first direction drive mechanism 10 through internally stored control logic, and can also receive external remote control commands or remote control commands from the control platform to implement the second direction drive mechanism 20 and the control of the first direction drive mechanism 10.

In order to enable the lidar 3 to maintain the stability of its scanning during operation, the attitude of the lidar 3 can be automatically adjusted by configuring the controller. That is, the controller may cause the first direction driving mechanism 10 to drive the second direction driving mechanism 20 to rotate when the lidar 3 is in the working state to drive the lidar 3 to swing and cause the second direction The driving mechanism 20 drives the lidar 3 to rotate to realize a pitching movement, so that the scanning surface of the lidar 3 is kept parallel to the horizontal plane. In other embodiments, the scanning surface can also be kept at a set inclination angle with the horizontal plane.

Referring to FIG. 1, for example, when the lidar 3 is in a normal working state and its scanning surface is configured to be parallel to the horizontal plane, when the chassis of the vehicle carrying the lidar scanning angle adjustment device is deflected to the left or right, the vehicle or The sensing element in the lidar scanning angle adjustment device capable of detecting the skew angle can send the skew angle signal to the controller 4, and the controller 4 can immediately issue a control command to the first direction drive mechanism 10 to drive the first direction The mechanism 10 drives the second direction drive mechanism 20 to rotate by a corresponding angle around the first axis 14 to compensate the deflection amount of the lidar 3, so that the scanning surface of the lidar 3 can be maintained horizontal.

Referring to FIG. 3, in some embodiments, the scanning angle adjustment device further includes a slope sensing unit 5, and the slope sensing unit 5 may be signal-connected to the controller 4. The gradient sensing unit 5 may be configured to sense the gradient of the road surface and send a skew angle signal indicative of the gradient to the controller 4. The gradient sensing unit 5 may use a sensor element, such as a tilt sensor or an acceleration sensor, which is installed on the vehicle or in the lidar scanning angle adjustment device and can detect the skew angle.

When the vehicle chassis travels uphill or downhill, the gradient sensing unit 5 can send a skew angle signal to the controller 4, and the controller 4 can immediately issue a control command to the second direction drive mechanism 20, so that The two-direction driving mechanism 20 drives the lidar 3 to rotate about the second axis 23 by an angle corresponding to the slope to compensate the deflection amount of the lidar 3 so that the scanning surface of the lidar 3 can be maintained horizontal. In some other embodiments, the gradient sensing unit 5 in the robot or vehicle senses the gradient of the road surface, and then causes the second direction drive mechanism 20 to drive the lidar 3 to rotate about the second axis 23 by an angle corresponding to the gradient, thereby causing the laser The scanning surface of the radar 3 can be maintained parallel to the road surface of the gradient.

For more complicated roadside situations, the controller 4 can synchronously control the first direction drive mechanism 10 and the second direction drive mechanism 20 according to the skew angle signals in the first direction and the second direction, thereby enabling the scanning surface of the lidar 3 Maintain the level at all times, thus ensuring the accuracy and reliability of the lidar 3 scanning results.

If the lidar 3 is in a normal working state and its scanning surface is configured at a preset tilt angle to the horizontal plane, the lidar 3 can also be caused to interfere on uneven roads or other environments through the above control process of the controller By adjusting the attitude to maintain the preset tilt angle between its scanning surface and the horizontal plane, thus ensuring the accuracy and reliability of the scanning results of the lidar 3.

The above-mentioned lidar scanning angle adjustment device can be applied to various devices that require lidar for space scanning, such as robots or automatic guided vehicles. Correspondingly, the present disclosure also provides a carrier, including any of the foregoing embodiments of the laser radar scanning angle adjustment device. The vehicle may be a walking robot or an automatic guided vehicle. The automatic guided vehicle includes a small-sized unmanned vehicle or an unmanned vehicle. Of course, the lidar scanning angle adjustment device is also suitable for vehicles driven by people.

The lidar scanning angle adjusting device of the embodiment of the present disclosure is applicable to both mechanical rotary lidar and solid-state lidar. The solid-state lidar does not use a mechanical rotating mechanism, and its scanning surface is a fan-shaped surface with a specific angle range (for example, 270°).

Considering that every time the lidar is used on a road surface in a different environment, the slope of the different road surfaces may be inconsistent. In addition, when the lidar is not used for a period of time, its angle may also change due to touch and other reasons, so the scanning surface of the lidar after power-on may not be a horizontal plane, and the scanning surface of the lidar remains most of the level Work tasks are often needed. Based on the above reasons, the lidar can be calibrated before it works to keep its scanning surface level to meet the needs of the work or improve the measurement accuracy of the lidar. Based on the embodiments of the above-mentioned lidar scanning angle adjustment device, the present disclosure also provides some embodiments of the lidar automatic correction method in the lidar scanning angle adjustment device.

