WO2021035427A1 - Lidar et dispositif de conduite autonome - Google Patents

Lidar et dispositif de conduite autonome Download PDF

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Publication number
WO2021035427A1
WO2021035427A1 PCT/CN2019/102325 CN2019102325W WO2021035427A1 WO 2021035427 A1 WO2021035427 A1 WO 2021035427A1 CN 2019102325 W CN2019102325 W CN 2019102325W WO 2021035427 A1 WO2021035427 A1 WO 2021035427A1
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WO
WIPO (PCT)
Prior art keywords
module
lidar
mirror
laser
laser light
Prior art date
Application number
PCT/CN2019/102325
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English (en)
Chinese (zh)
Inventor
马丁昽
尹向辉
刘乐天
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/CN2019/102325 priority Critical patent/WO2021035427A1/fr
Priority to CN201980002234.0A priority patent/CN112789511A/zh
Publication of WO2021035427A1 publication Critical patent/WO2021035427A1/fr

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

Definitions

  • the embodiment of the present invention relates to the field of radar technology, in particular to a laser radar and automatic driving equipment.
  • Lidar is a radar system that uses lasers to detect the position and speed of a target object. Its working principle is that the transmitting module first transmits the outgoing laser for detection to the target, and then the receiving module receives the echo reflected from the target object. Laser, after processing the received echo laser, the relevant information of the target object can be obtained, such as parameters such as distance, azimuth, height, speed, posture, and even shape.
  • the rotary lidar in the prior art makes the entire lidar device rotate around an axis to realize scanning of the detection area. Due to the need to rotate the entire lidar device around the axis, the rotating part is bulky, resulting in a large product size, high energy consumption, poor stability, and no further miniaturization.
  • the main purpose of the embodiments of the present invention is to provide a lidar and its automatic driving equipment, which solves the problems of large size, high energy consumption and poor stability of the rotary lidar in the prior art.
  • a technical solution adopted in the embodiment of the present invention is to provide a lidar, the lidar includes a transmitting module, a scanning module, and a receiving module; the transmitting module is used to emit outgoing laser; the scanning module It includes a rotating mirror that rotates around a rotating axis, and the rotating mirror is used to receive the emitted laser light and reflect the emitted laser light to the detection area, and is also used to receive the echo laser light and reflect the echo laser light to emit it.
  • the echo laser is the laser light that returns after the outgoing laser is reflected by the object in the detection area; the receiving module is arranged on the other side of the transmitting module along the direction of the rotation axis One side is used to receive the echo laser.
  • the rotating mirror is a flat mirror.
  • the included angle ⁇ between the rotating shaft and the plane mirror is 0° ⁇ 90°.
  • the rotating mirror is a polygon mirror, and each outer surface of the polygon mirror is a reflective surface.
  • the outgoing laser light and the corresponding echo laser light are reflected by the same reflecting surface of the polygon mirror at any time.
  • the angle between at least one of the reflecting surfaces of the polygon mirror and the rotating shaft is different from the angle between the other reflecting surfaces and the rotating shaft.
  • angles between the reflecting surface of the polygon mirror and the rotating shaft are the same.
  • the lidar further includes a light splitting plate for isolating the outgoing laser light from the echo laser light.
  • the beam splitter includes a fixed beam splitter, and the fixed beam splitter is disposed between the transmitting module and the receiving module.
  • the light splitting plate further includes a rotating light splitting plate, the rotating light splitting plate is fixed to the rotating mirror and rotating with the rotating mirror, the fixed light splitting plate is provided with a through hole, and the rotating light splitting plate is arranged In the through hole.
  • the lidar further includes a reflector module, the reflector module includes a first reflector and a second reflector;
  • the optical path of the laser is used to reflect the outgoing laser to the first rotating mirror;
  • the second reflecting mirror is arranged on the optical path of the echo laser reflected by the second rotating mirror, and is used to The echo laser is reflected to the receiving module.
  • the emission module includes a laser module, an emission drive module, and an emission optics module; the laser module is used to emit an emission laser; the emission drive module is connected to the laser module and is used to drive and control the The laser module works; the emitting optical module is arranged on the optical path of the outgoing laser light emitted by the laser module for collimating the outgoing laser light.
  • the laser module is a laser line array, including a lasers, where a is an integer and a ⁇ 1, and the laser line array is arranged along the axis of rotation.
  • the transmitting optical module is a telecentric lens
  • the telecentric lens is used to collimate each beam of the outgoing laser light emitted by the laser module, and make the outgoing laser light to the telecentric lens
  • the center of the optical axis is deflected.
  • the scanning module further includes a driving device and a transmission device, the driving device is provided with an output shaft, the output shaft is connected to the rotating mirror through the transmission device, and the output of the driving device The shaft drives the rotating mirror to rotate.
  • the receiving module includes a detector module, a receiving driving module, and a receiving optical module; the receiving optical module is arranged on the optical path of the echo laser reflected by the scanning module, and is used to The echo laser is converged; the detector module is used to receive the echo laser converged by the receiving optical module; the receiving drive module is connected to the detector module and is used to drive and control the operation of the detector module .
  • the detector module is a linear array of detectors, including k ⁇ a detectors, where a is an integer and a ⁇ 1, k is an integer and k ⁇ 1, and each of the lasers corresponds to k
  • the linear array of detectors is arranged along the direction of the rotation axis.
