WO2020135433A1 - Dispositif de réglage d'angle de balayage, système radar laser, véhicule et procédé de correction automatique - Google Patents

Dispositif de réglage d'angle de balayage, système radar laser, véhicule et procédé de correction automatique Download PDF

Info

Publication number
WO2020135433A1
WO2020135433A1 PCT/CN2019/127995 CN2019127995W WO2020135433A1 WO 2020135433 A1 WO2020135433 A1 WO 2020135433A1 CN 2019127995 W CN2019127995 W CN 2019127995W WO 2020135433 A1 WO2020135433 A1 WO 2020135433A1
Authority
WO
WIPO (PCT)
Prior art keywords
lidar
scanning
angle
driving mechanism
drive
Prior art date
Application number
PCT/CN2019/127995
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 同方威视技术股份有限公司 filed Critical 同方威视技术股份有限公司
Publication of WO2020135433A1 publication Critical patent/WO2020135433A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—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
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • 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.
  • lidar 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.
  • 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.
  • a scanning angle adjustment device for a lidar 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;
  • 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;
  • the second axis and the first axis are perpendicular to each other.
  • the first direction driving mechanism includes:
  • a first driving member fixedly arranged on the bracket
  • 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.
  • the second direction driving mechanism includes:
  • a second drive member connected to the first transmission member
  • 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.
  • 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
  • the first steering gear is configured according to its power The rotation position signal of the output shaft realizes feedback control.
  • 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
  • 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.
  • 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.
  • 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.
  • the scanning angle adjustment device further includes:
  • the slope sensing unit is configured to sense the slope of the road surface
  • 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.
  • a lidar system capable of adjusting the angle of a scanning surface, including: a lidar; and the aforementioned scanning angle adjusting device.
  • the lidar is a single-line or multi-line lidar.
  • a vehicle including the aforementioned lidar system.
  • the vehicle is a walking robot or an automated guided vehicle.
  • 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
  • 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.
  • the lidar automatic correction method further includes:
  • the scanning point is not included in the judgment of the shortest distance.
  • 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.
  • FIG. 1 is a schematic structural view of some embodiments of a laser radar scanning angle adjustment device according to the present disclosure
  • FIG. 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.
  • 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.
  • a specific device 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.
  • the specific 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.
  • 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.
  • 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.
  • the lidar scan angle adjustment device of this embodiment 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the second driving member 21 can realize the pitch adjustment of the lidar, that is, the adjustment of the pitch angle.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the lidar 3 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the lidar 3 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.
  • 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.
  • 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°).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • steps 200-300 can be interchanged with steps 400-500.
  • 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.

Landscapes

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

Abstract

La présente invention porte sur un dispositif de réglage d'angle de balayage, sur un système radar laser, sur un véhicule ainsi que sur un procédé de correction automatique. Le dispositif de réglage d'angle de balayage comprend : un second mécanisme de commande de direction (20), relié à un radar laser (3) et utilisé pour entraîner le radar laser (3) à tourner autour d'un second axe (23) s'étendant le long d'une seconde direction ; et un premier mécanisme de commande de direction (10), relié au second mécanisme de commande de direction (20) et utilisé pour entraîner le second mécanisme de commande de direction (20) à tourner autour d'un premier axe (14) s'étendant le long d'une première direction, le second axe (23) étant perpendiculaire au premier axe (14).
PCT/CN2019/127995 2018-12-29 2019-12-24 Dispositif de réglage d'angle de balayage, système radar laser, véhicule et procédé de correction automatique WO2020135433A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811633095.5 2018-12-29
CN201811633095.5A CN109471088A (zh) 2018-12-29 2018-12-29 扫描角度调整装置、激光雷达系统、载具及自动校正方法

Publications (1)

Publication Number Publication Date
WO2020135433A1 true WO2020135433A1 (fr) 2020-07-02

Family

ID=65676857

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/127995 WO2020135433A1 (fr) 2018-12-29 2019-12-24 Dispositif de réglage d'angle de balayage, système radar laser, véhicule et procédé de correction automatique

Country Status (2)