As shown in FIG. 4, it is a schematic flowchart of some embodiments of an automatic calibration method of lidar according to the present disclosure. With reference to the lidar scanning angle adjustment device shown in FIG. 1 and referring to FIG. 4, in some embodiments, the lidar automatic correction method includes:

Step 100: Provide a reference object having a first vertical plane and a second vertical plane that are perpendicular to each other, both the first vertical plane and the second vertical plane are perpendicular to a horizontal plane, and adjust the scanning angle The device is arranged on the side where the first vertical plane and the second vertical plane enclose an internal angle of 90°, so that both the first vertical plane and the second vertical plane can be used by the lidar 3 Illuminates the scanning surface of

Step 200: The first direction driving mechanism 10 drives the second direction driving mechanism 20 to drive the lidar 3 to rotate in the first angle range of the first direction driving mechanism 10, and obtain the first angle range Lidar data frame corresponding to each roll angle;

Step 300: Determine the roll angle corresponding to the shortest distance with respect to the first vertical plane from the lidar data frame corresponding to each roll angle in the first angle range, and then make the first direction drive mechanism 10 Drive the second direction drive mechanism 20 to the roll angle;

Step 400: The second direction driving mechanism 20 drives the laser radar 3 to rotate according to the second angle range of the second direction driving mechanism 20, and at the same time acquires the lidar data corresponding to each pitch angle in the second angle range frame;

Step 500: Determine the pitch angle corresponding to the shortest distance with respect to the second vertical plane from the lidar data frame corresponding to each pitch angle in the second angle range, and drive the second direction driving mechanism 20 The lidar 3 rotates to the pitch angle.

In step 100, the reference object may be L-shaped, which may be fixedly or movably disposed on the ground or platform. The reference object may also be a fixed or movable construction facility, such as a house.

In step 200, the lidar 3 can rotate from the initial roll angle position to the left and right directions by half of the first angle range when turning. In addition, when the lidar 3 is rotated within the first angle range, the second direction drive mechanism 20 is kept without adjusting the pitch angle. The data frame corresponding to each roll angle includes a plurality of first laser point cloud data, and each first laser point cloud data includes the number and number of each scanning azimuth/scan point of the scanning surface of the lidar 3 at the current roll angle Corresponding distance information.

In step 300, when determining the roll angle corresponding to the shortest distance, the interference of the abnormal point may be excluded. Specifically, it can be judged whether the distance data of each scanning point is close to its neighboring points. If it is not close, it can be judged that the scanning point is an abnormal point, so that it is not included in the judgment of the shortest distance. Judging whether the distance data is close can be determined by judging whether the difference of the distance data exceeds a preset threshold.

In step 400, the lidar 3 can be rotated by half of the second angle range from the initial pitch angle position to the up and down directions when turning. In addition, when the lidar 3 rotates within the second angle range, the first direction drive mechanism 10 is kept without adjusting the roll angle. The data frame corresponding to each pitch angle includes multiple second laser point cloud data, and each second laser point cloud data includes the number of each scanning azimuth/scanning point of the scanning surface of the lidar 3 at the current pitch angle and the corresponding Distance information.

In step 500, when determining the pitch angle corresponding to the shortest distance, the interference of the abnormal point may be excluded. Specifically, it can be judged whether the distance data of each scanning point is close to its neighboring points. If it is not close, it can be judged that the scanning point is an abnormal point, so that it is not included in the judgment of the shortest distance. Judging whether the distance data is close can be determined by judging whether the difference of the distance data exceeds a preset threshold.

In the above embodiments, steps 200-300 can be interchanged with steps 400-500. In the

above steps

200 and 400, the first angle range and the second angle range may be input into the controller before the correction operation, or may be acquired during the correction process. That is, in some embodiments, the lidar automatic correction method may further include acquiring the first angular range of the first directional driving mechanism 10 and the second angular range of the second directional driving mechanism 20.

Multiple embodiments in this specification are described in a progressive manner, the emphasis of each embodiment is different, and the same or similar parts between the various embodiments may refer to each other. For the method embodiment, since there is a corresponding relationship between the whole and the involved steps and the content in the device embodiment, the description is relatively simple, and the relevant part can be referred to the description of the device embodiment.

So far, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, not for limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

A scanning angle adjustment device for lidar includes:

A second direction drive mechanism (20), connected to the lidar (3), configured to drive the lidar (3) to rotate about a second axis (23) extending in the second direction; and

A first direction drive mechanism (10) connected to the second direction drive mechanism (20), configured to drive the second direction drive mechanism (20) to rotate about a first axis (14) extending in the first direction;

Wherein, the second axis (23) and the first axis (14) are perpendicular to each other.
The scanning angle adjusting device according to claim 1, wherein the first direction driving mechanism (10) includes:

Bracket (11);