  • the receiving optical module is a telecentric lens, and the telecentric lens is used to condense the echo laser light and make each echo laser light incident perpendicular to the linear array of the detector.
  • An embodiment of the present invention also provides an automatic driving device, including a device body and the lidar as described above, and the lidar is installed on the device body.
  • the beneficial effect of the embodiment of the present invention is that, different from the situation in the prior art, in the lidar provided by the embodiment of the present invention, by setting a rotating mirror that rotates around a rotation axis as the scanning module, only the scanning module rotates, and the transmitting module and The receiving module does not rotate.
  • the embodiment of the present invention requires fewer components to be driven to rotate, and the product size is smaller, which realizes the miniaturization of the lidar.
  • Figure 1 shows a structural block diagram of a lidar provided by an embodiment of the present invention
  • FIG. 2 shows a structural block diagram of a lidar provided by another embodiment of the present invention
  • Fig. 3 shows a schematic diagram of the optical path structure of the lidar in Fig. 2;
  • FIG. 4 shows a schematic structural diagram of a rotating mirror provided by an embodiment of the present invention
  • FIG. 5 shows a schematic structural diagram of another rotating mirror provided by an embodiment of the present invention.
  • Fig. 6a shows a schematic diagram of an optical path in a vertical plane arranged in parallel between a plane mirror and a rotating shaft in an embodiment of the present invention
  • Fig. 6b shows a schematic diagram of the optical path in the vertical plane where the included angle between the plane mirror and the rotating shaft is ⁇ in the embodiment of the present invention
  • Figure 6c shows a schematic diagram of the optical path in the vertical plane where the included angle between the plane mirror and the rotating shaft is - ⁇ in an embodiment of the present invention
  • FIG. 7 shows a schematic diagram of the light path in which each reflection surface of the three-sided mirror is arranged in parallel with the rotating shaft in the embodiment of the present invention
  • FIG. 8 shows a schematic diagram of the optical path in which the angle between each reflection surface of the three-sided mirror and the rotating shaft in the embodiment of the present invention is - ⁇ ;
  • FIG. 9a shows a schematic diagram of the optical path in the vertical plane where the angle between the reflective surface a of the three-sided mirror and the rotating shaft is ⁇ in an embodiment of the present invention
  • 9b shows a schematic diagram of the optical path in the vertical plane where the angle between the reflective surface b of the three-sided mirror and the rotating shaft is ⁇ in the embodiment of the present invention
  • 9c shows a schematic diagram of the optical path in the vertical plane where the angle between the reflective surface c of the three-sided mirror and the rotating shaft is ⁇ in an embodiment of the present invention
  • Fig. 10a shows a schematic view of the angle of view in a vertical plane where the angle between the reflective surface a of the three-sided mirror and the rotating shaft is 0° in an exemplary embodiment of the present invention
  • Fig. 10b shows a schematic view of the angle of view in a vertical plane where the angle between the reflective surface b of the three-sided mirror and the rotating shaft is 12.5° in an exemplary embodiment of the present invention
  • Fig. 10c shows a schematic view of the angle of view in a vertical plane where the angle between the reflective surface c of the three-sided mirror and the rotating shaft is 25° in an exemplary embodiment of the present invention
  • FIG. 11 shows a schematic view of the angle of view in the vertical plane where the angle between the reflective surface c of the three-sided mirror and the rotating shaft is -12.5° in another exemplary embodiment of the present invention
  • Fig. 12a shows a schematic view of the angle of view in a vertical plane where the angle between the reflective surface b of the three-sided mirror and the rotating shaft is 5° in another exemplary embodiment of the present invention
  • FIG. 12b shows a schematic view of the angle of view in a vertical square plane where the angle between the reflective surface c of the three-sided mirror and the rotating shaft is 10° in another exemplary embodiment of the present invention
  • Fig. 13 shows a schematic diagram of the resolution of the lidar shown in Figs. 10a, 12a, and 12b;
  • Fig. 15 shows a schematic diagram of the resolution of the lidar shown in Figs. 10a, 12a, and 14;
  • FIG. 16 shows a schematic diagram of the optical path structure of a lidar provided by another embodiment of the present invention.
  • FIG. 17 shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • FIG. 18 shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • Fig. 19 shows a schematic diagram of the optical path structure of the laser line array and the emitting optical module in Fig. 18;
  • Fig. 20 shows a schematic diagram of the optical path structure of the detector line array and the receiving optical module in Fig. 18;
  • FIG. 21 shows a schematic diagram of a partial optical path when the transmitting optical module is a telecentric lens
  • Fig. 22 shows a schematic diagram of a partial optical path when the receiving optical module is a telecentric lens
  • FIG. 23 shows a schematic structural diagram of an automatic driving device provided by an embodiment of the present invention.
  • FIG. 24 shows a schematic structural diagram of an automatic driving device provided by another embodiment of the present invention.
  • Lidar 100 transmitting module 10, laser module 11, transmitting driving module 12, transmitting optical module 13, scanning module 20, rotating mirror 21, first rotating mirror 211, second rotating mirror 212, flat mirror 21a, three-sided mirror 21b , Drive device 22, transmission device 23, output shaft 24, rotating shaft 25, receiving module 30, detector module 31, receiving drive module 32, receiving optical module 33, beam splitter 40, fixed beam splitter 41, rotating beam splitter 42, The through hole 43, the mirror module 50, the first mirror 51, the second mirror 52, the automatic driving device 200, and the device body 201.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • installed can be a fixed connection or a detachable connection. , Or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components.