Country Link
CN (3) CN109471088A (fr)
WO (1) WO2020135433A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109471088A (zh) * 2018-12-29 2019-03-15 同方威视技术股份有限公司 扫描角度调整装置、激光雷达系统、载具及自动校正方法
CN110001536B (zh) * 2019-03-29 2024-05-14 天津职业技术师范大学(中国职业培训指导教师进修中心) 一种车载传感器调整座及车载传感器装置
CN112394359A (zh) * 2019-08-15 2021-02-23 北醒（北京）光子科技有限公司 一种激光雷达及其一维扫描方法
CN110824501B (zh) * 2019-11-25 2022-05-27 陕西理工大学 一种机载激光雷达光学扫描装置
CN111136686B (zh) * 2019-12-25 2021-01-19 西安交通大学 一种用于表面涂层厚度检测末端执行器的姿态调整装置
CN111239709A (zh) * 2020-03-06 2020-06-05 多伦科技股份有限公司 用于摩托车考试的探测装置
CN113495282A (zh) * 2020-04-03 2021-10-12 北醒（北京）光子科技有限公司 一种双舵机扫描激光雷达及基于该雷达的体积测量方法
CN111625024B (zh) * 2020-04-28 2022-02-11 东风汽车集团有限公司 车载毫米波雷达的角度调整方法、bcm控制器及系统
CN111983616A (zh) * 2020-07-31 2020-11-24 嘉善新石器智牛科技有限公司 无人车雷达的自动调节系统、方法以及无人车
CN112526530B (zh) * 2020-11-17 2024-04-16 国电电力内蒙古新能源开发有限公司 一种无人机避障方法及无人机
CN112738438B (zh) * 2020-12-18 2024-01-19 Tcl王牌电器(惠州)有限公司 驱动装置及显示设备
CN112782720A (zh) * 2020-12-24 2021-05-11 东风商用车有限公司 一种汽车激光雷达探测装置及其调控方法
CN112987011A (zh) * 2021-02-05 2021-06-18 浙江欣奕华智能科技有限公司 激光雷达的确定方法及调整设备
CN113138397B (zh) * 2021-06-01 2023-12-26 中国计量大学 一种无人机避障装置及无人机
CN114056243B (zh) * 2021-11-15 2024-03-22 天津津航技术物理研究所 一种光电探测设备的推出装置
CN114322828A (zh) * 2021-12-15 2022-04-12 云南昆钢电子信息科技有限公司 一种基于激光雷达扫描角度切换的点云采样系统及方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8368874B2 (en) * 2009-01-29 2013-02-05 Sanyo Electric Co., Ltd. Beam irradiation device and laser radar system
CN104793619A (zh) * 2015-04-17 2015-07-22 上海交通大学 基于摆动单线激光雷达的仓库巷道自动引导车导航装置
CN105891839A (zh) * 2016-04-02 2016-08-24 上海大学 一种具有彩色点云获取能力的全向激光雷达装置
CN106154285A (zh) * 2016-06-20 2016-11-23 上海交通大学 一种基于摆动激光雷达的可变视野三维重建装置
CN107290734A (zh) * 2017-08-22 2017-10-24 北京航空航天大学 一种基于自制地基激光雷达垂直度误差的点云误差校正方法
CN108776344A (zh) * 2018-05-03 2018-11-09 南京理工大学 一种低成本可斜射激光雷达
CN109471088A (zh) * 2018-12-29 2019-03-15 同方威视技术股份有限公司 扫描角度调整装置、激光雷达系统、载具及自动校正方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000137069A (ja) * 1998-10-30 2000-05-16 Furukawa Electric Co Ltd:The 車両用レーダ装置の軸調整装置
CN102141607B (zh) * 2011-03-23 2013-03-06 中国兵器工业第二〇六研究所 雷达数字平台调平装置和调平方法
KR20150047215A (ko) * 2013-10-24 2015-05-04 현대모비스 주식회사 회전형 라이다 센서를 이용한 타겟 차량 감지 장치 및 회전형 라이다 센서
CN203688800U (zh) * 2014-01-26 2014-07-02 山东省科学院海洋仪器仪表研究所 一种扫描式激光雷达及激光雷达系统
KR101878484B1 (ko) * 2016-11-25 2018-07-13 (주)카네비컴 도로형상인식 전방충돌예방 라이다 시스템
CN207528916U (zh) * 2017-12-01 2018-06-22 北京怡孚和融科技有限公司 一种激光雷达三维扫描装置
CN108356829B (zh) * 2017-12-14 2023-08-15 河北汇金集团股份有限公司 两轮自平衡引导机器人
CN109059878A (zh) * 2018-08-03 2018-12-21 中国航空工业集团公司雷华电子技术研究所 基于视觉识别的机载雷达天线二自由度运动姿态测量方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8368874B2 (en) * 2009-01-29 2013-02-05 Sanyo Electric Co., Ltd. Beam irradiation device and laser radar system
CN104793619A (zh) * 2015-04-17 2015-07-22 上海交通大学 基于摆动单线激光雷达的仓库巷道自动引导车导航装置
CN105891839A (zh) * 2016-04-02 2016-08-24 上海大学 一种具有彩色点云获取能力的全向激光雷达装置
CN106154285A (zh) * 2016-06-20 2016-11-23 上海交通大学 一种基于摆动激光雷达的可变视野三维重建装置
CN107290734A (zh) * 2017-08-22 2017-10-24 北京航空航天大学 一种基于自制地基激光雷达垂直度误差的点云误差校正方法
CN108776344A (zh) * 2018-05-03 2018-11-09 南京理工大学 一种低成本可斜射激光雷达
CN109471088A (zh) * 2018-12-29 2019-03-15 同方威视技术股份有限公司 扫描角度调整装置、激光雷达系统、载具及自动校正方法
CN109991589A (zh) * 2018-12-29 2019-07-09 同方威视技术股份有限公司 扫描角度调整装置、激光雷达系统、载具及自动校正方法