A first driving member (12) fixedly arranged on the bracket (11); and

The first transmission member (13) is respectively connected to the output portion of the first driving member (12) and the second direction driving mechanism (20), and is configured to drive the first driving member (12) Next, the second direction driving mechanism (20) is driven to rotate around the first axis (14).
The scanning angle adjusting device according to claim 2, wherein the second direction driving mechanism (20) includes:

A second driving member (21) connected to the first transmission member (13); and

A second transmission member (22), connected to the lidar (3) and the second driving member (21), is configured to drive the lidar under the drive of the second driving member (21) (3) Rotate around the second axis (23).
The scanning angle adjusting device according to claim 2, wherein the first driving member (12) includes a first steering gear, and a power output shaft of the first steering gear is fixedly connected to the first transmission member (13) The first servo is configured to implement feedback control based on the rotational position signal of its power output shaft.
The scanning angle adjusting device according to claim 3, wherein the second driving member (21) includes a second steering gear, and a power output shaft of the second steering gear and the first transmission member (13) form a For the rotational connection, the casing of the second steering gear is fixedly connected to the lidar (3), and the second steering gear is configured to implement feedback control according to the rotational position signal of its power output shaft.
The scanning angle adjusting device according to claim 1, further comprising:

The controller (4) is in signal connection with the second direction drive mechanism (20) and the first direction drive mechanism (10), and is configured to move toward the second direction drive mechanism (20) and the first direction The direction driving mechanism (10) sends control commands to realize the adjustment of the scanning angle of the lidar (3).
The scanning angle adjusting device according to claim 6, wherein the controller is configured to cause the first direction driving mechanism (10) to drive the second direction when the lidar (3) is in an operating state The driving mechanism (20) rotates to drive the lidar (3) to swing, and causes the second direction driving mechanism (20) to drive the lidar (3) to rotate to realize a pitching motion, so that the lidar ( 3) The scanning plane is kept parallel or relatively inclined to the horizontal plane.
The scanning angle adjusting device according to claim 6, further comprising:

The slope sensing unit (5) is configured to sense the slope of the road surface;

Wherein, the controller is configured to cause the second direction drive mechanism (20) to drive the lidar (3) to rotate around the second axis (23) by an angle corresponding to the slope, thereby causing the The scanning surface of the lidar (3) can be maintained parallel to the sloped road surface.
A laser radar system with adjustable scanning surface angle includes:

Lidar (3); and

The scanning angle adjusting device according to any one of claims 1 to 8.
The lidar system according to claim 9, wherein the lidar (3) is a single-line or multi-line lidar.
A vehicle comprising: the lidar system according to claim 9 or 10.
The vehicle according to claim 11, wherein the vehicle is a walking robot or an automatic guided vehicle.
A laser radar automatic correction method based on the scanning angle adjustment device of the laser radar according to any one of claims 1 to 8, comprising:

A reference object having a first vertical plane and a second vertical plane perpendicular to each other is provided, the first vertical plane and the second vertical plane are both perpendicular to a horizontal plane, and the scanning angle adjusting device is provided at The first vertical plane and the second vertical plane enclose a side at an internal angle of 90°, so that both the first vertical plane and the second vertical plane can be covered by the lidar (3) The scanning surface is illuminated;

The first direction driving mechanism (10) drives the lidar (3) to rotate in the first angle range of the first direction driving mechanism (10) by driving the second direction driving mechanism (20), and acquires the Lidar data frame corresponding to each roll angle in the first angle range;

Determine the roll angle corresponding to the shortest distance with respect to the first vertical plane from the lidar data frame corresponding to each roll angle in the first angle range, and then make the first direction driving mechanism (10) Drive the second direction drive mechanism (20) to rotate to the roll angle;

The second direction driving mechanism (20) drives the laser radar (3) to rotate according to the second angle range of the second direction driving mechanism (20), and at the same time obtains the corresponding pitch angles in the second angle range Lidar data frame;

Determine the pitch angle corresponding to the shortest distance with respect to the second vertical plane from the lidar data frame corresponding to each pitch angle in the second angle range, and drive the second direction driving mechanism (20) to drive The lidar (3) rotates to the pitch angle.
The lidar automatic correction method according to claim 13, further comprising:

Obtain the first angle range of the first direction drive mechanism (10) and the second angle range of the second direction drive mechanism (20).
The lidar automatic correction method according to claim 13, wherein the data frame corresponding to the roll angle includes multiple first laser point cloud data, and each of the first laser point cloud data includes the lidar ( 3) The serial number and corresponding distance information of each scanning azimuth/scanning point under the current roll angle;

Each data frame corresponding to the pitch angle includes a plurality of second laser point cloud data, and each of the second laser point cloud data includes each scanning azimuth/scanning point of the lidar (3) at the current pitch angle Serial number and corresponding distance information.
The lidar automatic correction method according to claim 15, further comprising:

Judging whether the scanning point is an abnormal point according to the distance data between the scanning point and its adjacent point;

If it is determined that the scanning point is an abnormal point, the scanning point is not included in the judgment of the shortest distance.