  • 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 may be indirectly through an intermediary. contact.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it 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 be 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.
  • FIG. 1 shows a structural block diagram of a lidar provided by an embodiment of the present invention.
  • the lidar 100 includes a transmitting module 10, a scanning module 20 and a receiving module 30.
  • the transmitting module 10 is used for transmitting the outgoing laser;
  • the scanning module 20 is used for receiving the outgoing laser and reflecting the outgoing laser to the detection area, and receiving the echo laser and reflecting the echo laser to the receiving module 30.
  • the wave laser light is the laser light returned after the emitted laser light is reflected by the object in the detection area;
  • the receiving module 30 is used to receive the echo laser, and the receiving module 30 is arranged on the other side of the transmitting module 10 along the direction of the rotation axis 25.
  • the transmitting module 10 and the receiving module 30 are both fixed, only the scanning module 20 rotates around a rotating shaft 25, and the outgoing laser light emitted after being reflected by the scanning module 20 realizes scanning of the detection area; scanning at the same time
  • the module 20 receives the echo laser and reflects the echo laser to the receiving module 30 to obtain target object information in the detection area.
  • the embodiment of the present invention reduces the rotating parts, so the size of the rotating part can be reduced, thereby reducing the size of the driving device. Power consumption, etc., thereby reducing the product size of the entire lidar 100, reducing energy consumption, and improving the stability of use.
  • the outgoing laser light emitted by the transmitting module 10 is transmitted to the detection area.
  • an echo laser is obtained.
  • the echo laser is emitted to the receiving mode after being reflected by the scanning module 20.
  • the group 30 is finally received by the receiving module 30.
  • FIG. 2 shows a structural block diagram of a lidar provided by another embodiment of the present invention.
  • the lidar 100 further includes a light splitting plate 40, which is arranged between the transmitting module 10 and the receiving module 30 , Used to isolate the outgoing laser and echo laser.
  • the beam splitter 40 isolates the outgoing laser and the echoed laser, which can reduce the crosstalk between the outgoing laser and the echoed laser, avoid the influence of the outgoing laser on the echo optical path, and improve the detection accuracy of the receiving module.
  • Fig. 3 shows a schematic diagram of the optical path structure of the lidar 100 in Fig. 2.
  • the beam splitter 40 is perpendicular to the rotating shaft 25, and the transmitting module 10 and the receiving module 30 are arranged along the direction of the rotating shaft 25, that is, along the Set up and down vertically.
  • the scanning module 20 includes a rotating mirror 21 that rotates around a rotating shaft 25.
  • the rotating mirror 21 is used to receive the emitted laser light and reflect the emitted laser light to the detection area, and to receive the echo laser light and reflect the echo laser light to the receiving module. Group 30.
  • the rotating mirror 21 includes a first rotating mirror 211 and a second rotating mirror 212; the first rotating mirror 211 is disposed on the first side (the lower side in this embodiment) of the beam splitter 40, and the transmitting module 10 is arranged on the same side for reflecting the emitted laser; the second rotating mirror 212 is arranged on the second side (upper side in this embodiment) of the beam splitter 40, and is arranged on the same side as the receiving module 30 for reflecting back Wave laser.
  • the receiving module 30 and the first rotating mirror 211 are arranged on the first side of the beam splitting plate 40, the first rotating mirror 211 is used to reflect the echo laser; the transmitting module 10 and the second rotating mirror 212 are arranged on the beam splitting plate On the second side of 40, the second rotating mirror 212 is used to reflect and emit laser light.
  • the first rotating mirror 211 and the second rotating mirror 212 can be integrated as a rotating mirror 21, that is, it is an integrated structure, but the rotating mirror 21 is divided into two parts based on the beam splitter 40; the first rotating mirror 211 and the second rotating mirror 211
  • the two rotating mirrors 212 can also be configured as two independent rotating mirrors 21, and the two rotating mirrors 21 both rotate around the rotating shaft 25.
  • the first rotating mirror 211 and the second rotating mirror 212 are two independent rotating mirrors 21, the first rotating mirror 211 and the second rotating mirror 212 can be arranged coplanar and rotate synchronously.
  • the specific structure of the rotating mirror 21 can be various, and it can be a single-sided mirror or a polygonal mirror. When it is a polygonal mirror, the emitted laser light and the echoed laser light at any time are reflected by the same reflecting surface of the polygonal mirror.
  • Fig. 4 shows a schematic structural diagram of a rotating mirror provided by an embodiment of the present invention. Please refer to Figs. 3 and 4 at the same time.
  • the rotating mirror 21 is a flat mirror 21a, which can be a single-sided flat mirror or a double-sided flat mirror.
  • Figure 5 shows a schematic structural diagram of another rotating mirror provided by an embodiment of the present invention.
  • the rotating mirror 21 is a three-sided mirror 21b, and the three-sided mirror 21b is in the shape of a triangular prism.
  • the sides are all reflective surfaces.
  • the reflective surface is also used to reflect the corresponding echo laser light. That is, for a certain path of outgoing laser light, and the corresponding echo laser light are all reflected by the same reflecting surface.
