WO2020210953A1 - Radar laser et dispositif de détection intelligent - Google Patents

Radar laser et dispositif de détection intelligent Download PDF

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Publication number
WO2020210953A1
WO2020210953A1 PCT/CN2019/082737 CN2019082737W WO2020210953A1 WO 2020210953 A1 WO2020210953 A1 WO 2020210953A1 CN 2019082737 W CN2019082737 W CN 2019082737W WO 2020210953 A1 WO2020210953 A1 WO 2020210953A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
protective cover
isolation plate
receiving unit
optical isolation
Prior art date
Application number
PCT/CN2019/082737
Other languages
English (en)
Chinese (zh)
Inventor
叶高山
Original Assignee
深圳市速腾聚创科技有限公司
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
Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to PCT/CN2019/082737 priority Critical patent/WO2020210953A1/fr
Priority to CN201980002333.9A priority patent/CN110753855A/zh
Publication of WO2020210953A1 publication Critical patent/WO2020210953A1/fr

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Classifications

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

Definitions

  • the invention relates to the technical field of laser detection, in particular to a laser radar and intelligent sensing equipment.
  • lidar is widely used in the fields of intelligent equipment such as autonomous driving, intelligent robot navigation, unmanned aerial vehicles, etc., and is used in scenarios such as environment detection and space modeling.
  • Lidar is a radar system that emits a laser beam to detect the position and speed of the target object. Its working principle is to first emit a detection laser beam to the target object, and then the received reflected signal from the target object and the emission The signals are compared and processed to obtain relevant information about the target object, such as target distance, azimuth, height, speed, posture and shape parameters.
  • one of the most commonly used lidars is a rotary lidar.
  • the inventor of the present invention found that the outer cover of the rotary lidar reflects and scatters the laser signal emitted by the radar, and the laser receiving unit receives the reflection. After the scattered laser signal, useless interference signals will be generated, which will affect the measurement accuracy of the lidar.
  • the embodiments of the present application provide a laser radar and a smart sensing device, which overcome the foregoing problems or at least partially solve the foregoing problems.
  • a laser radar including: a body 2 and a protective cover 3;
  • the body 2 is located in the protective cover 3 and rotates relative to the protective cover 3;
  • a laser emitting unit 200 and a laser receiving unit 220 are adjacently arranged on one side of the body 2, an optical isolating plate 210 is arranged between the laser emitting unit 200 and the laser receiving unit 220, and one end 212 of the optical isolating plate is arranged at On the body 2, the other end 211 extends toward the protective cover 3 and is offset toward the laser emitting unit 200 or the laser receiving unit 220, and rotates relative to the protective cover 3.
  • one end 212 of the optical isolation plate 210 is arranged at an intermediate position between the laser emitting unit 200 and the laser receiving unit 220;
  • the size of the optical isolation plate 210 is larger than the vertical size of the optical field of view space of the laser emitting unit 200 and the laser receiving unit 220.
  • the end 211 of the light isolation plate 210 facing the protective cover 3 has an L-shaped structure.
  • end 250 of the light isolation plate 210 facing the protective cover 3 has an arc structure.
  • one end 260 of the optical isolation plate 210 facing the protective cover 3 has a T-shaped structure, one end 261 of the T-shaped structure extends toward the laser emitting unit 200 side, and the other end 262 extends toward the laser receiving unit 220 side.
  • one end 270 of the optical isolation plate 210 facing the protective cover 3 has a Y-shaped structure, one end 271 of the Y-shaped structure extends toward the laser emitting unit 200 side, and the other end 272 extends toward the laser receiving unit 220 side.
  • the end 280 of the optical isolation plate 210 facing the protective cover 3 is Type structure, the One end 281 of the type structure extends toward the laser emitting unit 200 side, and the other end 282 extends toward the laser receiving unit 220 side.
  • the distance between the end of the optical isolation plate 210 facing the protective cover 3 and the protective cover 3 is 0.4-0.8 mm.
  • the surface of the optical isolation plate 210 is made of a matte material or a matte coating with strong absorption characteristics for laser wavelengths.
  • the embodiment of the present invention further provides a smart sensing device, which adopts the laser radar mentioned in the above embodiment.