Also Published As

Publication number Publication date
CN109991589B (zh) 2024-07-05
CN109991589A (zh) 2019-07-09
CN210038147U (zh) 2020-02-07
CN109471088A (zh) 2019-03-15

Similar Documents

Publication Publication Date Title
WO2020135433A1 (fr) Dispositif de réglage d'angle de balayage, système radar laser, véhicule et procédé de correction automatique
US20190383647A1 (en) Door position sensor and system for a vehicle
US9797178B2 (en) Seal based object detection for vehicle door assist system
EP3776128B1 (fr) Appareil, système et procédé d'utilisation d'évaluation de profondeur dans la navigation robotique autonome
US9777528B2 (en) Object detection and method for vehicle door assist system
JP2019219396A (ja) 自動運転車両におけるセンサー故障を処理するための方法
US20170030128A1 (en) Magnetic object detection for vehicle door assist system
CN111983936B (zh) 一种无人机半物理仿真系统及测评方法
KR20050082541A (ko) 가상 센서를 이용한 로봇의 네비게이션 방법 및 장치
CN114019990A (zh) 用于控制可移动物体的系统和方法
CN109238221B (zh) 一种车辆周围环境的检测方法及装置
CN114368693B (zh) 用于臂架的防碰撞方法、装置、处理器及起重机
Csaba et al. Differences between Kinect and structured lighting sensor in robot navigation
JP6601670B2 (ja) 路面状況認識装置、そのプログラム、及び移動体システム
CN116766214A (zh) 一种抹光机器人的运动控制方法、系统及抹光机器人
Dornhege et al. Visual odometry for tracked vehicles
TWI689392B (zh) 機械臂控制方法及機械臂
CN206493338U (zh) 一种可记录位移的自平衡及避障的机械臂
US20220291383A1 (en) A lidar device, system, and control methods of the same
US11079763B2 (en) Trajectory planning method and system
CN209050754U (zh) 一种机器人
Marques et al. Autonomous robot for mapping using ultrasonic sensors
WO2019176278A1 (fr) Dispositif de traitement d'informations, procédé de traitement d'informations, programme et corps mobile
CN113811791A (zh) 用于自动驾驶车辆的旋转传感器套件
JP2009008649A (ja) 脚車輪型ロボット

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19904692

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19904692

Country of ref document: EP

Kind code of ref document: A1