  • the reflecting surface of the rotating mirror 21 and the rotating shaft 25 can be arranged at an angle or in parallel (the parallel setting means that the angle between the reflecting surface of the rotating mirror 21 and the rotating shaft 25 is 0°).
  • the position of the group 30 is fixed, so the transmitting direction of the transmitting module 10 and the receiving direction of the receiving module 30 are fixed, and when the angle between the reflecting surface of the rotating mirror 21 and the rotating shaft 25 is different, the laser will be emitted.
  • the angle between the echo laser and the reflecting surface of the rotating mirror 21 is different, so that the vertical angle of view covered by the lidar 100 is also different.
  • the range of the angle between the reflecting surface of the rotating mirror 21 and the rotating shaft 25 is not limited, and can be selected within the range of -90°-90°.
  • the angle between at least one reflecting surface and the rotating shaft 25 may be different from the angle between the other reflecting surfaces and the rotating shaft 25, so that an extended splicing of the vertical viewing angle can be produced.
  • the rotating shaft 25 is simplified as a rotating axis. Since the optical path is reversible, only the outgoing laser is described below, and the propagation process of the echo laser is opposite to that of the outgoing laser.
  • the plane mirror 21a and the rotating shaft 25 are arranged in parallel. At this time, the outgoing laser beam is incident on the plane mirror 21a in the direction perpendicular to the rotating shaft 25, that is, in the horizontal direction, and then reflected in the same horizontal plane.
  • l is the normal line of the plane mirror 21a.
  • the plane mirror 21a and the rotation axis 25 form an angle, and the vertical field of view formed by the plane mirror 21a will be deflected accordingly.
  • the deflection angle is twice the included angle: as shown in Figure 6b, the plane mirror 21a
  • the angle between the plane mirror 21a and the rotation axis 25 is ⁇ , and the normal line l of the plane mirror 21a rotates in the counterclockwise direction by ⁇ .
  • the emitted laser light is incident on the plane mirror 21a in the direction perpendicular to the rotation axis 25, that is, in the horizontal direction, and then enters the plane mirror 21a.
  • the angle between the laser and the normal of the plane mirror is ⁇ .
  • the plane mirror 21a reflects the emitted laser light on the other side of the normal.
  • the angle between the reflected emitted laser and the normal is also ⁇ . 6a, after the outgoing laser in FIG. 6b is reflected by the flat mirror 21a, the outgoing laser rotates by 2 ⁇ , that is, the angle range in the vertical direction covered by the vertical field of view of the flat mirror 21a will be deflected downward by 2 ⁇ .
  • the angle between the flat mirror 21a and the rotating shaft 25 is - ⁇
  • the normal l of the flat mirror 21a rotates clockwise by ⁇
  • the outgoing laser is incident on the flat mirror 21a to form a vertical field of view after being reflected.
  • Angle compared to Fig. 6a, the range of angles covered in the vertical direction will be deflected upwards by 2 ⁇ .
  • the plane mirror 21a is a double-sided plane mirror
  • the angle between the front side and the rotation axis 25 is ⁇
  • the angle between the back side and the rotation axis 25 is - ⁇
  • the front side deflects the vertical field angle upward by 2 ⁇
  • the reverse side deflects the vertical field angle downward by 2 ⁇ .
  • the overall vertical field of view of the lidar 100 formed by the double-sided plane mirror rotating and scanning one circle is composed of the vertical field of view formed by the front and back sides; due to the offset in the vertical direction, it can form an extended splicing and expand the whole Vertical field of view.
  • the three-sided mirror 21b For the lidar 100 using the three-sided mirror 21b as the rotating mirror 21, the three-sided mirror 21b has three reflecting surfaces, and the three-sided mirror 21b rotates around the rotating shaft 25. If the angles between the three reflecting surfaces and the rotating shaft 25 are the same, the three The three vertical field of view angles formed by two reflecting surfaces overlap. At this time, the lidar 100 will not have the vertical field of view.
  • angles between the three reflecting surfaces and the rotating shaft 25 are not the same, for example, there is a reflecting surface and The included angle of the rotating shaft 25 is different from the included angle of other reflecting surfaces and the rotating shaft 25, the vertical field of view formed by the outgoing laser passing through the reflecting surface will cover the vertical angle range of the vertical field of view formed by other reflecting surfaces The difference is that the vertical field of view formed is misaligned in the vertical direction; the principle is similar to the flat mirror 21a described above, and will not be repeated here; through the misalignment expansion in the vertical direction, the splicing of multiple vertical field of view angles is realized.
  • each reflective surface of the three-sided mirror 21b is arranged parallel to the rotating shaft 25. At this time, for each reflective surface, the emitted laser light will be incident on the three-sided mirror 21b along the direction perpendicular to the rotating axis 25, that is, in the horizontal direction.
  • the vertical field of view formed by the three reflecting surfaces covers the same angle range in the vertical direction, and no vertical field of view splicing occurs.
  • the overall vertical field of view of the lidar 100 is formed by the three reflecting surfaces. The vertical field of view is the same.
  • the angle between each reflective surface of the three-sided mirror 21b and the rotating shaft 25 is - ⁇ .
  • the laser beam incident on the reflective surface is different from the normal line of the reflective surface.