  • an optical isolation plate 210 is arranged between the laser emitting unit 200 and the laser receiving unit 220, and the optical isolation plate 210 extends toward the protective cover 3 and is arranged toward the laser emitting unit 200 or
  • the offset structure of the laser receiving unit 220 achieves a good shielding and shielding of interference laser signals, and a good solution to the problem of crosstalk between signals caused by laser signal scattering and reflection of the protective cover , Improve the detection accuracy of the lidar.
  • Figure 1 shows an exploded view of a lidar proposed in an embodiment of the present application
  • Figure 2 shows a three-dimensional view of a lidar proposed in an embodiment of the present application
  • Fig. 3 shows a top view of a lidar proposed in an embodiment of the present application
  • FIG. 4 shows a top view 1 of an optical isolation plate of a lidar proposed by an embodiment of the present application
  • FIG. 5 shows a top view 2 of an optical isolation plate of a lidar proposed in an embodiment of the present application
  • FIG. 6 shows a top view 3 of an optical isolation plate of a lidar proposed in an embodiment of the present application
  • FIG. 7 shows a top view 4 of an optical isolation plate of a lidar proposed in an embodiment of the present application.
  • FIG. 1 shows an exploded view of a lidar proposed in this application, which includes a top cover 1, a body 2, a protective cover 3 and a base 4.
  • the body 2 is located in the space enclosed by the top cover 1, the protective cover 3 and the base 4.
  • the protective cover 3 is used to protect the body 2.
  • the two can rotate relative to each other.
  • the protective cover 3 and the base 4 can rotate relative to the body 2 together. It can rotate with the top cover 1 relative to the body 2 and can also rotate with the top cover 1 and the base 4 relative to the body 2.
  • the body 2 is the core part of the lidar, and includes at least a laser emitting unit 200 and a laser receiving unit 220.
  • the laser emitting unit 200 and the laser receiving unit 220 are often arranged adjacent to the side of the body 2, and are opposed to each other together with the body 2.
  • the protective cover 3 rotates, and the laser emitting unit 200 is used to emit laser signals to the object to be detected.
  • the laser receiving unit 220 is used to receive the laser signal reflected from the object to be detected.
  • the system receives the laser light reflected from the object to be detected. After the signal, the transmitted signal and the reflected signal are compared, and then the information of the object to be detected can be calculated.
  • an optical isolation plate 210 is provided between the laser emitting unit 200 and the laser receiving unit 220. As shown in FIG.
  • the optical isolation plate 210 is a regular or irregular thin plate, with one end 212 and The body 2 is fixed together, and the other end 211 extends toward the protective cover and is offset to at least one side of the laser emitting unit 200 or the laser receiving unit 220.
  • the optical isolation plate 210 can still rotate relative to the protective cover .
  • the reflection of the protective cover 3 causes the emitted laser light to be reflected to the side of the laser receiving unit 220, which is not a
  • the received laser signal produces interference, which solves the problem of crosstalk between the two.
  • the laser signal emitted by the laser emitting unit 200 close to the laser receiving unit 220 can be shielded and shielded for a small part, or the laser receiving unit 220 can be close to the laser
  • the laser reflection signal on the side of the transmitting unit 200 is filtered out to prevent this part of the laser signal from interfering with laser reception due to scattering problems.
  • the above-mentioned optical isolation plate 210 is usually arranged at an intermediate position between the laser emitting unit 200 and the laser receiving unit 220, and one end 212 thereof can be arranged on the body 2 by means of screws, gluing or integral molding.
  • the optical isolation plate 210 is also It can be integrated with the laser emitting unit 200 and the laser receiving unit 220, or on their bases. This can be more convenient to disassemble, which is conducive to the modular development of lidar.
  • the shape of the optical isolation plate 210 can be a regular or irregular thin plate, but its size is larger than the vertical size of the optical field of view space of the laser emitting unit 200 and the laser receiving unit 220, so as To better isolate the laser signal.
  • the optical isolation plate 210 or its surface is made of a matte material or a matte coating with strong absorption characteristics for the laser wavelength, such as a matte aluminum alloy material, or a plastic material coated with a black light-absorbing material on the surface.