  • the angle between each reflecting surface is ⁇ .
  • the angle range in the vertical direction covered by the vertical field of view of each reflecting surface in Fig. 8 will be deflected upward by 2 ⁇ , due to the clamping between each reflecting surface and the shaft 25
  • the angles are equal, so the vertical field angle formed by each reflecting surface is deflected upward by 2 ⁇ , and the overall vertical field angle of the lidar 100 will be deflected upward by 2 ⁇ .
  • FIGs. 9a-9c they are schematic diagrams of the optical path structure in which the angles between each reflective surface of the three-sided mirror 21b and the rotating shaft 25 are different.
  • the included angle between the reflective surface a of the three-sided mirror 21b and the rotating shaft 25 is ⁇
  • the included angle between the reflective surface b of the three-sided mirror 21b and the rotating shaft 25 is ⁇
  • the angle between the reflective surface c of the three-sided mirror 21b and the rotating shaft 25 is ⁇ .
  • the outgoing laser light is incident on the reflecting surface along the direction perpendicular to the axis of rotation 25, that is, the horizontal direction.
  • the angle between the outgoing laser light incident on the reflecting surface and the normal of the reflecting surface is ⁇ , compared to Fig. 7, the angle range in the vertical direction covered by the vertical field of view formed by the reflecting surface a in Fig. 9a will be deflected downward by 2 ⁇ .
  • the angle between the outgoing laser and the normal of the reflective surface b is ⁇ , and the vertical angle of view formed by the reflective surface b will cover the angle range in the vertical direction. Deflection down 2 ⁇ .
  • the angle between the outgoing laser and the normal of the reflective surface c is ⁇ , and the angle range in the vertical direction covered by the vertical field of view formed by the reflective surface c will be deflected downward 2 ⁇ .
  • the overall vertical field of view angle of the lidar 100 is formed by splicing the vertical field of view angles formed by the three reflecting surfaces.
  • FIGS. 10a-10c based on the three-sided mirror 21b in FIGS. 9a-9c, please refer to FIGS. 10a-10c.
  • the included angle between the reflective surface a of the three-sided mirror 21b and the rotating shaft 25 is 0°
  • the included angle between the reflective surface b of the three-sided mirror 21b and the rotating shaft 25 is 12.5°
  • the included angle between the reflective surface c of the three-sided mirror 21b and the rotating shaft 25 is 25°.
  • the vertical field of view formed by a single reflecting surface is 25°.
  • the vertical field angle formed by the reflecting surface b is deflected downward by 25° (12.5*2) in the vertical direction relative to the vertical field angle formed by the reflecting surface a; as shown in Figure 10c, the reflecting surface c forms The vertical field of view angle relative to the vertical field of view formed by the reflecting surface a is deflected downward by 50° (25*2) in the vertical direction; the area A in the figure is the vertical field of view angle of the reflecting surface a, and the area B is the reflecting surface b
  • the vertical field of view angle of the C area is the vertical field of view of the reflecting surface c, and the vertical field of view angles of the three reflecting surfaces will be almost seamlessly spliced to 75°(25+25+25).
  • the angles between the three reflecting surfaces and the axis of rotation are in an arithmetic sequence, and the three vertical field angles formed by the three reflecting surfaces have the same angular difference in the vertical direction.
  • the center of the reflecting surface a is aligned with the vertical direction 0°
  • the center of the reflecting surface b is aligned with the vertical direction -12.5°
  • the center of the reflecting surface is aligned with the vertical direction -25°
  • the three vertical field angles formed can just complete the splicing, and the borders intersect without overlapping areas, so that the splicing can be formed
  • the overall vertical field of view angle is the largest, and the field angle formed by different reflecting surfaces is fully used to be misaligned in the vertical direction to maximize the vertical field of view angle.
  • Fig. 11 based on the three-sided mirror 21b in Figs. 9a-9c, please refer to Fig. 11.
  • the difference from Fig. 10c is that the distance between the reflecting surface c and the rotating shaft 25 in this exemplary embodiment
  • the direction of the included angle is opposite to the reflecting surface b, and the included angle is -12.5°.
  • the vertical field angle formed by the reflecting surface c is deflected upward by 25° (-12.5*2) in the vertical direction relative to the vertical field angle formed by the reflecting surface a; the vertical field angles of the three reflecting surfaces It will also be almost seamlessly spliced to 75°(25+25+25).
  • Fig. 10a The angle between the reflecting surface a and the rotating shaft 25 is 0°.
  • Fig. 12a The angle between the surface b and the rotating shaft 25 is 5°.
  • FIG. 12b The angle between the reflecting surface c and the rotating shaft 25 is 10°.
  • the vertical field of view formed by a single reflecting surface is 25°.
  • the vertical field angle formed by the reflecting surface b is deflected downward by 10° (5*2) in the vertical direction relative to the vertical field angle formed by the reflecting surface a; as shown in Figure 12b, the reflecting surface c forms The vertical field of view angle formed by the reflecting surface a is deflected downward by 20° (10*2) in the vertical direction; the vertical field of view angles of the three reflecting surfaces will be spliced to 45° (25+20).
  • FIG. 13 it is a schematic diagram of the field of view angle of the lidar 100 shown in FIGS. 10a, 12a, and 12b.
  • the field of view formed by the reflecting surface a covers the X1+Y1+Z area
  • the field of view formed by the reflecting surface b covers the Y1+Z+Y2 area
  • the field of view formed by the reflecting surface c covers the Z+Y2+X2 area.
  • the X1 area in the figure is only covered by the field of view angle of the reflecting surface a
  • the Y1 area is covered by the field of view angles of the reflecting surface a and the reflecting surface b
  • the Z area is covered by the field of view angles of the reflecting surface a, the reflecting surface b and the reflecting surface c.
  • the Y2 area is covered by the field angles of the reflecting surface b and the reflecting surface c
  • the X2 area is only covered by the field angle of the reflecting surface c.
  • the Z area has the highest scanning density and the highest resolution, which is superimposed by the resolution of the three viewing angles of the reflecting surface a, the reflecting surface b and the reflecting surface c; the Z area can be used as a region of interest (ROI). Probe.
  • the resolution of Y1 area and Y2 area is second, Y1 area is superimposed by the two field angle resolutions of reflecting surface a and reflecting surface b, and Y2 area is resolved by the two field angles of reflecting surface b and reflecting surface c.
  • the rate is superimposed.
  • the resolution of the X1 area and the X2 area is the lowest.
  • the resolution of the X1 area is the resolution of the field of view formed by the reflective surface a
  • the resolution of the X2 area is the resolution of the field of view formed by the reflective surface c.
  • FIG. 14 based on the three-sided mirror 21b in FIGS. 9a-9c, please refer to FIG. 14.
  • the difference from the embodiment shown in FIGS. 10a, 12a, and 12b is that the reflection in this exemplary embodiment
  • the direction of the angle between the surface c and the rotating shaft 25 is opposite to the reflection surface b.
  • the angle between the reflective surface c of the three-sided mirror 21b and the rotating shaft 25 is -5°.
  • the vertical field of view formed by a single reflecting surface is 25°.
  • the vertical field angle formed by the reflecting surface c is deflected upward by 10° (-5*2) in the vertical direction relative to the vertical field angle formed by the reflecting surface a; the vertical field angles of the three reflecting surfaces will be spliced to 45°(10 +25+10).
  • FIG. 15 it is a schematic diagram of the scanning density of the lidar 100 shown in FIGS. 10a, 12a, and 14.
  • the field of view formed by reflecting surface a covers the Y1+Z+Y2 area
  • the field of view formed by reflecting surface b covers the Z+Y2+X2 area
  • the field of view formed by reflecting surface c covers X1+Y1+Z Area, that is, the X1 area is only covered by the angle of view of the reflecting surface c
  • the Y1 area is covered by the angle of view of the reflecting surface a and the reflecting surface c
  • the Z area is covered by the angle of view of the reflecting surface a, the reflecting surface b and the reflecting surface c.
  • the Y2 area is covered by the field of view angles of the reflecting surface a and b, and the X2 area is only covered by the field of view angles of the reflecting surface b.
  • the Z area has the highest scanning density and the highest resolution, which is superimposed by the resolution of the three viewing angles of the reflecting surface a, the reflecting surface b and the reflecting surface c; the Z area can be used as a region of interest (ROI). Probe.
  • the resolution of the Y1 area and the Y2 area is second, the Y1 area is superimposed by the resolution of the two viewing angles of the reflective surface a and the reflective surface c, and the resolution of the Y2 area is determined by the two viewing fields of the reflective surface a and the reflective surface b.
  • the resolution of the angle is superimposed.
  • the resolution of the X1 area and the X2 area is the lowest.
  • the resolution of the X1 area is the resolution of the field of view formed by the reflective surface c
  • the resolution of the X2 area is the resolution of the field of view formed by the reflective surface b.
  • the optical axis of the outgoing laser is drawn in the above light path diagrams. It can be understood that the outgoing laser itself has an emission angle, which has a certain emission range, and is incident on the rotating mirror 21 and The emitted laser light has a certain spot diameter.
  • the beam splitting plate 40 includes a fixed beam splitting plate 41 and a rotating beam splitting plate 42.
  • the rotating beam splitting plate 42 is fixed to the rotating mirror 21 and rotates with the rotating mirror 21.
  • the fixed beam splitting plate 41 is provided with a through hole 43, and the rotating beam splitting plate 42 is disposed in the through hole 43 and can be rotated in the through hole 43. It can effectively reduce the gap between the rotating part and the fixed part.
  • the rotating beam splitter plate 42 is fixed to the rotating mirror 21, and the outer edge of the rotating beam splitter plate 42 matches the shape of the through hole 43 of the fixed beam splitter plate 41. The gap is small and effectively blocks the emitted laser light. And reflected laser to avoid mutual crosstalk.
  • the lidar 100 further includes a mirror module 50, and the mirror module 50 is fixed on the fixed beam splitting plate 41.
  • the reflector module 50 includes a first reflector 51 and a second reflector 52; the first reflector 51 is arranged on the optical path of the emitted laser light emitted by the emitting module 10 and is located on the first side of the beam splitter 40, for emitting The laser is reflected to the first rotating mirror 211; the second reflecting mirror 52 is arranged on the optical path of the echo laser reflected by the second rotating mirror 212 and is located on the second side of the beam splitter 40, and is used to reflect the echo laser to the receiving module 30.