  • optical isolation plate 210 when the optical isolation plate 210 extends in the direction of the protective cover 3, its offset structure does not contact the protective cover 3, and generally maintains a distance of 0.4-0.8 mm from the protective cover 3 to facilitate the The rotation has no effect, and at the same time, the light reflection or scattering space is not too large due to the excessive distance, which affects the use effect of the optical isolation plate 210.
  • FIG. 2 A three-dimensional view of a lidar provided by an embodiment of the present invention.
  • the optical isolation plate 210 has an L-shaped structure at one end 211, and the other end 212 is arranged on the body 2.
  • the L-shaped structure is offset to the laser emitting unit 200 side.
  • the use effect is shown in FIG. 3, the emitted light 230 is emitted by the laser emitting unit 200, and the reflected light 240 is received via the laser receiving unit 220.
  • the optical isolation plate 210 Since the optical isolation plate 210 is shifted to the side of the laser emitting unit 200, its L-shaped structure shields and shields the laser signal emitted along the optical isolation plate 210, which can prevent this part of the laser signal from being protected by the protective cover 3 After being reflected, it is reflected to the laser receiving unit 220, causing leading interference, which further interferes with the reception of the laser signal and affects the reception.
  • the outgoing light close to the optical isolation plate 210 will be reflected by the L-shaped structure and directly return to the original path, instead of being emitted to the laser emitting unit 200 due to the diffuse reflection of the laser.
  • the structure of the optical isolation board 210 may also have various deformations.
  • the optical isolation board 210 It is an arc structure that extends toward the protective cover 3 to one end 250, and one end 251 of the arc structure is offset to the side of the laser emitting unit 200 to shield and shield a part of the laser signal close to the laser receiving unit 220 effect.
  • one end 251 of the arc-shaped structure can also be offset to the side of the laser receiving unit 220 to serve as a shield and shield for a part of the reflected signal close to the laser emitting unit 200.
  • FIG. 4 the optical isolation board 210 It is an arc structure that extends toward the protective cover 3 to one end 250, and one end 251 of the arc structure is offset to the side of the laser emitting unit 200 to shield and shield a part of the laser signal close to the laser receiving unit 220 effect.
  • one end 251 of the arc-shaped structure can also be offset to the side of the laser receiving unit 220 to serve as a shield and shield for a part of the
  • one end 260 of the optical isolation plate 210 facing the protective cover 3 has a T-shaped structure.
  • One end 261 of the T-shaped structure extends toward the laser emitting unit 200, and the other end 262 extends toward the laser receiving unit 220.
  • the T-shaped structure extends to the laser emitting unit 200 and the laser receiving unit 220 at the same time, which can better prevent the crosstalk of laser signals.
  • one end 270 of the optical isolation plate 210 facing the protective cover 3 has a Y-shaped structure.
  • One end 271 of the Y-shaped structure extends toward one side of the laser emitting unit 200, and the other end 272 extends toward the laser receiving unit 220.
  • Side extension As shown in FIG.
  • the end 280 of the optical isolation plate 210 facing the protective cover 3 is Type structure, the One end 281 of the type structure extends toward the laser emitting unit 200 side, and the other end 282 extends toward the laser receiving unit 220 side.
  • the various deformations of the above-mentioned extended structure of the optical isolation plate 210 toward the protective cover can effectively prevent the crosstalk between the laser emission signal and the laser reception signal, and improve the detection accuracy of the lidar.
  • an embodiment of the present invention proposes a smart sensing device that includes the lidar in the above-mentioned embodiment.
  • the smart sensing device may be a car, a drone, a robot, or other devices that involve the use of lasers.
  • Radar is a device for intelligent sensing and detection.
  • an optical isolation plate 210 is provided between the laser emitting unit 200 and the laser receiving unit 220, and the optical isolation plate 210 extends toward the protective cover 3, And set the structure offset to the laser emitting unit 200 or the laser receiving unit 220 side, which well realizes the shielding and shielding of the interference laser signal, and solves the problem of laser signal scattering and reflection of the protective cover.
  • the problem of crosstalk between signals caused by this improves the detection accuracy of the lidar.
  • the first feature "on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features Features are indirectly contacted through intermediaries.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