  • the first reflector 51 and the second reflector 52 can be integrated as a reflector, that is, it is an integrated structure, but the reflector is divided into two parts based on the beam splitter 40; the first reflector 51 and the second reflector
  • the mirror 52 can also be configured as two independent mirrors. When the first reflecting mirror 51 and the second reflecting mirror are two independent reflecting mirrors, the first reflecting mirror 51 and the second reflecting mirror 52 are both fixed on the fixed beam splitting plate 41 and arranged coplanar.
  • the reflector module 50 can adopt a flat reflector, a cylindrical reflector, aspherical curvature reflector, and the like.
  • the outgoing laser light emitted by the transmitting module 10 is reflected by the mirror module 50 and then incident to the scanning module 20. After being reflected by the scanning module 20, it is emitted to the detection area, and the echo laser is obtained after the detection area is reflected by the object.
  • the echo laser light is reflected by the scanning module 20 and then directed to the mirror module 50, after being reflected by the mirror module 50, it is incident on the receiving module 30, and finally received by the receiving module 30.
  • the reflector module 50 Through the reflector module 50, the optical path of the emitted laser and the optical path of the echo laser are folded, so that the arrangement of the components is more compact, which is beneficial to the miniaturization of the lidar 100 system; the reflector module 50 is used to adjust the emitted laser and the echo
  • the direction of the wave laser is such that the outgoing laser is aligned with the better position of the scanning module 20 and the echo laser is aligned with the receiving module 30, which is convenient for light adjustment and simple operation.
  • the transmitting module 10 includes a laser module 11, a transmitting driving module 12 and a transmitting optical module 13.
  • the laser module 11 is used to emit the outgoing laser;
  • the emission driving module 12 is connected to the laser module 11 to drive and control the work of the laser module 11;
  • the emitting optical module 13 is arranged on the optical path of the outgoing laser emitted by the laser module 11 for collimation Laser is emitted.
  • the transmitting optical module 13 may adopt methods such as an optical fiber and a ball lens group, a separate ball lens group, a cylindrical lens group, and the like.
  • the scanning module 20 further includes a driving device 22 and a transmission device 23.
  • the driving device 22 is provided with an output shaft 24.
  • the output shaft 24 is connected to the rotating mirror 21 through the transmission device 23.
  • the output shaft 24 of the driving device 22 drives the rotating mirror 21 to rotate.
  • the driving device 22 may be a motor, and the transmission device 23 may be a transmission chain, a transmission gear, a transmission belt, and other structures that can realize power transmission; or the output end of the driving device 22 may directly drive the scanning module 20.
  • the receiving module 30 includes a detector module 31, a receiving driving module 32 and a receiving optical module 33.
  • the receiving optical module 33 is arranged on the optical path of the echo laser reflected by the scanning module 20, and is used to converge the echo laser; the detector module 31 is used to receive the echo laser converged by the receiving optical module 33; and the receiving drive module 32 It is connected with the detector module 31 for driving and controlling the operation of the detector module 31.
  • the receiving optical module 33 may adopt a ball lens, a ball lens group, a cylindrical lens group, or the like.
  • the lidar 100 may also include a control and signal processing module (not shown in the figure), such as a Field Programmable Gate Array (FPGA), an FPGA and an emission drive module 12 to control the emission of the emitted laser.
  • FPGA Field Programmable Gate Array
  • the FPGA is also connected to the clock pin, data pin, and control pin of the receiving drive module 32 respectively to control the receiving and controlling of the echo laser.
  • the laser module 11 adopts a laser linear array
  • the detector module 31 adopts a detector linear array.
  • the lidar 100 forms a vertical field of view angle covering a certain angular range to realize detection in the vertical direction.
  • a plurality of lasers of the laser line array are arranged at the focal plane of the emitting optical module 13, and the optical axis of the laser passes through the center of the emitting optical module 13 and passes through the emitting optical module 13
  • the outgoing laser of 13 covers a certain angle range of field of view.
  • the interval between each laser in the laser line array is set to be very small, when the outgoing laser passes through the emitting optical module 13 and then exits, it can be regarded as the outgoing laser changes continuously in the vertical field of view.
  • the laser line The array is located at the focal plane of the emitting optical module. If the interval between each laser in the laser line array is not small enough, that is, when the interval between each laser in the laser line array is large, the laser line array can be made not to be located at the focal plane of the transmitting optical module 13, so Each outgoing laser has a certain divergence angle after passing through the emitting optical module. The divergence angle covers the gap between the outgoing lasers caused by the interval between the lasers, and avoids the discontinuous change of the outgoing laser's angle in the vertical field of view. .
  • the transmitting optical module 13 may be a telecentric lens, which is used to collimate each beam of outgoing laser light emitted by the laser module 11 and deflect the outgoing laser light to the central optical axis of the telecentric lens. Since the multiple lasers of the laser line array are aligned, the directions of the multiple emitting lasers are the same. If only collimated, the output can only cover a small angular range in the vertical direction, which cannot meet the detection requirements. Through the telecentric lens, multiple parallel outgoing laser beams are deflected to the central optical axis, which can cover a certain angle range in the vertical direction when emitting outward, that is, have a larger vertical field of view.
  • a plurality of detectors of the detector line array are arranged at the focal plane of the receiving optical module 33, and the optical axis of the detector passes through the center of the receiving optical module 33, The echo laser light passing through the receiving optical module 33 is received by a plurality of detectors.