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

Abstract

L'invention concerne un système radar laser et un dispositif de détection intelligent. Le radar laser comprend : un corps de machine (2) et un couvercle de protection (3) ; le corps de machine (2) est situé à l'intérieur du couvercle de protection (3), et le corps de machine et le couvercle de protection (3) tournent l'un par rapport à l'autre ; et un côté du corps de machine (2) est pourvu d'une unité d'émission laser (200) et d'une unité de réception laser (220) adjacente à celle-ci, une plaque d'isolation de lumière (210) étant disposée entre l'unité d'émission laser (200) et l'unité de réception laser (220), une extrémité de la plaque d'isolation de lumière (210) est disposée sur le corps de machine (2), l'autre extrémité s'étend dans la direction du couvercle de protection (3) et est décalée vers l'unité d'émission laser (200) ou le côté de l'unité de réception laser (220), et la plaque d'isolation de lumière et le couvercle de protection (3) tournent l'un par rapport à l'autre. Le radar laser fournit une protection et un blindage contre les signaux laser avec interférence, le problème de diaphonie entre des signaux dus à la diffusion des signaux laser et la réflexion du couvercle de protection est résolu efficacement, et la précision de détection du radar laser est améliorée.
PCT/CN2019/082737 2019-04-15 2019-04-15 Radar laser et dispositif de détection intelligent WO2020210953A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/082737 WO2020210953A1 (fr) 2019-04-15 2019-04-15 Radar laser et dispositif de détection intelligent
CN201980002333.9A CN110753855A (zh) 2019-04-15 2019-04-15 一种激光雷达及智能感应设备

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Application Number Priority Date Filing Date Title
PCT/CN2019/082737 WO2020210953A1 (fr) 2019-04-15 2019-04-15 Radar laser et dispositif de détection intelligent

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WO2020210953A1 true WO2020210953A1 (fr) 2020-10-22

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023273395A1 (fr) * 2021-07-02 2023-01-05 美智纵横科技有限责任公司 Appareil de mesure de distance et robot de balayage
GB2609202A (en) * 2021-07-21 2023-02-01 Richmond Design And Marketing Ltd Housing assembly for a sensor assembly, sensor assemblies, vehicles with sensors, and methods of improving sensors

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112754357A (zh) * 2020-12-09 2021-05-07 深圳市云视机器人有限公司 一种清洁设备
CN113406596B (zh) * 2021-05-27 2023-03-21 宁波傲视智绘光电科技有限公司 一种光隔离件和激光雷达

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JP2012208059A (ja) * 2011-03-30 2012-10-25 Denso Wave Inc レーザレーダ装置
US20140293263A1 (en) * 2013-03-28 2014-10-02 James Justice LIDAR Comprising Polyhedron Transmission and Receiving Scanning Element
CN208547711U (zh) * 2018-04-20 2019-02-26 金华市蓝海光电技术有限公司 光学外罩及激光雷达传感器
CN108761471A (zh) * 2018-06-08 2018-11-06 上海禾赛光电科技有限公司 一种激光雷达
CN208607358U (zh) * 2018-08-16 2019-03-15 成都楼兰科技有限公司 非接触旋转式激光雷达云平台
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023273395A1 (fr) * 2021-07-02 2023-01-05 美智纵横科技有限责任公司 Appareil de mesure de distance et robot de balayage
GB2609202A (en) * 2021-07-21 2023-02-01 Richmond Design And Marketing Ltd Housing assembly for a sensor assembly, sensor assemblies, vehicles with sensors, and methods of improving sensors

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