  • the multiple detectors of the detector line array can also be arranged on the plane where the focal point of the receiving optical module 33 is located, or near the plane where the focal point is located; because the incident direction of the echo laser is in line with the light of the detector.
  • the inconsistent axis results in that the echo laser cannot enter the detector perpendicularly, reducing the detector's receiving efficiency of the echo laser; but as long as the echo laser received by the detector linear array can meet the detection requirements, the above arrangement is also possible.
  • the receiving optical module 33 can be an ordinary focusing lens, which condenses the received echo laser light and then shoots it towards the receiving module 30; it can also be set as a telecentric lens, which is used as the receiving optical module 23 to converge the echo laser. And make each beam of echo laser incident perpendicular to the linear array of detectors (as shown in FIG. 22); improving the receiving efficiency of the linear array of detectors can effectively improve the detection effect of the lidar 100.
  • the receiving field of view angle of the receiving optical module needs to be the same as the transmitting field of view angle of the transmitting optical module 13, which is generally considered to have the following relationship:
  • L is the distance between the lasers at the upper and lower ends of the laser line array, which is related to the number and spacing of the lasers
  • F is the focal length of the transmitting optical module
  • L' is the distance between the detectors at the upper and lower ends of the detector line array. The distance between the detectors is related to the number of detectors and the size of the interval.
  • F' is the focal length of the receiving optical module
  • ⁇ is the receiving field angle of the receiving optical module and the emitting field angle of the transmitting optical module.
  • the laser line array can use laser diode (LD) array, vertical cavity surface emitting laser (Vertical Cavity Surface Emitting Laser, VCSEL) array, optical fiber array and other devices that can form a line array to emit light.
  • the linear array of detectors can use avalanche photodiode (APD) array, silicon photomultiplier (SIPM), APD array, multi-pixel photon counter (MPPC) array, photomultiplier tube A photomultiplier tube (PMT) array, a single-photon avalanche diode (SPAD) array, etc. can form a linear array receiving device.
  • the arrangement of the laser line array is sparse at both ends and dense in the middle
  • the array of the detector line array is sparse at both ends and dense in the middle, which can realize sparse-dense-sparse scanning in the vertical direction of the field of view, and resolution of the middle area.
  • the rate is larger than that of the two ends, which meets the detection needs of paying more attention to the information in the middle area during the detection process.
  • the number of detectors contained in the linear array of detectors and the number of lasers contained in the linear array of lasers do not need to be equal, but the emitted laser must ensure that there is enough light energy within the corresponding field of view of each detector in the linear array of detectors to be detected. response.
  • the number of detectors included in the linear array of detectors determines the resolution of the lidar 100 in the vertical direction.
  • the number of detectors included in the linear array of detectors may be greater than or equal to the number of lasers included in the linear array of lasers.
  • the laser module 11 includes a lasers arranged along a linear array, where a is an integer and a ⁇ 1, and the detector module 31 includes k ⁇ a detectors arranged along the linear array.
  • k detectors where a is an integer and a ⁇ 1, and k is an integer and k ⁇ 1; that is, the number of detectors and the number of lasers are in an integer multiple relationship.
  • one laser corresponds to one detector, or one laser corresponds to four detectors.
  • the number of detectors and the number of lasers may not be in an integer multiple relationship.
  • the laser line array includes 4 lasers, and the detector line array includes 6 detectors.
  • an embodiment of the present invention proposes an automatic driving device 200 that includes the lidar 100 in the above-mentioned embodiment.
  • the automatic driving device 200 may be a car, an airplane, a boat, or other related applications.
  • the lidar 100 is a device for intelligent sensing and detection.
  • the automatic driving device 200 includes a device body 201 and the lidar 100 in the above embodiment, and the lidar 100 is installed on the device body 201.
  • the automatic driving device 200 is an unmanned vehicle, and the lidar 100 is installed on the side of the vehicle body. As shown in FIG. 24, the automatic driving device 200 is also an unmanned car, and the lidar 100 is installed on the roof of the car.

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  • 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)

Abstract

La présente invention concerne un lidar (100) et un dispositif de conduite autonome (200). Le lidar (100) comprend un module de transmission (10), un module de balayage (20) et un module de réception (30) ; le module de transmission (10) est utilisé pour transmettre la lumière laser sortante ; le module de balayage (20) comprend un miroir rotatif (21) tournant autour d'un arbre rotatif (25) et le miroir rotatif (21) est utilisé pour recevoir la lumière laser sortante et réfléchir la lumière laser sortante vers une région de détection et est également utilisé pour recevoir la lumière laser d'écho et réfléchir la lumière laser d'écho vers le module de réception (30) ; la lumière laser d'écho est une lumière laser qui est renvoyée après la réflexion de la lumière laser sortante par un objet dans la région de détection ; et le module de réception (30) est disposé de l'autre côté du module de transmission (10) le long de la direction de l'arbre de rotation (25) afin d'être utilisé pour recevoir la lumière laser d'écho. La miniaturisation du lidar est obtenue.
PCT/CN2019/102325 2019-08-23 2019-08-23 Lidar et dispositif de conduite autonome WO2021035427A1 (fr)

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CN201980002234.0A CN112789511A (zh) 2019-08-23 2019-08-23 激光雷达及自动驾驶设备

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